Applications In Soft Robotics Research Articles

Direct Ink Writing of Strained Carbon Nanotube-Based Sensors: Toward 4D Printable Soft Robotics.

Four-dimensional (4D) printing has attracted significant attention, because it enables structures to be reconfigured based on an external stimulus, realizing complex architectures that are useful for different applications. Nevertheless, most previously reported 4D-printed components have focused on actuators, which are just one part of a full soft robotic system. In this study, toward achieving fully 4D-printed systems, the design and direct ink writing of sensors with a straining mechanism that mimics the 4D effect are explored. Solution-processable carbon nanotubes (CNTs) were used as the sensing medium, and the effect of a heat-shrinkable shape-memory polymer-based substrate (i.e., potential 4D effect) on the electronic and structural properties of CNTs was assessed, followed by their application in various sensing devices. Herein, we reveal that substrate shrinking affords a more porous yet more conductive film owing to the compressive strain experienced by CNTs, leading to an increase in the carrier concentration. Furthermore, it improves the sensitivity of the devices without the need for chemical functionalization. Interestingly, the results show that, by engineering the potential 4D effect, the selectivity of the sensor can be tuned. Finally, the sensors were integrated into a fully 4D-printed flower structure, exhibiting their potential for different soft robotic applications.

A Molecular Rheology Dynamics Study on 3D Printing of Liquid Crystal Elastomers.

This work presents a rheological study of a biocompatible and biodegradable liquid crystal elastomer (LCE) ink for three dimensional (3D) printing. These materials have shown that their structural variations have an effect on morphology, mechanical properties, alignment, and their impact on cell response. Within the last decade LCEs are extensively studied as potential printing materials for soft robotics applications, due to the actuation properties that are produced when liquid crystal (LC) moieties are induced through external stimuli. This report utilizes experiments and coarse-grained molecular dynamics to study the macroscopic rheology of LCEs in nonlinear shear flow. Results from the shear flow simulations are in line with the outcomes of these experimental investigations. This work believes the insights from these results can be used to design and print new material with desirable properties necessary for targeted applications.

Nuclear power plant pipeline detection robot based on a new radiation-proof material

Soft robots are gradually gaining recognition in recent years for their ability to work in extreme environments. However, radiation shielding is a major issue when designing soft robots for use in nuclear environments. In this paper we present an effective soft robot design and develop new radiation shielding materials that enable the robot to perform a variety of tasks in the complex pipelines of a nuclear power plant while being sufficiently radiation shielded. To achieve this, we used a mixture of silicone and lead powder with excellent radiation shielding capabilities and designed and built a soft robot prototype consisting of multiple pneumatic actuators and a resin frame. It is capable of moving through complex pipelines and performing inspection tasks, while also providing radiation shielding for the internal components of the robot. Finite element simulations and prototype experiments were then carried out to evaluate the robot's performance in various scenarios. Simulation results show that the soft robot is able to perform inspection of nuclear power plant pipelines efficiently and effectively. Furthermore, the radiation shielding provided by the radiation-proof material is effective in protecting the internal components of the robot from radiation exposure. In conclusion, we have successfully developed a soft robot prototype that is capable of performing pipeline inspections in extreme environments such as nuclear power plants, while providing adequate radiation shielding. The proposed approach can be extended to other soft robotics applications in the nuclear environment and has the potential to improve the safety and efficiency of nuclear power plant operations.

Resistive Self‐Sensing Controllable Fabric‐Based Actuator: A Novel Approach to Creating Anisotropy

AbstractDesigning advanced soft robots with soft sensing capabilities for real‐world applications remains challenging due to the intricate integration of actuation and sensor capabilities, which require diverse materials and complex procedures. This paper introduces a fabric‐based robotic technology featuring an “all textile‐based self‐sensing pneumatic actuator” and a low‐cost resistive strain sensor created through simple sewing techniques. The novel approach eliminates the need for additional strain‐limiting woven fabric, simplifying the manufacturing process. It also enables the development of bioinspired motions such as bending, twisting, and snake‐like movements. The electromechanical behaviors of the sensor and bending actuator are tested for their performance under positive air pressure. Through mathematical modeling, the actuator's sensing capacity is estimated accurately, providing precise feedback for pressure and position control. Different closed‐loop controller types, including On–Off and Proportional Integral Derivative (PID) control, are evaluated for their effectiveness. Furthermore, the practical application of the sensing actuator is demonstrated by integrating it into a wearable glove, showcasing its enhanced sensing capabilities for finger‐like soft wearable robotic applications. This research tackles the challenges associated with designing advanced soft robots with integrated sensing capabilities, offering a promising fabric‐based solution that can drive significant advancements in real‐world applications.

From Nature-Sourced Polysaccharide Particles to Advanced Functional Materials.

Polysaccharides constitute over 90% of the carbohydrate mass in nature, which makes them a promising feedstock for manufacturing sustainable materials. Polysaccharide particles (PSPs) are used as effective scavengers, carriers of chemical and biological cargos, and building blocks for the fabrication of macroscopic materials. The biocompatibility and degradability of PSPs are advantageous for their uses as biomaterials with more environmental friendliness. This review highlights the progresses in PSP applications as advanced functional materials, by describing PSP extraction, preparation, and surface functionalization with a variety of functional groups, polymers, nanoparticles, and biologically active species. This review also outlines the fabrication of PSP-derived macroscopic materials, as well as their applications in soft robotics, sensing, scavenging, water harvesting, drug delivery, and bioengineering. The paper is concluded with an outlook providing perspectives in the development and applications of PSP-derived materials.

Fabrication and Characterization of Electrically Conductive 3D Printable TPU/MWCNT Filaments for Strain Sensing in Large Deformation Conditions

AbstractThis study investigates the development of thermoplastic polyurethane (TPU) filaments incorporating multi‐walled carbon nanotubes (MWCNT) to enhance strain‐sensing capabilities. Various MWCNT reinforcement ratios are used to produce customized feedstock for fused filament fabrication (FFF) 3D printing. Mechanical properties and the piezoresistive response of samples printed with these multifunctional filaments are concurrently evaluated. Surface morphology and microstructural observations reveal that higher MWCNT weight percentages increase filament surface roughness and rigidity. The microstructural modifications directly influence the tensile strength and strain energy of the printed samples. The study identifies an apparent percolation threshold within the 10–12 wt.% MWCNT range, indicating the formation of a conductive network. At this threshold, higher gauge factors are achieved at lower strains. A newly introduced Electro‐Mechanical Sensitivity Ratio (ESR) parameter enables the classification of composite behaviors into two distinct zones, offering the ability to tailor self‐sensing structures with on‐demand properties. Finally, flexible structures with proven application in soft robotics and shape morphing are fabricated and tested at different loading conditions to demonstrate the potential applicability of the custom filaments produced. The results highlight a pronounced piezoresistive response and superior load‐bearing performance in the examined structures.

Engineering pH-Responsive, Self-Healing Vesicle-Type Artificial Tissues with Higher-Order Cooperative Functionalities.

Multicellular organisms demonstrate a hierarchical organization where multiple cells collectively form tissues, thereby enabling higher-order cooperative functionalities beyond the capabilities of individual cells. Drawing inspiration from this biological organization, assemblies of multiple protocells are developed to create novel functional materials with emergent higher-order cooperative functionalities. This paper presents new artificial tissues derived from multiple vesicles, which serve as protocellular models. These tissues are formed and manipulated through non-covalent interactions triggered by a salt bridge. Exhibiting pH-sensitive reversible formation and destruction under neutral conditions, these artificial vesicle tissues demonstrate three distinct higher-order cooperative functionalities: transportation of large cargoes, photo-induced contractions, and enhanced survivability against external threats. The rapid assembly and disassembly of these artificial tissues in response to pH variations enable controlled mechanical task performance. Additionally, the self-healing property of these artificial tissues indicates robustness against external mechanical damage. The research suggests that these vesicles can detect specific pH environments and spontaneously assemble into artificial tissues with advanced functionalities. This leads to the possibility of developing intelligent materials with high environmental specificity, particularly for applications in soft robotics.

A solid-shell model of hard-magnetic soft materials

Hard-magnetic soft materials (HMSMs) consisting of an elastomer matrix filled with high remnant magnetic particles can exhibit flexible programmability and rapid shape changing under non-contact activation, showing promising potential applications in soft robotics, biomedical devices and flexible electronics. Precise predictions of large deformations of hard-magnetic soft materials would be a key for relevant applications. Here, we develop a magneto-mechanical theoretical framework to model large deformations of magneto-active elastomers by applying solid-shell formulations based on the variational principle. Within the 3D geometric description, the complete Green–Lagrange strain tensors are considered and thus 3D nonlinear material laws can be employed straightforwardly, without presupposing Kirchhoff–Love hypothesis and plane stress constraints. In addition, the solid-shell model avoids introducing rotational degrees of freedom in computation and thus does not require complex finite-rotation update, which also works well for thick shells at large strains. We adopt the enhanced assumed strain (EAS) and assumed natural strain (ANS) methods to overcome locking effects. Several representative examples with various deformed configurations are explored, showing precise predictions of morphological transformations of HMSMs based on our model, in good agreement with experiments. Our model provides a versatile tool to harness large deformations of magneto-elastic structures, and could be used for rational designs of active flexible devices and robots.

Flexible Grippers with Programmable Three‐Dimensional Magnetization and Motions

Programmable magnetic soft grippers are highly desirable for diverse applications in drug delivery, object manipulation, and soft robotics. However, current magnetic programming grippers need to be driven by multiple physical fields, which are complicated to operate and single in motion. Here, a method for patterning hard magnetic microparticles in an elastomer matrix is reported. Based on digital light processing (DLP), this method uses controlled reorientation of magnetic particles and selective exposure to ultraviolet (UV) light to encode magnetic particles in polydimethylsiloxane (PDMS) materials with arbitrary three‐dimensional (3D) orientation. The combination of vertical and horizontal magnetic fields can produce different forces, causing different deformation modes of the grippers. Flexible grippers can be fabricated from a single precursor in one process and produce various deformation and motion forms when a single magnetic field is applied. Moreover, the gripper has the advantages of simple manipulation, fast response, and flexible movement, which is of great significance in the application of biological devices and soft robots.

Synchronous behaviors of three coupled liquid crystal elastomer-based spring oscillators under linear temperature fields.

Self-oscillating coupled systems possess the ability to actively absorb external environmental energy to sustain their motion. This quality endows them with autonomy and sustainability, making them have application value in the fields of synchronization and clustering, thereby furthering research and exploration in these domains. Building upon the foundation of thermal responsive liquid crystal elastomer-based (LCE-based) spring oscillators, a synchronous system comprising three LCE-based spring oscillators interconnected by springs is established. In this paper, the synchronization phenomenon is described, and the self-oscillation mechanism is revealed. The results indicate that by varying system parameters and initial conditions, three synchronization patterns emerge, namely, full synchronous mode, partial synchronous mode, and asynchronous mode. For strongly interacting systems, full synchronous mode always prevails, while for weak interactions, the adjustment of initial velocities in magnitude and direction yields the three synchronization patterns. Additionally, this study explores the impact of several system parameters, including LCE elasticity coefficient and spring elasticity coefficient, on the amplitude, frequency, and synchronous mode of the system. The findings in this paper can enhance our understanding of the synchronization behavior of multiple mutually coupled LCE-based spring oscillators, with promising applications in energy harvesting, soft robotics, signal monitoring, and various other fields.

Robust and sensitive conductive nanocomposite hydrogel with bridge cross-linking-dominated hierarchical structural design.

Conductive hydrogels have a remarkable potential for applications in soft electronics and robotics, owing to their noteworthy attributes, including electrical conductivity, stretchability, biocompatibility, etc. However, the limited strength and toughness of these hydrogels have traditionally impeded their practical implementation. Inspired by the hierarchical architecture of high-performance biological composites found in nature, we successfully fabricate a robust and sensitive conductive nanocomposite hydrogel through self-assembly-induced bridge cross-linking of MgB2 nanosheets and polyvinyl alcohol hydrogels. By combining the hierarchical lamellar microstructure with robust molecular B─O─C covalent bonds, the resulting conductive hydrogel exhibits an exceptional strength and toughness. Moreover, the hydrogel demonstrates exceptional sensitivity (response/relaxation time, 20 milliseconds; detection lower limit, ~1 Pascal) under external deformation. Such characteristics enable the conductive hydrogel to exhibit superior performance in soft sensing applications. This study introduces a high-performance conductive hydrogel and opens up exciting possibilities for the development of soft electronics.

Eco-Friendly Flame-Retardant Phase-Change Composite Films Based on Polyphosphazene/Phosphorene Hybrid Foam and Paraffin Wax for Light/Heat-Dual-Actuated Shape Memory.

Multiactuated shape memory materials are a class of promising intelligent materials that have received great interest in the fields of self-healing, anticounterfeiting, biomedical, soft robotic, and smart thermal management applications. To obtain a light/heat-dual-actuated shape memory material for thermal management applications in fire safety, we have designed a type of halogen-free flame-retardant phase-change composite film based on polyaryloxyphosphazene (PDAP)/phosphorene (PR) hybrid foam as a support material and paraffin wax (PW) as a phase-change material (PCM). PDAP was synthesized as a flexible foam matrix through the ring-opening polymerization of hexachlorocyclotriphosphazene, followed by a substitution reaction of aryloxy groups. The porosity of the PDAP foam is improved by introducing PR nanosheets, facilitating a high latent heat capacity of the PDAP-PR/PW composite films for thermal management applications. The PDAP-PR/PW composite films can implement rapid shape recovery within 65 s in the heating process, which is much shorter than that of the corresponding film without PR nanosheets (185 s). Furthermore, the PDAP-PR/PW composite films also exhibit light-actuated shape memory behavior thanks to their good solar-to-thermal energy absorption and conversion contributed by PR nanosheets as a highly effective photothermal material. More importantly, the presence of PR nanosheets imparts an excellent flame-retardant property to the PDAP-PR/PW composite films. The PDAP-PR/PW composite film can be self-extinguished within 2 s after the flame. Through an innovative integration of flexible polyphosphazene foam, PR nanosheets, and solid-liquid PCM to obtain a sensitive actuating response to light and heat, this study offers a new approach for developing multiactuated and eco-friendly flame-retardant shape memory materials to meet the requirement of applications with a requirement of fire safety in soft actuators, thermal therapy, control devices, and so on.

Mechanically Tough Micellar Cubic Liquid‐Crystalline Polymer Electrolytes for Electromechanical Actuators

AbstractThis study presents a novel micellar cubic ionic liquid‐crystalline polymer electrolyte, featuring an alignment‐free spherical structure with unimpeded 3D ionic pathways, aimed at enhancing the performance of an ionic electroactive polymer actuator. The development involved creating a mechanically tough and high ion‐conductive cubic polymer film through the self‐assembly of a wedge‐shaped vinyl imidazolium salt and an imidazolium ionic liquid, followed by in situ photopolymerization. The 300 µm‐thick‐trilayer films, consisting of the cubic polymer electrolyte sandwiched between poly(3,4‐ethylenedioxythiophene)‐poly(styrenesulfonate) (PEDOT:PSS) electrodes, exhibit remarkable capabilities. These include bearing substantial loads of 4 g with a high blocking force under a DC voltage of 2 V, achieving a high bending strain of 0.63% under a low input voltage (±2 V, 0.1 Hz), and boasting a maximum response frequency of 70 Hz. These properties position the material for potential applications in soft robots and tactile sensing devices.

Ultra-low temperature-responsive liquid crystal elastomers with tunable drive temperature range

Liquid crystal elastomers (LCEs) have recently gained significant attention in the field of smart materials due to their ability to respond to external stimuli, offering substantial potential for practical applications in soft robotics and bioengineering where actuation and sensing are crucial. However, conventional LCEs typically have high driving thresholds, significantly limiting their practical utility. Thus, reducing the driving temperature of LCEs remains a critical challenge in current research. In contrast to complex chemical molecular modifications aimed at lowering the driving threshold, our work employs a straightforward one-step cross-linking method to synthesize bisacrylate LCEs with varying compositions. These LCEs exhibit remarkably low driving temperatures and improved actuation performance. The monofunctional and difunctional acrylate liquid crystal mixtures employed in our experiments possess different ranges of anisotropy and can be effectively incorporated into the liquid crystal elastomers. Following polymerization, these LCEs demonstrate actuation capabilities at temperatures as low as −18 °C while maintaining excellent performance even at elevated temperatures of up to 60 °C. Moreover, in a series of 50 repeat experiments, the LCEs exhibited exceptional repeatability with a minimal error rate of 2.0 %. Additionally, the introduction of carbon nanotubes into the LCEs resulted in achieving a significant angular deflection of up to 100° within a narrow range of low light intensities, specifically between 26.19 mW cm−2 and 32.38 mW cm−2, highlighting the continued effectiveness of these materials even with this modification.

Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators.

As thermally driven smart materials capable of large reversible deformations, liquid crystal elastomers (LCEs) have great potential for applications in bionic soft robots, artificial muscles, controllable actuators, and flexible sensors due to their ability to program controllable motion into materials. In this article, we introduce conductive LCE actuators using a liquid metal electrothermal layer and a polyethylene terephthalate substrate. Our LCE actuators can be stimulated at low currents from 2 to 4 A and produce a maximum work density of 9.4 . We illustrate the potential applications of this system by designing a palm-activated artificial muscle gripper, which can be used to grasp soft objects ranging from 5 to 55 mm in size, and even ring-shaped workpieces with precise external or internal support. Furthermore, inspired by the movement of fruit fly larvae, we designed a new soft robot capable of bioinspired crawling and turning by inducing anisotropic friction with an asymmetric design. Finally, we illustrate advanced motional control by designing an autonomously rotating wheel based on the asymmetric contraction of its spokes. To assist in the production of autonomously moving robots, we provide a thorough characterization of its motion dynamics.

A Flexible and Electrically Conductive Liquid Metal Adhesive for Hybrid Electronic Integration

AbstractElectrical and mechanical integration approaches are essential for emerging hybrid electronics that must robustly bond rigid electrical components with flexible circuits and substrates. However, flexible polymeric substrates and circuits cannot withstand the high temperatures used in traditional electronic processing. This constraint requires new strategies to create flexible materials that simultaneously achieve high electrical conductivity, strong adhesion, and processibility at low temperature. Here, an electrically conductive adhesive is introduced that is flexible, electrically conductive (up to 3.25×105 S m−1) without sintering or high temperature post‐processing, and strongly adhesive to various materials common to flexible and stretchable circuits (fracture energy 350 <Gc < 700 J m−2). This is achieved through a multiphase soft composite consisting of an elastomeric and adhesive epoxy network with dispersed liquid metal droplets that are bridged by silver flakes, which form a flexible and conductive percolated network. These inks can be processed through masked deposition and direct ink writing at room temperature. This enables soft conductive wiring and robust integration of rigid components onto flexible substrates to create hybrid electronics for emerging applications in soft electronics, soft robotics, and multifunctional systems.

Ultraflexible Wireless Imager Integrated with Organic Circuits for Broadband Infrared Thermal Analysis.

Flexible imagers are currently under intensive development as versatile optical sensor arrays, designed to capture images of surfaces and internals, irrespective of their shape. A significant challenge in developing flexible imagers is extending their detection capabilities to encompass a broad spectrum of infrared light, particularly terahertz (THz) light at room temperature. This advancement is crucial for thermal and biochemical applications. In this study, a flexible infrared imager is designed using uncooled carbon nanotube (CNT) sensors and organic circuits. The CNT sensors, fabricated on ultrathin 2.4µm substrates, demonstrate enhanced sensitivity across a wide infrared range, spanning from near-infrared to THz wavelengths. Moreover, they retain their characteristics under bending and crumpling. The design incorporates light-shielded organic transistors and circuits, functioning reliably under light irradiation, and amplifies THz detection signals by a factor of 10. The integration of both CNT sensors and shielded organic transistors into an 8 × 8 active-sensor matrix within the imager enables sequential infrared imaging and nondestructive assessment for heat sources and in-liquid chemicals through wireless communication systems. The proposed imager, offering unique functionality, shows promise for applications in biochemical analysis and soft robotics.

Multivapor-Responsive Controlled Actuation of Starch-Based Soft Actuators.

Multivapor-responsive biocompatible soft actuators have immense potential for applications in soft robotics and medical technology. We report fast, fully reversible, and multivapor-responsive controlled actuation of a pure cassava-starch-based film. Notably, this starch-based actuator sustains its actuated state for over 60 min with a continuous supply of water vapor. The durability of the film and repeatability of the actuation performance have been established upon subjecting the film to more than 1400 actuation cycles in the presence of water vapor. The starch-based actuators exhibit intriguing antagonistic actuation characteristics when exposed to different solvent vapors. In particular, they bend upward in response to water vapor and downward when exposed to ethanol vapor. This fascinating behavior opens up new possibilities for controlling the magnitude and direction of actuation by manipulating the ratio of water to ethanol in the binary solution. Additionally, the control of the bending axis of the starch-based actuator, when exposed to water vapor, is achieved by imprinting-orientated patterns on the surface of the starch film. The effect of microstructure, postsynthesis annealing, and pH of the starch solution on the actuation performance of the starch film is studied in detail. Our starch-based actuator can lift 10 times its own weight upon exposure to ethanol vapor. It can generate force ∼4.2 mN upon exposure to water vapor. To illustrate the vast potential of our cassava-starch-based actuators, we have showcased various proof-of-concept applications, ranging from biomimicry to crawling robots, locomotion near perspiring human skin, bidirectional electric switches, ventilation in the presence of toxic vapors, and smart lifting systems. These applications significantly broaden the practical uses of these starch-based actuators in the field of soft robotics.

Viscoelastic Dynamics of Photothermal‐Responsive Liquid Crystal Elastomer Fibers

AbstractLiquid crystal elastomers (LCEs) with photo‐responsive properties, typically driven by either photochemical or photothermal mechanisms, have found extensive applications as, for example, actuators in soft robots. However, intricate temperature‐dependent viscoelasticity of LCEs poses a challenge, leading to a notable gap in the domain of dynamic models for photothermal‐responsive LCE (PTR‐LCE) fibers. Here, a fundamental framework is proposed for accurate modeling and real‐time simulations of PTR‐LCE fiber dynamics. The PTR‐LCE fiber is described as a one‐dimensional (1D) string model that decomposes the fiber deformation into active and passive parts, which are characterized by an order parameter and a temperature‐dependent linear viscoelasticity model, respectively. Then, independent experimental measurements of model parameters are conducted, and a numerical algorithm is developed to solve the model, which is validated for convergence, time efficiency, and accuracy. Finally, the model is employed to simulate both open‐loop and Proportional‐Integral‐Derivative (PID) control of actuators made of PTR‐LCE fibers. The results confirm the advantages of this model over previous models. This work not only reveals the physical mechanisms underlying the PTR‐LCE fiber dynamic behaviors but also provides inspirations for more efficient and precise soft robotic applications.

Self-deployable contracting-cord metamaterials with tunable mechanical properties.

Recent advances in active materials and fabrication techniques have enabled the production of cyclically self-deployable metamaterials with an expanded functionality space. However, designing metamaterials that possess continuously tunable mechanical properties after self-deployment remains a challenge, notwithstanding its importance. Inspired by push puppets, we introduce an efficient design strategy to create reversibly self-deployable metamaterials with continuously tunable post-deployment stiffness and damping. Our metamaterial comprises contracting actuators threaded through beads with matching conical concavo-convex interfaces in networked chains. The slack network conforms to arbitrary shapes, but when actuated, it self-assembles into a preprogrammed configuration with beads gathered together. Further contraction of the actuators can dynamically tune the assembly's mechanical properties through the beads' particle jamming, while maintaining the overall structure with minimal change. We show that, after deployment, such metamaterials exhibit pronounced tunability in bending-dominated configurations: they can become more than 35 times stiffer and change their damping capability by over 50%. Through systematic analysis, we find that the beads' conical angle can introduce geometric nonlinearity, which has a major effect on the self-deployability and tunability of the metamaterial. Our work provides routes towards reversibly self-deployable, lightweight, and tunable metamaterials, with potential applications in soft robotics, reconfigurable architectures, and space engineering.