Artificial Actuators Research Articles

Polymer Complex Fiber: Property, Functionality, and Applications.

Polymer complex fibers (PCFs) are a novel kind of fiber material processed from polymer complexes that are assembled through noncovalent interactions. These can realize the synergy of functional components and miscibility on the molecular level. The dynamic character of noncovalent interactions endows PCFs with remarkable properties, such as reversibility, stimuli responsiveness, self-healing, and recyclability, enabling them to be applied in multidisciplinary fields. The objective of this article is to provide a review of recent progress in the field of PCFs. The classification based on chain interactions will be first introduced followed by highlights of the fabrication technologies and properties of PCFs. The effects of composition and preparation method on fiber properties are also discussed, with some emphasis on utilizing these for rational design. Finally, we carefully summarize recent advanced applications of PCFs in the fields of energy storage and sensors, water treatment, biomedical materials, artificial actuators, and biomimetic platforms. This review is expected to deepen the comprehension of PCF materials and open new avenues for developing PCFs with tailor-made properties for advanced application.

Cell Differentiation-Inspired, Salt-Induced Multifunctional Gels for an Intelligent Soft Robot with an Artificial Reflex Arc

To make soft robotics intelligent, dazzling artificial skin and actuators have been created. However, compared to rigid commercial robots, the sophisticated demands of raw materials become a key challenge for autonomous soft actuators to realize manufacturing repeatability and reproducibility. Inspired by the stem cell, which has the potential to differentiate into multifunctional cells with the same original compositions, a potential multifunctional gel is presented. With well-designed polymer chains, the gel has a salt-induced regulating module, conductivity, and other bionic properties. Making use of this advantage, the gel acts as a double-duty electrode for both the actuator and sensor. An artificial reflex arc is therefore formed by their tight integration via an e-brain: a computing unit that specifically responds to organism intervention. This efficient strategy to obtain diverse components with minimal raw materials is promising for effortlessly fabricating fully soft robotics.

Advances in artificial muscles: A brief literature and patent review.

Background: Artificial muscles are an active research area now. Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles' scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics. Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field. Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.

Ultrafast Photothermal Actuators with a Large Helical Curvature Based on Ultrathin GO and Biaxially Oriented PE Films.

In nature, there are some amazing superfast actuations (Venus flytrap) and large-curvature helical deformations (the awn of Erodium). Although many bionic actuators have been made (electrothermal, hygroscopic, photoinduced), most of their actuations are slow and small, not comparable to the wonderful ones in nature. Here, we report an ultrafast photothermal actuator with large-curvature curling based on an ultrathin graphene oxide (GO) and biaxially oriented polyethylene (BOPE) bilayer film (thickness ∼11 μm). By virtue of the fast temperature changing rate (peak: 900 °C s-1 during infrared heating and -1200 °C s-1 during cooling) and the great difference in the coefficient of thermal expansion of GO and BOPE layers, the actuator deforms rapidly and greatly. The maximum bending speed and curvature can reach 5300° s-1 and 22 cm-1, respectively, which are comparable to those of wonderful natural actuators and far exceed the performances of the reported artificial actuators. Different from ordinary helical actuators made of uniaxial anisotropic materials, our actuator is based on a typical biaxial anisotropic material of BOPE. However, the morphing behaviors of this type of actuator have not been reported before. So for the first time, we systematically studied this problem through experiments and simulations using the GO-BOPE actuator as a prototype and have drawn clear conclusions. In addition, functional GO-BOPE actuators capable of winding around and manipulating tiny objects were also designed and developed. We think this ultrafast large-curvature photothermal actuator will have wide application prospects in bionic actuations and dexterous robots.

Edge‐to‐Center Propagation of Photochemical Reaction during Single‐Crystal‐to‐Single‐Crystal Photomechanical Transformation of 2,5‐Distyrylpyrazine Crystals**

AbstractPhotomechanical molecular crystals are promising materials for photon‐powered artificial actuators. To interpret the photomechanical responses, the spatiotemporal distribution of photoproducts in crystals could be an important role in addition to molecular structures, molecular packings, illumination conditions, crystal morphology, crystal size, and so on. In this study, we have found that single crystals of 2,5‐distyrylpyrazine show a smooth single‐crystal‐to‐single‐crystal photomechanical expansion, and the photochemical reaction propagates from the edge to the center of the single crystal. We revealed that the surface effect (special reactivity at the crystal surface) in addition to the cooperative effect (the reaction is facilitated by neighboring molecules) is essential for the edge‐to‐center propagation of the photochemical reaction. Our results would provide a foundation for future studies of the photochemical reaction dynamics in photomechanical molecular crystals.

Edge-to-Center Propagation of Photochemical Reaction during Single-Crystal-to-Single-Crystal Photomechanical Transformation of 2,5-Distyrylpyrazine Crystals.

Photomechanical molecular crystals are promising materials for photon-powered artificial actuators. To interpret the photomechanical responses, the spatiotemporal distribution of photoproducts in crystals could be an important role in addition to molecular structures, molecular packings, illumination conditions, crystal morphology, crystal size, and so on. In this study, we have found that single crystals of 2,5-distyrylpyrazine show a smooth single-crystal-to-single-crystal photomechanical expansion, and the photochemical reaction propagates from the edge to the center of the single crystal. We revealed that the surface effect (special reactivity at the crystal surface) in addition to the cooperative effect (the reaction is facilitated by neighboring molecules) is essential for the edge-to-center propagation of the photochemical reaction. Our results would provide a foundation for future studies of the photochemical reaction dynamics in photomechanical molecular crystals.

Design and Application of a Twisted and Coiled Polymer Driven Artificial Musculoskeletal Actuation Module.

Twisted and coiled polymer (TCP) artificial muscles can exhibit unidirectional actuation similar to skeletal muscles. This paper presents a TCP driven artificial musculoskeletal actuation module that can be used in soft robots. This module can contract in the axis direction, and the contraction displacement and force can be controlled easily. The main body of the actuation module consists of TCP muscles and leaf springs, and the deformation of the module is actuated by the TCP muscles. A prototype was made to test the performance of the module. The design and experimental results of the module are presented. The module can provide contraction motion. Results show that the module can provide a contraction force of 0.7 N with displacement of approximately 6.8 mm at 120 °C when exposed to electrical power of 24 V. The proposed artificial musculoskeletal actuation module can potentially be applied in biomimetic robots and the aerospace field.

Unperceivable motion mimicking hygroscopic geometric reshaping of pine cones.

The hygroscopic deformation of pine cones, featured by opening and closing their scales depending on the environmental humidity, is a well-known stimuli-responsive model system for artificial actuators. However, it has not been noted that the deformation of pine cones is an ultra-slow process. Here, we reveal that vascular bundles with unique parallelly arranged spring/square microtubular heterostructures dominate the hygroscopic movement, characterized as ultra-slow motion with the outer sclereids. The spring microtubes give a much larger hygroscopic deformation than that of the square microtubes along the longitudinal axis direction, which bends the vascular bundles and consequently drives the scales to move. The outer sclereids with good water retention enable the vascular-bundle-triggered deformation to proceed ultra-slowly. Drawing inspiration, we developed soft actuators enabling controllable yet unperceivable motion. The motion velocity is almost two orders of magnitude lower than that of the same-class actuators reported, which made the as-developed soft actuators applicable in camouflage and reconnaissance.

Thermodynamics of Hygroresponsive Soft Engines: Cycle Analysis and Work Ratio

Soft materials that respond to external stimuli, such as moisture, heat, and light, can convert the environmental energy into mechanical motions, and thus can be considered engines. The energy-conversion process within the soft-materials-based engines is fundamentally different from that of conventional heat engines utilizing gaseous media, but has been rarely studied to date. Here we construct a theoretical framework to analyze the thermodynamic performance of humidity-responsive soft actuators, as a canonical model of soft engines, which operate in a similar manner to such motile plants as wild wheat seeds and pine cones. Considering the free-energy change and the work generation through a four-process cycle, we define a work ratio as the work of actual engines relative to that of a so-called hygro-Carnot cycle going through reversible changes of volume and chemical energy. We propose an explanation why natural motile plants exhibit higher work ratios than common artificial hygroscopic actuators based on the time scales of soft actuation and the environmental humidity change. Our thermodynamic model can be extended to a range of soft engines driven by diffusion of stimulus, e.g., solvent, heat, and ions, into soft media.

Recent Advances in Host-Guest Supramolecular Hydrogels for Biomedical Applications.

The recognition-directed host-guest interaction is recognized as a valuable tool for creating supramolecular polymers. Functional hydrogels constructed through the dynamic and reversible host-guest complexation are endowed with a great many appealing features, such as superior self-healing, injectability, flexibility, stimuli-responsiveness and biocompatibility, which are crucial for biological and medicinal applications. With numerous topological structures and host-guest combinations established previously, recent breakthroughs in this area mostly focus on further improvement and fine-tuning of various properties for practical utilizations. The current contribution provides a comprehensive overview of the latest developments in host-guest supramolecular hydrogels, with a particular emphasis on the innovative molecular-level design strategies and hydrogel formation methodologies targeting at a wide range of active biomedical domains, including drug delivery, 3D printing, wound healing, tissue engineering, artificial actuators, biosensors, etc. Furthermore, a brief conclusion and discussion on the steps forward to bring these smart hydrogels to clinical practice is also presented.

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate.

Biomimetic machines able to integrate with natural and social environments will find ubiquitous applications, from biodiversity conservation to elderly daily care. Although artificial actuators have reached the contraction performances of muscles, the versatility and grace of the movements realized by the complex arrangements of muscles remain largely unmatched. Here, we present a class of pneumatic artificial muscles, named GeometRy-based Actuators that Contract and Elongate (GRACE). The GRACEs consist of a single-material pleated membrane and do not need any strain-limiting elements. They can contract and extend by design, as described by a mathematical model, and can be realized at different dimensional scales and with different materials and mechanical performances, enabling a wide range of lifelike movements. The GRACEs can be fabricated through low-cost additive manufacturing and even built directly within functional devices, such as a pneumatic artificial hand that is fully three-dimensionally printed in one step. This makes the prototyping and fabrication of pneumatic artificial muscle-based devices faster and more straightforward.

High-performance fibrous artificial muscle based on reversible shape memory UHMWPE

Shape memory polymer fibers (SMPFs) are an important branch of intelligent fibers. Due to their ability to deform under external stimuli, shape memory polymer fibers have been used in intelligent textiles, polymer fillers and medical fields, including surgical sutures, thrombectomy devices, compression stockings, etc. There have been many studies on SMPFs, but almost all reported SMPFs only exhibit a one-way shape memory effect (SME). The deformation process of the one-way SMPFs is irreversible, and the transition from temporary shape to permanent shape cannot be replicated by simply reversing the stimulus. To tackle this problem. We selected ultra-high molecular weight polyethylene (UHMWPE) as the polymer matrix to prepare external stress-free two-way SMPFs. UHMWPE powders are gel-spun and then hot drawn to yield raw UHMWPE fibers. After programming, the UHMWPE fibers possess high tensile strength (338.72 MPa) and Young's modulus (2287.34 MPa), as well as one-way SME, quasi two-way SME and external stress-free reversible two-way SME. The reversible strain of the prepared reversible shape memory UHMWPE fibers is 27.42%. Artificial muscles and actuators can be made from the programmed UHMWPE fibers. The programmed UHMWPE fibers can lift more than 250 times their own weight with ∼10% reversible strain. The programmed UHMWPE fibers are appropriate for industrial mass production since the preparation and programming processes are simple.

Two‐Way Semicrystalline Shape Memory Elastomers: Development and Current Research Trends

Two‐way shape memory polymers (SMPs) have gained significant attention in the recent past owing to their ability to spontaneously and reversibly switch between two different shapes when heated and cooled, thereby allowing them to reversibly actuate autonomously. Semicrystalline elastomers are one of the best classes to design two‐way SMPs owing to the crystallization‐induced elongation and the melting‐induced contraction that can result in reversible strain in the elastomeric network and can be applied to fabricate artificial muscles and actuators. This review revisits the overview of the SMPs and the inspiration behind developing two‐way shape memory semicrystalline elastomers and their mechanistic pathway. Finally, the latest developments in the realm of the elastomeric networks and how these smart materials are gaining spotlight along with the future purview and potential outlook are circumscribed.

Electroactive Polymer-Based Composites for Artificial Muscle-like Actuators: A Review.

Unlike traditional actuators, such as piezoelectric ceramic or metallic actuators, polymer actuators are currently attracting more interest in biomedicine due to their unique properties, such as light weight, easy processing, biodegradability, fast response, large active strains, and good mechanical properties. They can be actuated under external stimuli, such as chemical (pH changes), electric, humidity, light, temperature, and magnetic field. Electroactive polymers (EAPs), called ‘artificial muscles’, can be activated by an electric stimulus, and fixed into a temporary shape. Restoring their permanent shape after the release of an electrical field, electroactive polymer is considered the most attractive actuator type because of its high suitability for prosthetics and soft robotics applications. However, robust control, modeling non-linear behavior, and scalable fabrication are considered the most critical challenges for applying the soft robotic systems in real conditions. Researchers from around the world investigate the scientific and engineering foundations of polymer actuators, especially the principles of their work, for the purpose of a better control of their capability and durability. The activation method of actuators and the realization of required mechanical properties are the main restrictions on using actuators in real applications. The latest highlights, operating principles, perspectives, and challenges of electroactive materials (EAPs) such as dielectric EAPs, ferroelectric polymers, electrostrictive graft elastomers, liquid crystal elastomers, ionic gels, and ionic polymer–metal composites are reviewed in this article.

Preload control of the increased outflow of a dual pulsatile extracorporeal membrane oxygenator

An improved pulsatile extracorporeal membrane oxygenation (ECMO) device is needed to reduce the high risk of complications associated with existing ECMO devices, due to continuous blood outflow (which reduces blood perfusion) and a complex structure that makes setup and management difficult. This study introduces a new pulsatile ECMO device to maintain sufficient pulsatility (an “energy equivalent pressure increment” [EEPI] of at least 20 %) and simplify the structure of the pulsatile pump by removing artificial valves and complex actuators. The hemodynamic characteristics and pulsatility of the proposed pulsatile ECMO device were evaluated in-vitro using a MOCK system. Although the pulsatile ECMO device has the same dual pumping structure as existing pulsatile ECMOs, the newly applied preload control mechanism increases the outflow of the proposed pulsatile ECMO compared to the previous device.

Self-Assembled Artificial Nanocilia Actuators.

Self-assembly of nanoparticles (NPs) is a powerful route to constructing higher-order structures. However, the programmed self-assembly of NPs into non-close-packed, 3D, shape-morphing nanocilia arrays remains elusive, whereas dynamically actuated nanometer cilia are universal in living systems. Here, a programmable self-assembly strategy is presented that can direct magnetic NPs into a highly ordered responsive artificial nanocilia actuator with exquisite nanometer 3D structural arrangements. The self-assembled artificial NP cilia can maintain their structural integrity through the interplay of interparticle interactions. Interestingly, the nanocilia can exhibit a field-responsive actuation motion through "rolling and sliding" between assembled NPs rather than bending the entire ciliary beam. It is demonstrated that oleic acid coated over the NPs acts as a lubricating bearing and enables the rolling/sliding-based actuation of the cilia.

Highly strong and sensitive bilayer hydrogel actuators enhanced by cross-oriented nanocellulose networks

Temperature-responsive bilayer hydrogel actuator with anisotropic structure in mutually perpendicular directions was successfully prepared, where poly (N-isopropyl acrylamide)/cellulose nanofiber (PNIPAM/CNF) double network hydrogel was applied as the top layer, and poly (acrylamide-co-acrylic acid)/cellulose nanofiber (PAM-AA/CNF) double network hydrogel served as the bottom layer. The cross-oriented structure of the two hydrogel layers contributed to the superior actuation ability and mechanical performance of the bilayer hydrogel actuator. Consequently, the hydrogel actuator could quickly lift a weight with 70 times of their own weight with a high bending speed of 10.21 (°/s). Furthermore, the tensile strength and elongation at break of the hydrogel actuator reached 729.5 ± 21.5 KPa and (406.5 ± 11.3) % respectively. After further cross-linking by Fe3+, the tensile strength of the actuator reached 3.86 MPa. With excellent mechanical performance and actuation ability, the resulting bilayer hydrogel showed a promising application potential as artificial soft tissue materials and intelligent actuators.

Bioinspired Structures for Soft Actuators

AbstractBiological organisms present marvelous morphing behaviors from the quiescent blooming of flowers to the energetic wing‐flapping of birds that have always inspired humans to design better‐engineered products. The diversity of natural motion is attributed primarily to the intricate and hierarchical structure of actuators that are self‐assembled from nanoscale structures to superstructures. Compared to the biological actuators, their manmade counterparts, often with significantly limited capabilities, are fabricated from various materials with relatively simple structures using limited fabrication techniques. With the rapid developments in technologies that require soft robotics and human‐machine interfaces, there is increasing demand for soft actuators with improved capabilities such as larger output force, repeatability, and a more comprehensive range of motion. Biological actuators provide critical insights into the structure‐function relationship and offer exciting concepts to advance the science and technology of artificial soft actuators. Here, the design approaches found in natural actuation systems are discussed from the nanoscale to the highest levels in the structural hierarchy and the physical principles involved in their diverse actuation capabilities. In that context, finally, the fabrication techniques that have been utilized for manmade soft actuators, with a focus on the advantages, challenges, and concepts for potential future developments are reviewed.

Implications of Spatially Constrained Bipennate Topology on Fluidic Artificial Muscle Bundle Actuation

In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and safe human–robot interaction. McKibben fluidic artificial muscles are an especially attractive type of soft fluidic actuator, due to their high force-to-weight ratio, inherent flexibility, inexpensive construction, and muscle-like force-contraction behavior. The examination of natural muscles has shown that those with pennate fiber topology can achieve higher output force per geometric cross-sectional area. Yet, this is not universally true for fluidic artificial muscle bundles, because the contraction and rotation behavior of individual actuator units (fibers) are both key factors contributing to situations where bipennate muscle topologies are advantageous, as compared to parallel muscle topologies. This paper analytically explores the implications of pennation angle on pennate fluidic artificial muscle bundle performance with spatial bounds. A method for muscle bundle parameterization as a function of desired bundle spatial envelope dimensions has been developed. An analysis of actuation performance metrics for bipennate and parallel topologies shows that bipennate artificial muscle bundles can be designed to amplify the muscle contraction, output force, stiffness, or work output capacity, as compared to a parallel bundle with the same envelope dimensions. In addition to quantifying the performance trade space associated with different pennate topologies, analyzing bundles with different fiber boundary conditions reveals how bipennate fluidic artificial muscle bundles can be designed for extensile motion and negative stiffness behaviors. This study, therefore, enables tailoring the muscle bundle parameters for custom compliant actuation applications.

Skeletal Muscle Fibers Inspired Polymeric Actuator by Assembly of Triblock Polymers.

Inspired by the striated structure of skeletal muscle fibers, a polymeric actuator by assembling two symmetric triblock copolymers, namely, polystyrene‐b‐poly(acrylic acid)‐b‐polystyrene (SAS) and polystyrene‐b‐poly(ethylene oxide)‐b‐polystyrene (SES) is developed. Owing to the microphase separation of the triblock copolymers and hydrogen‐bonding complexation of their middle segments, the SAS/SES assembly forms a lamellar structure with alternating vitrified S and hydrogen‐bonded A/E association layers. The SAS/SES strip can be actuated and operate in response to environmental pH. The contraction ratio and working density of the SAS/SES actuator are approximately 50% and 90 kJ m−3, respectively; these values are higher than those of skeletal muscle fibers. In addition, the SAS/SES actuator shows a “catch‐state”, that is, it can maintain force without energy consumption, which is a feature of mollusc muscle but not skeletal muscle. This study provides a biomimetic approach for the development of artificial polymeric actuators with outstanding performance.