Applications In Soft Robotics Research Articles

Low‐Temperature Flexibility of Chiral Organic Crystals with Highly Efficient Second‐Harmonic Generation

Flexible crystals with unique mechanical properties have presented enormous applications in optoelectronics, soft robotics and sensors. However, there have been no reports of low‐temperature‐resistant flexible crystals with second‐order nonlinear optical properties (NLO). Here, we report the flexible chiral Schiff‐base crystals capable of efficient second harmonic generation (SHG). Both enantiomers and racemic modifications of these crystals are mechanically flexible in two directions at both room temperature and at ‐196 °C, although their mechanical responses differ. The enantiomers display SHG with an intensity of up to 12 times that of potassium dihydrogenphosphate (KDP) when pumped at 980 nm, and they also have high laser‐induced damage thresholds (LDT). Even when bent, the crystals retain strong second harmonic generation, although with a different intensity distribution depending on the polarization, compared to when they are straight. This work describes the first instance of flexible organic crystal with NLO properties and lays the foundation for the development of mechanically flexible organic NLO materials.

Advanced Materials for Energy Harvesting and Soft Robotics: Emerging Frontiers to Enhance Piezoelectric Performance and Functionality.

Piezoelectric energy harvesting captures mechanical energy from a number of sources, such as vibrations, the movement of objects and bodies, impact events, and fluid flow to generate electric power. Such power can be employed to support wireless communication, electronic components, ocean monitoring, tissue engineering, and biomedical devices. A variety of self-powered piezoelectric sensors, transducers, and actuators have been produced for these applications, however approaches to enhance the piezoelectric properties of materials to increase device performance remain a challenging frontier of materials research. In this regard, the intrinsic polarization and properties of materials can be designed or deliberately engineered to enhance the piezo-generated power. This review provides insights into the mechanisms of piezoelectricity in advanced materials, including perovskites, active polymers, and natural biomaterials, with a focus on the chemical and physical strategies employed to enhance the piezo-response and facilitate their integration into complex electronic systems. Applications in energy harvesting and soft robotics are overviewed by highlighting the primary performance figures of merits, the actuation mechanisms, and relevant applications. Key breakthroughs and valuable strategies to further improve both materials and device performance are discussed, together with a critical assessment of the requirements of next-generation piezoelectric systems, and future scientific and technological solutions.

Single glass and polymer coated phosphate glass microwire photoactuators with instant response times and large actuating angles

Over the years significant scientific attention has been given towards the design of advanced photoactuating architectures as they are important elements for various optical tweezers, grippers, and soft robot applications. Most of the currently available photoactuators, rely on the existence of a free-space illumination pathway from the light sources to the device or on the employment of bendable optical fibers, while consisting of two or more elements, i.e. the photoactuating material and the substrate. Herein, we report on a facile method of preparing single-component pristine microwires (MWs) that exhibit photoactuating features upon utilizing a soft phosphate glass doped with silver nanoparticles (AgNPs), without the need of any additional photoactuating element. The developed photoactuators exhibited bending angles of around 110°, within a couple of seconds. In addition, we have fabricated double-component polymer-coated phosphate glass MWs photoactuators, upon employing PDMS coatings on the surface of the so-formed glass MWs. The introduction of the polymer component boosts the bending angle of the photoactuating device to over 200° within the a few seconds upon modest laser irradiation. The presence of AgNPs within the glass MWs, play a key role on the remarkable performance of the developed photoactuators, both in terms of actuating angles as well as of the respective response times, since they assist on the effective transmission of laser irradiation energy to thermal energy. The fabrication method reported here appears promising for the development of high-performance and low-cost free-space, as well as fiber-based photoactuators.

Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable Three-Dimensional Deformations for Dexterous Soft Robotics Applications.

Numerous soft actuators based on pneumatic network (PneuNet) design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is that their action is predetermined during the fabrication process, thereby restricting the ability to modify or alter their function during operation. To address this shortcoming, in this article the design of a Reconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. The working principle of the RT-SPA is analogous to the conventional PneuNet. The key distinction between the two lies in the ability of the RT-SPA to undergo controlled transformations, allowing for more versatile bending and twisting motions in various directions. Furthermore, the unique reconfigurable design of the RT-SPA enables the selection of actuation units with different sizes to achieve a diverse range of three-dimensional deformations. This versatility enhances the RT-SPA's potential for adaptation to a multitude of tasks and environments, setting it apart from traditional PneuNet. The article begins with a detailed description of the design and fabrication of the RT-SPA. Following this, a series of experiments are conducted to evaluate the performance of the RT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, and object manipulation are demonstrated to illustrate the versatility of the RT-SPA across different aspects.

Janus Swarm Metamaterials for Information Display, Memory, and Encryption.

Metamaterials are emerging as an unconventional platform to perform computing abstractions in physical systems by processing environmental stimuli into information. While computation functions have been demonstrated in mechanical systems, they rely on compliant mechanisms to achieve predefined states, which impose inherent design restrictions that limit their miniaturization, deployment, reconfigurability, and functionality. Here, a metamaterial system is described based on responsive magnetoactive Janus particle (MAJP) swarms with multiple programmable functions. MAJPs are designed with tunable structure and properties in mind, that is, encoded swarming behavior and fully reversible switching mechanisms, to enable programmable dynamic display, non-volatile and semi-volatile memory, Boolean logic, and information encryption functions in soft, wearable devices. MAJPs and their unique swarming behavior open new functions for the design of multifunctional and reconfigurable display devices, and constitute a promising building block to develop the next generation of soft physical computing devices, with growing applications in security, defense, anti-counterfeiting, camouflage, soft robotics, and human-robot interaction.

Spring-reinforced pneumatic actuator and soft robotic applications

Abstract Compared to rigid-structure robots, soft robots possess higher degrees of freedom and stronger environmental adaptability, which has aroused increasing attention in the robotic field. Among them, soft pneumatic robots have excellent performances in various practical applications. However, the nonlinearity and instability of pressure response of soft actuators caused by lateral expansion come to a great challenge. To address this problem, we proposed to embed a spring constraint layer around each single air chamber. Following the design concept, we obtained single-cavity and multi-DoF pneumatic actuators and evaluated their elongation and bending characteristics. Experimental results demonstrated that our proposed actuators have more linear pressure response as well as higher consistency. Eventually, through robotic applications, including soft robotic hand and gripper our proposed actuators could facilitate flexible manipulation and elaborate performance.

Novel 4D-printed multi-stable metamaterials: programmability of force-displacement behaviour and deformation sequence.

The unique properties of metamaterials are determined by the configuration and spatial arrangement of artificially designed unit structures. However, the configuration and mechanical properties of conventional metamaterials are challenging to reverse and adjust. Based on curved beams, two types of novel three-dimensional (3D) multi-stable metamaterials with reconfigurable deformation and tunable mechanical properties are designed and fabricated using a four-dimensional (4D) printing method. The effects of temperature and curved-beam thickness on the force-displacement curves and multi-stable snapping sequence of the 3D multi-stable metamaterials are investigated by finite-element analysis (FEA) and experiments. In addition, based on the designed four-branch multi-stable metamaterials, three- and six-branched multi-stable structures are designed by changing the number of curved-beam branches. It is shown that, owing to shape memory effects, the 3D multi-stable metamaterials can realize mechanical programmability, and the multi-stable deformation sequence can be precisely regulated by varying the temperature and curved-beam thickness. These 4D-printed multi-stable metamaterials provide valuable contributions to the design of programmable multi-stable metamaterials and their applications in soft robots and intelligent structures. This article is part of the theme issue 'Current developments in elastic and acoustic metamaterials science (Part 1)'.

Buckling-inspired triboelectric sensor for multifunctional sensing of soft robotics and wearable devices

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75 %. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring.

A soft robotic system imitating the multimodal sensory mechanism of human fingers for intelligent grasping and recognition

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, we have innovatively designed a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing has achieved a recognition accuracy of 98.43 % for different objects. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety.

Tremendous Stiffness‐Changing Polymer Networks Enabled by Touch‐Induced Crystallization

AbstractStiffness‐changing polymers are critically needed for intelligent and adaptive applications in soft robotics and wearable electronics; however, they suffer from the requirement of persistent external stimulation. Herein, a stiffness‐changing polymer network impregnated with a supercooled ionic liquid is introduced, which undergoes touch‐induced crystallization from a soft ionogel to a stiff plastic. The network exhibits a remarkable tunability in stiffness change, with the highest value exceeding 190 000 times between the soft and stiff states (3.5 kPa vs 691.1 MPa). This tremendous transition is achieved through the first‐order liquid–solid phase transition of the supercooled ionic liquid, which is highly reversible and isochoric via a heating‐cooling process. Unlike traditional stimuli, only a single touch is needed without sustained stimulation to trigger the stiffening from soft to stiff states. Importantly, the touch‐responsive polymer network can be extended to various types of ionic liquids and monomers, indicating excellent strategic versatility. Moreover, this unique ionogel exhibits switchable adhesiveness and ionic conductivity, effectively demonstrating smart adhesives and ionic switches with enhancements of more than 66 and 5800 times, respectively. This work provides a facile and versatile strategy for designing stable stiffness‐changing polymers, unlocking significant potential applications for next‐generation smart devices.

Thermoresponsiveness Across the Physiologically Accessible Range: Effect of Surfactant, Cross-Linker, and Initiator Content on Size, Structure, and Transition Temperature of Poly(N-isopropylmethacrylamide) Microgels.

The influence of surfactant, cross-linker, and initiator on the final structure and thermoresponse of poly(N-isopropylmethacrylamide) (pNIPMAM) microgels was evaluated. The goals were to control particle size (into the nanorange) and transition temperature (across the physiologically accessible range). The concentration of the reactants used in the synthesis was varied, except for the monomer, which was kept constant. The thermoresponsive suspensions formed were characterized by dynamic light scattering, small-angle X-ray scattering, atomic force microscopy, and rheology. Increasing surfactant, sodium dodecyl sulfate content, produced smaller microgels, as expected, into the nanorange and with greater internal entanglement, but with no change in phase transition temperature (LCST), which is contrary to previous reports. Increasing cross-linker, N,N-methylenebis acrylamide, content had no impact on particle size but reduced particle deformability and, again contrary to previous reports of decreases, progressively increased the LCST from 39 to 46 °C. The unusual LCST trends were confirmed using different rheological techniques. Initiator, potassium persulfate, content was found to weakly influence the outcomes. An optimized content was identified that provides functional nanogels in the 100 nm (swollen) size range with controlled LCST, just above physiological temperature. The study contributes chemistry-derived design rules for thermally responsive colloidal particles with physiologically accessible LCST for a variety of biomedical and soft robotics applications.

In-situ characterization of dynamic electromechanical properties for PVC gel actuators

PVC gel actuator possesses the advantages including low driving voltage, substantial deformation, and high output force, making it ideal for applications in micro-lenses, assistive rehabilitation, and soft robotics. However, there remains a lack of in-situ characterization and quantitative analysis of plasticizer migration and charge transfer within PVC gel, resulting in an unclear understanding of changes in the plasticizer content, mechanical and electrical properties of the enrichment layer. In this study, we conducted in-situ characterization of plasticizer migration and charge transfer within PVC gel, and analyzed the change of plasticizer content, mechanical and electrical properties. In-situ Raman spectroscopy results revealed that plasticizer migration takes time to reach equilibrium, resulting in a gradient distribution of plasticizer content within the enrichment layer. Furthermore, in-situ broadband impedance analysis demonstrated that stimulation voltage induces changes in the material's electrical properties, transitioning from uniform electrical characteristics to distinct properties between the gel layer and the enrichment layer. Notably, we established a mathematical relationship between modulus and plasticizer content, revealing a gradient distribution of modulus within the enrichment layer. This study not only contributes to understanding the underlying mechanisms of mechanical and electrical properties variations within PVC gel, but also provides valuable insights for optimizing the actuation performance of PVC gel actuators.

Fast Responsive and High-Strain Electro-Ionic Soft Actuator Based on the 3D-Structure MXene-EGaIn/MXene Bilayer Composite Electrode.

Electro-ionic soft actuators have garnered significant attention owing to their promising applications in flexible electronics, wearable devices, and soft robotics. However, achieving high actuation performance (large bending strain and fast response time) of these soft actuators under low voltage has been challenging due to issues related to ion diffusion and accumulation. In this study, an electro-ionic soft actuator is fabricated using Ti3C2Tx MXene and eutectic gallium-indium (EGaIn) composite material as the bilayer electrode and methylammonium formate/1-ethyl-3-methylimidazolium tetrafluoroborate/poly(vinylidene fluoride) (MAF-EMIMBF4/PVDF) as the ionic liquid-type electrolyte. The research results indicate that the prepared soft actuator exhibits excellent actuation performance with a peak-to-peak displacement of 35 mm and a bending strain of 0.69% (a peak-to-peak strain of 1.38%) under a low voltage (3 V). The electro-ionic soft actuator shows a wide frequency range (0.1-10 Hz), fast response time (0.35 s), and a rise time of 7.5 s. Furthermore, it demonstrates good cyclic durability, with a retention rate of 92.5% of its performance for 10 000 cycles. These excellent performances are attributed to the 3D structure of the Ti3C2Tx-EGaIn/Ti3C2Tx bilayer composite electrode, as well as the characteristics of the low viscosity, high conductivity, small ion volume, and larger volume difference between cations and anions in MAF ionic liquid. The high-performance electro-ionic soft actuator can be used in various fields such as artificial muscles, tactile devices, and soft robots.

An afferent nerve-like electronic device with somatic mechanical perception and sensation management

Tactile and pain perception are essential for biological skin to interact with the external environment. This complex interplay of sensations allows for the detection of potential threats and appropriate responses to stimuli. However, the challenge is to enable flexible electronics to respond to mechanical stimuli such as biological skin, and researchers have not clearly reported the successful integration of somatic mechanical perception and sensation management functions into neuro-like electronics. In this work, an afferent nerve-like device with a pressure sensor and a perception management module is proposed. The pressure sensor comprises two conductive fabric layers and an ionic hydrogel, forming a capacitor structure that emulates the swift transition from tactile to pain perception under mechanical stimulation. Drawing inspiration from the neuronal “gate control” mechanism, the sensation management module adjusts signals in response to rubbing, accelerating the discharge process and reducing the perception duration, thereby replicating the inhibitory effect of biological neurons on pain following tactile interference. This integrated device, encompassing somatic mechanical perception and sensation management, holds promise for applications in soft robotics, prosthetics, and human-machine interaction.

Ultra-Tough, yet Rigid and Healable Supramolecular Polymers with Variable Stiffness for Multimodal Actuators.

Variable stiffness materials have shown considerable application in soft robotics. However, previously reported materials often struggle to reconcile high stiffness, stretchability, toughness, and self-healing ability, because of the inherently conflicting requisite of these properties in molecular design. Herein, we propose a novel strategy that involves incorporating acid-base ionic pairs capable of from strong crosslinking sites into a dense and robust hydrogen-bonding network to construct rigid self-healing polymers with tunable stiffness and excellent toughness. To demonstrate these distinct features, the polymer was employed to serve as the strain-regulation layers within a fiber-reinforced pneumatic actuator (FPA). The exceptional synergy between the configuration versatility of FPA and the dynamic molecular behavior of the supramolecular polymers equips the actuator with simultaneous improvement in motion dexterity, multimodality, loading capacity, robustness, and durability. Additionally, the concept of integrating high dexterity at both macro- and micro-scale is prospective to inspire the design of intelligent yet robust devices across various domains.

A Planar Coil-Based Inductive Bend Sensor for Soft Robotic Applications

A Planar Coil-Based Inductive Bend Sensor for Soft Robotic Applications

Soft robotic actuators with asymmetrically engineered liquid crystal elastomers

Physical intelligence uses material properties and structural design for actuation. This study designed an asymmetrical cylinder with metal needles, springs, and inorganic salt. When heated, it generates a twisting force that induces rolling by shifting the center of gravity. Cylindrical liquid crystal elastomers (CLCEs) were used as wheels in a cargo transfer device. Additionally, actuators capable of grabbing were developed using particle-doped CLCEs with salt and PDA particles. These asymmetrical CLCEs show potential for soft robot applications, including AI components and polymeric light/heat control systems. BackgroundFew reports exist on shifting the center of gravity in liquid crystal elastomers with dopants, enabling rotation or bending. MethodsTo fabricate CLCEs with asymmetric constructions, different dopants and particles were mixed with an LCE mixture and injected into a cylindrical glass substrate for polymerization. Significant findingsThis study demonstrates the creation of CLCEs with shifted centers of gravity through various dopants and twisting angles. These elastomers can roll, making them ideal for cargo transfer, with movement speed controllable by adjusting temperature, dopants, and twisting angles. They also hold promise for developing robotic arms that can grasp objects, controlled through heat or light exposure.

Fluid Ejections in Nature.

From microscopic fungi to colossal whales, fluid ejections are universal and intricate phenomena in biology, serving vital functions such as animal excretion, venom spraying, prey hunting, spore dispersal, and plant guttation. This review delves into the complex fluid physics of ejections across various scales, exploring both muscle-powered active systems and passive mechanisms driven by gravity or osmosis. It introduces a framework using dimensionless numbers to delineate transitions from dripping to jetting and elucidate the governing forces. Highlighting the understudied area of complex fluid ejections, this review not only rationalizes the biophysics involved but also uncovers potential engineering applications in soft robotics, additive manufacturing, and drug delivery. By bridging biomechanics, the physics of living systems, and fluid dynamics, this review offers valuable insights into the diverse world of fluid ejections and paves the way for future bioinspired research across the spectrum of life.

A stretchable and self-powered strain sensor with elastomeric electret

Stretchable deformation sensors play an important role in the perception and autonomy of soft robots. While various sensors have been reported, the mechanical sensor with self-powered capability and stretchability to suit extreme environment is urgently required. In this study, a stretchable, self-powered, sensitivity adjustable, and long-term stability strain sensor based on the stretchable electret is researched for deformation monitoring. This stretchable and self-powered sensor is composed of the dielectric elastomer with designed elastic modulus gradient and the stretchable electret with elastomeric and Nano-particles. The electro-mechanical capability of this designed sensor is researched and optimized by multi-objective optimization approach. The sensor exhibits self-powered capability, stretchability (tensile strain from 0% to 20%), tunable sensitivity (optimized from 5.7 to 5.9 pC mm−1), and stability, where electromechanical performance remains stable after 8000 stretching cycles. The feasibility of its autonomous sensing which promotes a wide range of potential application in soft robotics is demonstrated. This elastic modulus gradient-induced and net charge design significantly broadened the potential applications with large deformation and low-attached stiffness.

Amyloid‐based functional materials and their application in flexible sensors

AbstractFlexible electronic devices have garnered increasing attention for their applications in wearable devices, biomedical systems, soft robots, and flexible displays. However, the current sensors face limitations regarding low sensitivity, poor stability, and inadequate adhesion bonding between stimuli‐responsive functional materials and flexible substrates. To overcome these challenges and enable the further development of sensor devices, surface modification of stimuli‐responsive materials with amyloid aggregates has emerged as a promising approach to enhance functionality and create superior multifunctional sensors. This review presents recent research advancements in the flexible sensors based on protein amyloid aggregation. The article begins by explaining the basic principles of protein amyloid aggregation, followed by outlining the process of preparing 1D to 3D amyloid‐based composite materials. Finally, it discusses the utilization of protein amyloid aggregation as a surface modification technique for developing flexible sensors. Based on this foundation, we identify the shortcomings associated with protein amyloid aggregate composites and propose possible solutions to address them. We believe that comprehensive investigations in this area will expedite the development of high‐performance flexible sensors with high sensitivity, high structural stability, and strong interface adhesion, especially the implantable flexible sensors for health monitoring.