Polymer Actuators Research Articles

Bismuth-Tin Core-Shell Particles From Liquid Metals: A Novel, Highly Efficient Photothermal Material that Combines Broadband Light Absorption with Effective Light-to-Heat Conversion.

This study presents a pioneering investigation of hybrid bismuth-tin (BiSn) liquid metal particles for photothermal applications. It is shown that the intrinsic core-shell structure of liquid metal particles can be instrumentalized to combine the broadband absorption characteristics of defect-rich nano-oxides and the high light-to-heat conversion efficiency of metallic particles. Even though bismuth or tin does not show any photothermal characteristics alone, optimization of the core-shell structure of BiSn particles leads to the discovery of novel, highly efficient photothermal materials. Particles with optimized structures can absorb 85% of broadband light and achieve over 90% photothermal conversion efficiency. It is demonstrated that these particles can be used as a solar absorber for solar water evaporation systems owing to their broadband absorption capability and become a non-carbon alternative enabling scalable applications. We also showcased their use in polymer actuators in which a near-infrared (NIR) response stems from theiroxide shell, and fast heating/cooling rates achieved by the metal core enable rapid response and local movement. These findings underscore the potential of BiSn liquid metal-derived core-shell particles for diverse applications, capitalizing on their outstanding photothermal properties as well as their facile and scalable synthesis conditions.

Slot‐Die‐Printed Electroactive Polymer Actuators with High‐Strain Sensitivity for Soft Robotic Applications

AbstractIonic electroactive polymer gels are widely employed as actuators in soft robotics due to their ability to undergo rapid mechanical deformation under low‐voltage. How to improve the performance of the ionic electroactive polymer actuators is always the focus of research in this field. Optimizing the migration of ions within the actuator is crucial for enhancing the actuation performance. In this regard, this study innovatively introduces slot‐die‐printing technology to fabricate gel actuation layers characterized by high smoothness and uniform particle distribution, achieving seamless integration between the electrodes and gel actuation layers, while mitigating issues associated with ion accumulation due to polymer clustering. Furthermore, this study attempts to add lactic acid to the traditional CS‐PVA‐IL gel, effectively strengthening the connection between CS and PVA, and promoting smooth ion transport within the gel. The results demonstrate that the actuators prepared in this study achieved a high‐bending‐strain of 0.35%, with a retention rate of 91% for actuation displacement after 10 000 cycles, showcasing superior actuation performance compared to existing research. The fabrication method proposed in this study is simple and highly reproducible, making it suitable for widespread industrial application, and providing a new approach for future industrial production of soft robotics.

Stimuli-Responsive Polymer Actuator for Soft Robotics.

Polymer actuators are promising, as they are widely used in various fields, such as sensors and soft robotics, for their unique properties, such as their ability to form high-quality films, sensitivity, and flexibility. In recent years, advances in structural and fabrication processes have significantly improved the reliability of polymer sensing-based actuators. Polymer actuators have attracted considerable attention for use in artificial or biohybrid systems, as they have the potential to operate under diverse conditions with high durability. This review briefly describes different types of polymer actuators and provides an understanding of their working mechanisms. It focuses on actuation modes controlled by diverse or multiple stimuli. Furthermore, it discusses the fabrication processes of polymer actuators; the fabrication process is an important consideration in the development of high-quality actuators with sensing properties for a wide range of applications in soft robotics. Additionally, the high potential of polymer actuators for use in sensing technology is examined, and the latest developments in the field of polymer actuators, such as the development of biohybrid polymers and the use of polymer actuators in 4D printing, are briefly described.

Compound Model of Twisted and Coiled Polymer Actuators Describing Relationship Between Output Force and Excitation Current

Compound Model of Twisted and Coiled Polymer Actuators Describing Relationship Between Output Force and Excitation Current

Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance

Abstract Endoluminal devices are indispensable in medical procedures in the natural lumina of the body, such as the circulatory system and gastrointestinal tract. In current clinical practice, there is a need for increased control and capabilities of endoluminal devices with less discomfort and risk to the patient. This paper describes the detailed modeling and experimental validation of a magneto-electroactive endoluminal soft (MEESo) robot concept that combines magnetic and electroactive polymer (EAP) actuation to improve the utility of the device. The proposed capsule-like device comprises two permanent magnets with alternating polarity connected by a soft, low-power ionic polymer-metal composite (IPMC) EAP body. A detailed model of the MEESo robot is developed to explore quantitatively the effects of dual magneto-electroactive actuation on the robot’s performance. It is shown that the robot’s gait is enhanced, during the magnetically-driven gait cycle, with IPMC body deformation. The concept is further validated by creating a physical prototype MEESo robot. Experimental results show that the robot’s performance increases up to 68% compared to no IPMC body actuation. These results strongly suggest that integrating EAP into the magnetically-driven system extends the efficacy for traversing tract environments.

Coil Formation and Biomimetic Performance Characterization of Twisted Coiled Polymer Artificial Muscles

A biological muscle's force is nonlinearly constrained by its current state (force, length, and speed) and state history. To investigate if artificial muscles can mimic (i.e. biomimetic) the complete mechanical state spectrum of biological muscles, this study uses a novel method to characterize twisted coiled polymer actuators (TCPAs) mechanically. Thus, comprehensive and reproducible test procedures are established to verify artificial muscle biomimetics regarding stress, strain, and strain rate combinations intrinsic to biological muscle. A rheometer performs novel high‐precision mechanical characterization methods to comprehensively verify biomimetic performance. Sample twist level, torque, length, force, and temperature are controlled and measured during twist‐induced coiling, heatsetting/annealing, and mechanical testing. TCPAs are formed from linear low‐density polyethylene monofilament. Linear low‐density polyethylene (LLDPE) TCPAs generate larger stresses than biological muscle through the entire spectrum of strains—contracting more than 40%, exerting more than 0.3 MPa at rest length, and withstanding tension of 8 MPa without damage. Thus, the LLDPE TCPAs attain biological muscle performance statically, but additional tests are required to assess this dynamically. The mechanical performance of LLDPE TCPAs enables biomimetic actuation with an intelligent control and measurement system. Their high‐throughput textile manufacturability positions them for advanced biomechatronic applications—including prosthetics and exoskeletons.

Soft electroactive polymer actuators based on regioregular/regiorandom-poly(3-hexylthiophene) blends with a nanofiber structure

Soft electroactive polymer actuators based on regioregular/regiorandom-poly(3-hexylthiophene) blends with a nanofiber structure

A Numerical Model of Heating and Cooling Cycles to Study the Driven Response for Twisted and Coiled Polymer Actuator

A Numerical Model of Heating and Cooling Cycles to Study the Driven Response for Twisted and Coiled Polymer Actuator

A Straightforward Approach of Wet‐Spinning Poly(3,4‐ethylenedioxythiophene):Polystyrene Sulfate Fibers for Use in All Conducting Polymer‐Based Textile Actuators

Poly(3,4‐ethylenedioxythiophene) (PEDOT), an inherently electrically conductive or conjugated polymer (CP), exhibits the potential to play a significant role in the development of innovative fiber materials for use in smart textiles, such as wearables. Furthermore, these fibers can function as artificial muscles in the emerging field of interactive fiber rubber composites. This study introduces a straightforward and efficient method for creating PEDOT‐based, biomimetic, fiber‐shaped, linearly contracting ionic electroactive polymer actuators. To achieve this, a wet‐spinning technique is presented, which enables a continuous production of PEDOT:polystyrene sulfate (PSS) fibers at high production rates of 34 m h−1, an additional fiber washing step and a sulfuric acid posttreatment step to increase the fibers conductivity. The fibers provide a high conductivity of 1028 S cm−1, maximum tensile strength reaching 182 MPa, and a maximum elongation of 24%. When utilized as CP actuators in an aqueous sodium dodecylbenzenesulfonate electrolyte medium, the fibers demonstrate a repeatable maximum isometric contractile force of 1.64 mN and repeatable linear contractile strain up to 0.56%. Furthermore, a high level of cyclic long‐term actuation stability can be demonstrated. Notably, these contractile strains are, to the best of knowledge, the highest reported values for pristine PEDOT:PSS fibers.

Light-Driven Multidirectional Bending in Artificial Muscles.

Using light to drive polymer actuators can enable spatially selective complex motions, offering a wealth of opportunities for wireless control of soft robotics and active textiles. Here, the integration of photothermal components is reported into shape memory polymer actuators. The fabricated twist-coiled artificial muscles show on-command multidirectional bending, which can be controlled by both the illumination intensity, as well as the chirality, of the prepared artificial muscles. Importantly, the direction in which these artificial muscles bend does not depend on intrinsic material characteristics. Instead, this directionality is achieved by localized untwisting of the actuator, driven by selective irradiation. The reaction times of this bending system are significantly - at least two orders of magnitude - faster than heliotropic biological systems, with a response time up to one second. The programmability of the artificial muscles is further demonstrated for selective, reversible, and sustained actuation when integrated in butterfly-shaped textiles, along with the capacity to autonomously orient toward a light source. This functionality is maintained even on a rotating platform, with angular velocities of 6°/s, independent of the rotation direction. These attributes collectively represent a breakthrough in the field of artificial muscles, intended to adaptive shape-changing soft systems and biomimetic technologies.

Subsurface Profiling of Ion Migration and Swelling in Conducting Polymer Actuators with Modulated Electrochemical Atomic Force Microscopy.

Understanding the dynamics of ion migration and volume change is crucial to studying the functionality and long-term stability of soft polymeric materials operating at liquid interfaces, but the subsurface characterization of swelling processes in these systems remains elusive. In this work, we address the issue using modulated electrochemical atomic force microscopy as a depth-sensitive technique to study electroswelling effects in the high-performance actuator material polypyrrole doped with dodecylbenzenesulfonate (Ppy:DBS). We perform multidimensional measurements combining local electroswelling and electrochemical impedance spectroscopies on microstructured Ppy:DBS actuators. We interpret charge accumulation in the polymeric matrix with a quantitative model, giving access to both the spatiotemporal dynamics of ion migration and the distribution of electroswelling in the electroactive polymer layer. The findings demonstrate a nonuniform distribution of the effective ionic volume in the Ppy:DBS layer depending on the film morphology and redox state. Our findings indicate that the highly efficient actuation performance of Ppy:DBS is caused by rearrangements of the polymer microstructure induced by charge accumulation in the soft polymeric matrix, increasing the effective ionic volume in the bulk of the electroactive film for up to two times the value measured in free water.

Paediatric ankle rehabilitation system based on twisted and coiled polymer actuators

Rehabilitation is crucial for children with physical disabilities arising from various conditions. Traditional exoskeletons, reliant on electric motors and rigid components, making them cumbersome, heavy, and unsuitable for use outside clinical facilities. To overcome these, researchers are turning to soft wearable rehabilitation robots (SWRRs) with artificial muscles based on smart materials like twisted and coiled polymer actuators (TCPs). TCPs offer enhanced compliance, adaptability, comfort, safety, and reduced weight—critical for paediatric use. Despite facing challenges like low operating frequencies and high temperatures, TCPs are explored as potential artificial muscles for SWRRs, due to their advantages on the force they can generate, the strain and a linear behaviour. This study details a proof of concept for a paediatric rehabilitation system for ankles based on TCPs, including the actuator characterization, mechanical design, control strategy, and human-computer-interface (HCI). The resulting device achieved a 1.4 Nm torque, a 10° range of motion in dorsiflexion within 5 s, and integrated electromyographic HCI. This research marks a promising step towards innovative, soft wearable rehabilitation solutions for children with physical disabilities.

Magnetically Actuated GelMA‐Based Scaffolds as a Strategy to Generate Complex Bioprinted Tissues

AbstractThe 3D bioprinting of complex structures has attracted particular attention in recent years and has been explored in several fields, including dentistry, pharmaceutical technology, medical devices, and tissue/organ engineering. However, it still possesses major challenges, such as decreased cell viability due to the prolongation of the printing time, along with difficulties in preserving the print shape. The 4D bioprinting approach, which is based on controlled shape transformation upon stimulation after 3D bioprinting, is a promising innovative method to overcome these difficulties. Herein, the generation of skeletal muscle tissue‐like complex structures is demonstrated by 3D bioprinting of GelMA‐based C2C12 mouse myoblast‐laden bio‐ink on a polymeric magnetic actuator that enables on‐demand shape transformation (i.e., rolling motion) under a magnetic field. Bioprinted scaffolds are used in both unrolled (open as control) and rolled forms. The results indicate that C2C12s remain viable upon controlled shape transformation, and functional myotube formation is initiated by the 7th day within bioprinted platforms. Moreover, when the rolled and open groups are compared regarding MyoD1 staining intensity, the rolled one enhanced MyoD1 expression. These results provide a promising methodology for generating complex structures with a simple magnetic actuation procedure for the bioprinting of tissue‐engineered constructs with enhanced cell viability and functionality.

High-Performance Nanocellulose-Based Ionic Electroactive Soft Actuators

High-performance electroactive polymer actuators with large bending, fast response, and high durability have gained attention in the development of micromanipulators and multifunctional bionic soft robots. Herein, we developed high-performance electroactive soft actuators fabricated with ultrathin free-standing microfibrillated cellulose (MFC)-reinforced poly(3,4-ethylenedioxythiophene)/poly(4-styrenesulfonate) (PEDOT/PSS) with multi-walled carbon nanotube (MWCNT)-doped composite electrode films and ion-exchange Nafion membranes by a hot-pressing method. The prepared PEDOT/PSS-MFC-MWCNT electrodes have good film-forming properties with a Young’s modulus of 448 MPa and an electrical conductivity of 75 S/cm. The proposed PEDOT/PSS-MFC-MWCNT/Nafion soft actuators have a sustained peak displacement of 2.1 mm and a long-term cyclic stability of 94% with no degradation over 1 h at 1.0 V, 0.1 Hz. Furthermore, we fabricated soft micro-grippers based on the actuators for mimicking actual finger actions for grasping, pointing, and counting, which introduces new possibilities for the next-generation development of micromanipulators and bionic soft robotics.

Single-Walled Carbon Nanotube-Reinforced PEDOT: PSS Hybrid Electrodes for High-Performance Ionic Electroactive Polymer Actuator

Ionic electroactive polymer (iEAP) actuators are recognized as exceptional candidates for artificial muscle development, with significant potential applications in bionic robotics, space exploration, and biomedical fields. Here, we developed a new iEAP actuator utilizing high-purity single-walled carbon nanotubes (SWCNTs)-reinforced poly(3, 4-ethylenedioxythiophene)/poly(4-styrenesulfonate) (PEDOT: PSS, PP) hybrid electrodes and a Nafion/EMIBF4 ion-exchange membrane via a straightforward and efficient spray printing technique. The SWCNT/PP actuator exhibits significantly enhanced electric conductivity (262.9 S/cm) and specific capacitance (22.5 mF/cm2), benefitting from the synergistic effect between SWCNTs and PP. These improvements far surpass those observed in activated carbon aerogel bucky-gel-electrode-based actuators. Furthermore, we evaluated the electroactive behaviors of the SWCNT/PP actuator under alternating square-wave voltages (1–3 V) and frequencies (0.01–100 Hz). The results reveal a substantial bending displacement of 6.44 mm and a high bending strain of 0.61% (at 3 V, 0.1 Hz), along with a long operating stability of up to 10,000 cycles (at 2 V, 1 Hz). This study introduces a straightforward and efficient spray printing technique for the successful preparation of iEAP actuators with superior electrochemical and electromechanical properties as intended, which hold promise as artificial muscles in the field of bionic robotics.

Innovative strain measuring device with flex sensor for twisted and coiled actuator and dexterous hand application

The displacement of twisted and coiled polymer (TCP) actuators, a key physical characteristic, can be measured using a lightweight method, thereby improving the TCP responses and applications in the robot control. This work presents a strain measurement device based on the flex sensor and the hinge links applied in the displacement measuring of the TCP. The bent angle from the sensor affixed to the hinge is converted to the displacement value of the TCP based on the angle-strain model. Compared to the laser sensor, the calculated displacement of the device shows a good tracking effect within the 95 % confidence interval. In the dexterous hand prototype, finger trajectory and joint angles are smoother under a PID controller compared to a non-PID controller, demonstrating the effectiveness of feedback control involving displacement and tension. Finally, the device can cover an extensive range of TCP strains and be applied in more TCP-driven bionic robots.

Multilayer modeling framework for analyzing thermo-mechanical properties and responses of twisted and coiled polymer actuators

The twisted and coiled polymer actuator (TCPA) has a complex multi-scale structure consisting of crystalline micro-fibrils and an amorphous matrix at the micro-scale, which are organized into a macro-scale fiber. When the polymer fiber undergoes twisting and coiling, its mechanical and thermal properties become variable. In this study, we developed a multi-layer modeling framework capable of accurately predicting the effective mechanical and thermal properties, as well as the thermo-mechanical responses of the TCPA. Our numerical results demonstrate that the effective mechanical and thermal properties of the TCPA are influenced by the radius and twisting angle of the polymer fiber. By analyzing the precise mechanical and thermal properties, the numerical calculated driving responses exhibit good agreement with experimental data. We also examined the influence of initial helical radius, helical pitch and fiber radius on the driving responses of the TCPA. The proposed numerical model can be further utilized to optimize the driving responses of the TCPA by adjusting geometric parameters and the twisting angle of the polymer fiber.

Embedded Physical Intelligence in Liquid Crystalline Polymer Actuators and Robots.

Responsive materials possess the inherent capacity to autonomously sense and respond to various external stimuli, demonstrating physical intelligence. Among the diverse array of responsive materials, liquid crystalline polymers (LCPs) stand out for their remarkable reversible stimuli-responsive shape-morphing properties and their potential for creating soft robots. While numerous reviews have extensively detailed the progress in developing LCP-based actuators and robots, there exists a need for comprehensive summaries that elucidate the underlying principles governing actuation and how physical intelligence is embedded within these systems. This review provides a comprehensive overview of recent advancements in developing actuators and robots endowed with physical intelligence using LCPs. This review is structured around the stimulus conditions and categorizes the studies involving responsive LCPs based on the fundamental control and stimulation logic and approach. Specifically, three main categories are examined: systems that respond to changing stimuli, those operating under constant stimuli, and those equip with learning and logic control capabilities. Furthermore, the persisting challenges that need to be addressed are outlined and discuss the future avenues of research in this dynamic field.

Light- and Solvent-Responsive Bilayer Hydrogel Actuators with Reversible Bending Behaviors.

Light-responsive hydrogel systems have gained significant attention due to their unique ability to undergo controlled and reversible swelling behavior in response to light stimuli. Combining light-responsive hydrogels with nonresponsive polymers offers a unique self-folding feature that can be used in soft robotic actuator designs. However, simple formulation of such systems with rapid response time is still a challenging task. Herein, we demonstrate a simple but versatile bilayer polymeric design combining light-responsive spiropyran-polyacrylamide (SP-PAAm) with polyacrylamide (PAAm) hydrogels. The photochromic spiropyran in our polymer design is a closed-ring, hydrophobic compound and turns into an open-ring, hydrophilic merocyanine isomer under light irradiation. The swelling degree of SP-PAAm and PAAm hydrogels was evaluated using LED lights with different wavelengths and solvent media (e.g., water, ethanol, DMF, and DMSO). We observed that SP-PAAm hydrogels reached a swelling ratio of ∼370% with the illumination of the blue LED in the DMF medium. By combining light-responsive SP-PAAm hydrogels with nonresponsive PAAm, a proof-of-concept demonstration was performed to demonstrate the applicability of our fabricated platforms. Although fabricated one-armed bilayer hydrogels possessed self-folding ability with a folding angle of ∼40° in 30 min, the four-armed bilayer platforms demonstrated more efficient and rapid folding behavior and reached a folding angle of ∼75° in ∼15 min. Given their simplicity and efficiency, we believe that such polymeric designs may offer new avenues for the fields of polymeric actuators and soft robotic systems.

Analyzing the structural behavior of conducting polymer actuators and its interdependence with the electrochemical phenomenon

This work reports the deformation behavior of a conducting polymer, poly(3,4-ethylene dioxythiophene):polystyrene sulfonate (PEDOT:PSS)/bacterial cellulose (BC) bi-layered cantilever type actuator. Herein, it was found that the type (i.e. bending and torsion) of deformation of (PEDOT:PSS)/BC actuator was non-trivially dependent on its dimensions (width and length). Increasing the actuator’s width resulted in larger torsional deformation along the longitudinal axis against the increased area moment of inertia. The actuator with a width of 7.75 mm rotates ∼90° (i.e. the bottom cross-section) with respect to its top end. It was noticed that torsional motion dominated the deformation when the bending in the lateral direction was restricted. Further, the maximum tip displacement trivially increased with the length from 5.40 mm for an actuator of length 10 mm–12.40 mm for a length of 59.00 mm. However, the curvature of bending, which was proportional to the induced strain, was higher for smaller lengths. The change in the dimension of the actuator involves change in the stress field distribution (i.e. induced through electrochemical process) and simultaneously the resistance to deformation, resulting in a non-trivial relationship between the deformation and the dimensions. This can be advantageous from the design perspective in realizing different types of motions without incorporating additional materials. Structural theory and electrochemical impedance Spectroscopy were used to understand the mechanism of deformation dependence on the dimensions. The electrochemical impedance spectroscopy results indicated that electrolytic ions penetrate deeper into the PEDOT:PSS layer for actuators of smaller lengths. The increase in the curvature of the actuator could be explained based on the constancy of the strain produced due to the volume change per ion. The torsional motion increased because the stresses were being induced further away from the center in wider actuators. These observations and analyses reveal the interdependence of the structural behavior (i.e. dimensions) and the electrochemical phenomenon (i.e. deformation) in a conducting polymer actuator.