Applications In Soft Robotics Research Articles

Superhydrophobic, flexible and high thermal stable ANFs/CNTs film for controllable light driven actuators

Superhydrophobic and light-responsive actuators (SLRAs) can be driven to move on water surface remotely and in a non-contact manner, and have shown promising applications in soft robotics, environmental protection, etc. It remains a big challenge to develop high performance SLRAs with excellent thermal stability, fast light responsivity and controllable motion. Here, we propose a layer-by-layer vacuum filtration method to prepare flexible, freestanding and superhydrophobic composite films composed of alternately deposited oleylamine modified acid carbon nanotubes (O-ACNTs) and aramid nanofibers (ANFs). The composite film has excellent thermal stability with the maximum weight loss rate temperature as high as 520 ℃. The closely packed structure and strong interlayer interaction ensure the surface stability and durability of the composite film. The composite film possesses excellent photothermal conversion performance, and can maintain the structure integrity without deformation when its surface temperature reaches 208 °C. When used as a self-propelled actuator, the SLRA film can response to the light quickly and move on the water surface, and the motion speed and direction can be controlled by adjusting the irradiation intensity and position. The outstanding thermal stability guarantees the stability and reliability of the self-propelled motions. The present study opens a new avenue to design high performance SLRAs.

Lightweight Soft Conductive Composites Embedded with Liquid Metal Fiber Networks

AbstractLiquid metal composites are promising soft conductors for applications in soft electronics, sensors, and soft robotics. Existing liquid metal composites usually have a high‐volume fraction of liquid metal, which not only increases the density but also the material cost. Future applications in soft electronics and robotics highly demand liquid metal composites with low density and high conductivity for large‐scale, low‐cost, lightweight, and more sustainable applications. In this work, lightweight and highly conductive composites embedded with liquid metal fiber networks are synthesized. This new paradigm of liquid metal composites consists of an interconnected liquid metal fiber network embedded in a compliant rubber matrix. The liquid metal fiber network serves as an ultra‐lightweight conductive pathway for electrons. Experiments indicate that this soft conductive composite also possesses nearly strain‐insensitive conductance and superior cyclic stability. Potential applications of the composite films as stretchable interconnects, electrodes, and sensors are demonstrated.

A stretchable all-nanofiber iontronic pressure sensor

Flexible pressure sensors with high stretchability, sensitivity, and stability are undoubtedly urgently required for potential applications in intelligent soft robots, human-machine interaction, health monitoring, and other fields. However, most current flexible pressure sensors are unable to endure large deformation and are prone to performance degradation or even failure during frequent operation due to their multilayered structures. Here, we propose a stretchable all-nanofiber iontronic pressure sensor that is composed of ionic nanofiber membranes used as dielectric layers and liquid metal used as electrodes. This sensor exhibits a high sensitivity of 1.08 kPa-1 over a wide range of 0-300 kPa, with a fast response-relaxation time of about 18/22 ms and excellent stability. The high sensitivity comes from the electric double layer formed at the ionic film/electrode interface, while high stretchability and stability are enabled by in-situ encapsulated all-nanofiber structures. As a proof of concept, a prototype sensor array is integrated into a soft pneumatic gripper, demonstrating its capability of pressure perception and object recognition during the grasping process. Thus, the scheme provides another excellent strategy to fabricate stretchable pressure sensors with superb performance in terms of high stretchability, sensitivity, and stability.

Degradable Elastomeric Silk Biomaterial for Flexible Bioelectronics.

The integration of degradable and biomimetic approaches in material and device development can facilitate the next generation of sustainable (bio) electronics. The use of functional degradable materials presents exciting opportunities for applications in healthcare, soft robotics, energy, and electronics. These include conformability to curved surfaces, matching of stiffness of tissue, and the ability to withstand mechanical deformations. Nature-derived materials such as silk fibroin (SF) provide excellent biocompatibility, resorbability, and tunable properties toward such goals. However, fibroin alone lacks the required mechanical properties and durability for processing in biointegrated electronics and dry conditions. To overcome these limitations, we report on an elastomeric photocurable composite of silk fibroin and poly(dimethylsiloxane) (PDMS). Photofibroin (containing methacryl functionalities) is doped with photoPDMS (methacryloxypropyl-terminated poly(dimethylsiloxane)) to form an elastomeric photofibroin (ePF) composite. The elastomeric silk is photocurable, allowing for microfabrication using UV photolithography. It is suitable for circuits, strain-sensing devices, and biointegrated systems. The ePF exhibits flexibility in both wet and dry conditions, enhanced mechanical strength and long-term durability, and optical transparency. It is stable at high temperatures, compatible with electronic materials, and cytocompatible while being enzymatically degradable. This work therefore highlights a path toward combining natural and synthetic materials to achieve versatile properties and demonstrates the potential of silk fibroin composites in (bio) electronics, encapsulation, and packaging.

Development of a phase-change material-based soft actuator for soft robotic gripper functionality: In-depth analysis of material composition, ethanol microbubble distribution and lifting capabilities

Soft actuators have numerous applications in soft robotics due to their capability of mimicking quite complex motions observed in living things with deformable organs. In the present research, a programmable, low-cost soft actuator based on phase-change material (PCM) composites is developed, using silicon rubber as the matrix, ethanol as the phase-change fluid, and carbon fabric as the conductive path which generates the required heat for actuation. The required pressure for actuation is provided by the electrically-induced phase transition of the PCM (30W electrical power supply). FESEM images illustrate the homogenous distribution of ethanol microbubbles within the active area, with an average diameter of 14.66 μm, and their absence inside the passive layer. The temperature is monitored by an internal thermal sensor placed inside the composite, and controlled to prevent overheating (T > 80 °C) in the active area. The gripper fabricated by using this composite produces considerable motion using a low-voltage driving force (∼30 V). Moreover, it undergoes a sizeable displacement (∼9 cm) and bending angle (∼50°), considering the low amount of power input (30W). Additionally, the tip of the gripper reaches the maximum velocity of ∼1 mm s−1, and the designed sample is capable of lifting objects with varying shapes and weights (from ∼10g to ∼300g).

Bio-inspired soft pneumatic actuator based on a kresling-like pattern with a rigid skeleton

IntroductionBiomimetic soft pneumatic actuators (SPA) with Kresling origami patterns have unique advantages over conventional rigid robots, owing to their adaptability and safety. ObjectivesInspired by cloning and moving behaviors observed from salps, we proposed an SPA based on a Kresling-like pattern with a rigid skeleton. The elongation and output force were tested, and the effectiveness of the applications with the SPA was evaluated. MethodsThe proposed SPA consists of rigid skeletons and a soft skin. The rigid skeletons are constructed using layers of Kresling-like patterns, while a novel extensible inserting structure is devised to replace the folds found in conventional Kresling patterns. This innovative approach ensures that the SPA exhibits axial contraction/expansion motion without any twisting movement. To mimic the bionic characteristics of swimming and ingesting progress of salps, the proposed SPA can perform an axial contraction motion without twisting and a controllable bending motion based on multi-layered Kresling-like patterns; to mimic the cloning and releasing life phenomena of salps, the number of layers of Kresling-like patterns is changeable by adding or reducing skeleton components according to the practical needs. ResultsThe experimental elongation results on the SPA with multiple layers of Kresling-like patterns show that the elongation can increase to above 162% by adding layers; the experimental output force results show that the three-layer SPA can provide 6.36 N output force at an air flow rate of 10 L/min, and the output force will continue to increase as the number of layers of Kresling-like pattern increases or the air flow rate increases. Further, we demonstrate the applications of the SPA in soft grippers, scissor grippers, claw grippers and pipe crawlers. ConclusionOur proposed SPA can avoid twisting in the radial contraction motion with high elongation and output force, and provide the practical guidance for bio-inspired soft robotic applications.

Thermoresponsive double-network hydrogel/elastomer hybrid bilayer laminates with high interfacial toughness and controllable shape deformations

Thermoresponsive hydrogel-based actuators have shown great potential in tissue engineering, biosensors and soft robots, while the preparation of temperature-driven bilayer hydrogel actuators with rapid responseness and recovery properties remains a challenge. Inspired by the layered heterostructure of human skin, we developed a Janus bilayer structure actuator consisting of thermoresponsive double network (TDN) hydrogel and polydimethylsiloxane (PDMS) elastomer with tough interface adhesion. Specifically, PNaAMPS/P(NIPAM-co-AAm) TDN hydrogel via photocopolymerization of N-isopropyl acrylamide (NIPAM) and acrylamide (AAm) and reinforced by microgel poly(2-acrylamide-2-methylpropane sulfonate sodium salt) (PNaAMPS) was in situ grafted onto benzophenone-activated PDMS surface, exhibiting strong interface adhesion (628 Jm-2 adhesion energy). The thermoresponsive shape deformations of the double-layer structure actuator were controllable by adjusting hydrogel/elastomer thickness ratio and introduction of metal ions, taking advantage of the different swelling and shrinkage characteristics of the hydrogel layer and the elastomer layer. The TDN/PDMS bilayer structure actuator, which integrates the "Janus" structure, thermal responsiveness and photothermal conversion, provides new ideas for the application and remote control of soft robots and soft actuators.

Biocompatible, 3D Printable Magnetic Soft Actuators – Ink Formulation, Rheological Characterization and Hydrogel Actuator Prototypes

Abstract3D printable inks for the preparation of magnetic hydrogel actuators are difficult to formulate because magnetic nanoparticles tend to aggregate without stabilization through other ink components. At the same time, such inks need to be shear‐thinning and recover their high viscosity state sufficiently fast to be suitable for the printing process. Here, the use of chitosan as dispersing agent for Fe2O3 nanoparticles is reported. Combined with Pluronic F127 as a rheology modifier and acrylamide as the base monomer, thermoresponsive and shear‐thinning magnetic inks containing well‐dispersed particles are obtained. The ink viscosity is tuned over two orders of magnitude by varying the chitosan and Pluronics F127 content. 3D‐printed shapes with good shape fidelity are obtained at a print bed temperature of 50 °C, where aggregation of the Pluoronics F127 micelles occurs. This leads to a fast recovery of the high viscosity state of the material, so that the printed shape can then be locked in by UV cross‐linking. This treatment yielded magneto‐responsive prototypes which are promising for soft robotics applications. Thanks to the simplicity of the ink formulation, it is easily transferable also to nonspecialist laboratories, and the concept is potentially applicable also to other types of nanoparticles.

Liquid Crystal Networks Meet Water: It's Complicated!

Soft robots are composed of compliant materials that facilitate high degrees of freedom, shape-change adaptability, and safer interaction with humans. An attractive choice of material for soft robotics is crosslinked networks of liquid crystal polymers (LCNs), as they are responsive to a wide variety of external stimuli and capable of undergoing fast, programmable, complex shape morphing, which allows for their use in a wide range of soft robotic applications. However, unlike hydrogels, another popular material in soft robotics, LCNs have limited applicability in flooded or aquatic environments. This can be attributed not only to the poor efficiency of common LCN actuation methods underwater but also to the complicated relationship between LCNs and water. In this review, the relationship between water and LCNs is elaborated and the existing body of literature is surveyed where LCNs, both hygroscopic and non-hygroscopic, are utilized in aquatic soft robotic applications. Then the challenges LCNs face in widespread adaptation to aquatic soft robotic applications are discussed and, finally, possible paths forward for their successful use in aquatic environments are envisaged.

A BTO/PVDF/PDMS Piezoelectric Tangential and Normal Force Sensor Inspired by a Wind Chime.

There is a growing demand for flexible pressure sensors in environmental monitoring and human-robot interaction robotics. A flexible and susceptible sensor can discriminate multidirectional pressure, thus effectively detecting signals of small environmental changes and providing solutions for personalized medicine. This paper proposes a multidimensional force detection sensor inspired by a wind chime structure with a three-dimensional force structure to detect and analyze normal and shear forces in real time. The force-sensing structure of the sensor consists of an upper and lower membrane on a polydimethylsiloxane substrate and four surrounding cylinders. A piezoelectric hemisphere is made of BTO/PVDF/PDMS composite material. The sensor columns in the wind chime structure surround the piezoelectric layer in the middle. When pressure is applied externally, the sensor columns are connected to the piezoelectric layer with a light touch. The piezoelectric hemisphere generates a voltage signal. Due to the particular structure of the sensor, it can accurately capture multidimensional forces and identify the direction of the external force by analyzing the position of the sensor and the output voltage amplitude. The development of such sensors shows excellent potential for self-powered wearable sensors, human-computer interaction, electronic skin, and soft robotics applications.

Spatially-selective enhancement of mechanical strength through localized cross-linking of double network hydrogels

To advance the development of flexible materials for soft robotics applications, it is crucial to enhance the elastic modulus and breaking the stress of soft materials, such as hydrogels. Double network hydrogels (DN gels) have displayed remarkable mechanical strength owing to their unique network structure composed of two types of polymer networks. However, current fabrication methods for DN gels entail cross-linking two distinct hydrogel polymers throughout the entire hydrogel matrix. In this study, we focused on employing multi-photon polymerization (MPP) with femtosecond laser pulses as a cross-linking method for hydrogels to achieve spatially selective formation of DN gel structures at the micrometer scale, along with the consequent improvement in local mechanical strength. We assessed the mechanical properties of the fabricated structures and confirmed that the mechanical strength varied within the regions where DN gel was locally formed.

Soft magnetic wood composites with chain-aligned Fe3O4 nanoparticles for magnetically driven actuators

Intelligently responsive wood-derived materials have long been sought due to their sustainability, earth abundance, and low carbon footprint, with promising applications in sensors, flexible electronics, and soft robotics. However, insensitive responsiveness and unsatisfactory mechanical properties have hindered the development of intelligent drive systems. This work reports on soft magnetic wood composite (SMWC) with a sandwich structure consisting of densified wood and polydimethylsiloxane (PDMS) mixed with Fe3O4. We treat natural wood chemically to improve flexibility, especially the lignin partial removal while keeping the wood structure intact. Benefiting from densification and magnetic-assisted techniques, multilayer SMWC with chain-arranged Fe3O4 can be prepared, which exhibits 183.5 MPa mechanical strength along the longitudinal direction, flexible bending capacity, a water contact angle of 100.9° and a saturation magnetization strength of 9.81 emu g−1 for 40 wt% Fe3O4. Importantly, the chain arrangement of Fe3O4 facilitates the sensitive control of SMWC compared to non-chain arranged structures. We have designed a star-shaped actuator that demonstrates controlled magnetic response, which can perform transporting cargo through linear and rotational movements on the water. SMWC with chain-aligned Fe3O4 exhibits good flexibility, excellent mechanical properties, and superior magnetic responsiveness, which is essential for exploring the responsiveness of wireless sensors and soft robots.

Inchworm-like Soft Robot with Multi-Responsive Bilayer Films.

As an important branch of robotics, soft robots have the advantages of strong flexibility, a simple structure, and high safety. These characteristics enable soft robots to be widely used in various fields such as biomedicine, military reconnaissance, and micro space exploration. However, contemporary soft crawling robots still face problems such as the single drive mode and complex external equipment. In this study, we propose an innovative design of an inchworm-like soft crawling robot utilizing the synergistic interaction of electricity and moisture for its hybrid dual-drive locomotion. The legs of the soft robot are mainly made of GO-CNT/PE composite film, which can convert its own volume expansion into a corresponding bending motion after being stimulated by electricity or moisture. Unlike other drive methods, it requires less power and precision from external devices. The combination of the two driving methods greatly improves the environmental adaptability of the soft robot, and we developed visible light as the driving method on the basis of the dual drive. Finally, we also verified the robot's excellent load capacity, climbing ability, and optical drive effect, which laid the foundation for the application of soft robots in the future.

Organic radical ferroelectric crystals with martensitic phase transition

Organic martensitic compounds are an emerging type of smart material with intriguing physical properties including thermosalient effect, ferroelasticity, and shape memory effect. However, due to the high structural symmetry and limited design theories for these materials, the combination of ferroelectricity and martensitic transformation has rarely been found in organic systems. Here, based on the chemical design strategies for molecular ferroelectrics, we show a series of asymmetric 1,4,5,8-naphthalenediimide derivatives with the homochiral amine and 2,2,6,6-tetramethylpiperidine-N-oxyl components, which adopt the low-symmetric polar structure and so allow ferroelectricity. Upon H/F substitution, the fluorinated compounds exhibit reversible ferroelectric and martensitic transitions at 399 K accompanied by a large thermal hysteresis of 132 K. This large thermal hysteresis with two competing (meta)-stable phases is further confirmed by density functional theory calculations. The rare combination of martensitic phase transition and ferroelectricity realizes the bistability with two different ferroelectric phases at room temperature. Our finding provides insight into the exploration of martensitic ferroelectric compounds with potential applications in switchable memory devices, soft robotics, and smart actuators.

4d printing of Reprogrammable Liquid Crystal Elastomers with Synergistic Photochromism And Photo-Actuation.

Four-dimensional (4D) printing of liquid crystal elastomers (LCEs) via direct ink writing has opened up great opportunities to create stimuli-responsive actuations for applications such as soft robotics. However, most 4D-printed LCEs are limited to thermal actuation and fixed shape morphing, posing a challenge for achieving multiple programmable functionalities and re-programmability. Here, a 4D-printable photochromic titanium-based nanocrystal (TiNC)/LCE composite ink is developed, which enables the reprogrammable photochromism and photo-actuation of a single 4D-printed architecture. The printed TiNC/LCE composite exhibits reversible color-switching between white and black in response to ultraviolet (UV) irradiation and oxygen exposure. Upon near-infrared (NIR) irradiation, the UV-irradiated region can undergo photothermal actuation, allowing for robust grasping and weightlifting. By precisely controlling the structural design and the light irradiation, the single 4D-printed TiNC/LCE object can be globally or locally programmed, erased, and reprogrammed to achieve desirable photo-controllable color patterns and three-dimensional structure constructions, such as barcode patterns and origami- and kirigami-inspired structures. This work provides a novel concept for designing and engineering adaptive structures with unique and tunable multi-functionalities, which have potential applications in biomimetic soft robotics, smart construction engineering, camouflage, multilevel information storage, etc. This article is protected by copyright. All rights reserved.

Photothermally-driven oxazine hydrogel actuators at the water-air interface

The design of synthetic hydrogels capable of exhibiting smart adaptive behaviors in response to light has gained significant interest to mimic the dynamic structures and functions as we observed in nature. Here we report on the molecular design of a photoresponsive hydrogel by covalently integrating oxazine-based compounds into the crosslinked polymer network through a free radical copolymerization strategy. The resultant oxazine hydrogels are found to be able to display well-controlled temperature variation through a photothermal effect in response to external irradiation with visible light. The light-induced non-uniform temperature variation of these hydrogels at the water-air interface lead to the generation of Marangoni propulsion, which subsequently drives them move as a swimmer. In addition to unidirectional swimming, such hydrogel swimmers are able to display steering, rotating, path-following motion and cargo transporting function by control of external irradiation parameters. Our work provides a useful molecular design strategy for development of other photoactive hydrogels with applications in smart actuators and soft robotics.

Chiral design of tough spring-shaped hydrogels for smart umbrellas

Developing hydrogel artificial muscles to mimic the motion of natural muscles has long attracted scientists from the perspective of materials science for potential applications in soft robotics. However, rational design of hydrogel artificial muscles with large stroke, rapid actuation speed, and high work capacity remains a major challenge. Herein, we reported two kinds of chiral spring-shaped hydrogels that were prepared via consecutive shaping process (e.g., stretching, twisting, folding, coiling, and fixing). By switching the chirality of coil, homochiral muscle and heterochiral muscle were obtained, respectively. Homochiral muscle could rapidly expand to 560% with an average speed of 6.7 % s−1 in response to NIR irradiation, whose maximum work capacity reached 45 J kg−1. On contrary, heterochiral muscle contracted 69% within 1 min under NIR irradiation with a maximum work capacity of 33 J kg−1. Interestingly, the parasol containing homochiral muscles opened autonomously during dehydration process, while the umbrellas containing heterochiral muscle could opened rapidly when water was applied. This work provided an innovative strategy for developing tough hydrogel muscles with opposite chiralities.

Ultrahigh tough, self-healing copolymer elastomer crosslinked by reversible imine system

Improvement of toughness is still a challenge for self-healing materials. Most of self-healing materials difficultly balance the mechanical and self-healing property. Here, a molecular design strategy of copolymer is proposed based on three combinations of reversible imine bond, chain motion and thermosensitive hydrogen bond together. The approach initially forms a co-continuous microphase separation structure and then cross-linked by aromatic imine via esterification reaction and Schiff base reaction, which features efficient self-healing, ultrahigh strength and toughness. The resultant elastomer exhibits a high stress at break (≈3 MPa) and high fracture strain (≈600 %). Additionally, the elastomer can reach 95 % self-healing efficiency after healing at 100 °C for 12 h. Extra reversible imine crosslinking displays a doubly promotion for fracture stress, and unchanging strain as well as 1times increase for self-healing efficiency, compared with merely chain motion and hydrogen bonding. This elastomer can be successfully spun into stretchable, conductive, self-healing filaments with core-shell structure by wet spinning and coating methods. It shows excellent corrosion resistance against NaCl, and conductive and self-healing property after coating by PANI polymer. This new type of self-healing polymer is promising to expand the application in future tissue engineering, soft robotics, and biomedical devices.

High-Performance Supramolecular Organogel Adhesives for Antimicrobial Applications in Diverse Conditions.

Supramolecular organogel coatings that can disinfect the deposited microbial pathogens are emerging as an effective vehicle to prevent pathogen transmission. However, the development of anti-pathogen supramolecular adhesives with mechanical robustness and controlled oil inclusion is technically challenging. Here, we report supramolecular adhesives with mechanical integrity and robust interfacial adhesion over a wide range of biogenic antimicrobial oil. Bifunctional monomers are synthesized and assembled into linear polymers with semicrystalline stackings through hierarchical hydrogen bonds, where incorporated bioactive oil could regulate the semicrystalline stackings into nanosized crystalline domains through intermolecular hydrogen bonds. The abundant bonding motifs provided by the supramolecular cross-linked networks could accommodate oil molecules with high inclusion capability and provide more interfacial binding sites with high adhesion strength, and the nanosized crystalline domains could stabilize the organogel network and compensate for the interactions with oil molecules to enhance structural and mechanical stability. In addition, rapid healing, robust adhesion, and antimicrobial and antiviral properties of the resultant organogel coatings are demonstrated. This study paves the way for the development of high-performance antimicrobial supramolecular adhesives with controlled oil inclusion, showing potential applications in soft robotics, tissue engineering, and biomedical devices.

Ultrastretchable and highly conductive hydrogels based on Fe3+- lignin nanoparticles for subzero wearable strain sensor

Conductive hydrogels have attracted considerable interest for potential applications in soft robotics, electronic skin and human monitoring. However, insufficient mechanical characteristics, low adhesion and unsatisfactory electrical conductivity severely restrict future application possibilities of hydrogels. Herein, lignin nanoparticles (LNPs)-Fe3+-ammonium persulfate (APS) catalytic system was introduced to assemble Poly(2-hydroxyethyl methacrylate)/LNPs/Ca2+ (PHEMA/LNPs/Ca) hydrogels. Due to the abundant metal coordination and hydrogen bonds, the composite hydrogel displayed ultrahigh stretchable capacity (3769 %), adhesion properties (248 kPa for skin) and self-healing performance. Importantly, hydrogel sensors possess with high durability, strain sensitivity (GF = 8.75), fast response time and freeze resistance (−20 °C) that could be employed to monitor motion signals in low-temperature regime. Therefore, the LNPs-Fe3+ catalytic system has great potential in preparing hydrogel for various applications such as human-computer interaction, artificial intelligence, personal healthcare and subzero wearable devices. At the same time, incorporation of natural macromolecules into polymer hydrogels is tremendous research significance for investigating high-value utilization of lignin.