Rapid Actuation Research Articles

Rapid Actuation of Thermo-Responsive Polymer Networks: Investigation of the Transition Kinetics.

The swelling and collapsing of thermo-responsive poly(N-isopropylacrylamide)-based polymer (pNIPAAm) networks are investigated in order to reveal the dependency on their kinetics and maximum possible actuation speed. The pNIPAAm-based network was attached as thin hydrogel film to lithographically prepared gold nanoparticle arrays to exploit their localized surface plasmon resonance (LSPR) for rapid local heating. The same substrate also served for LSPR-based monitoring of the reversible collapsing and swelling of the pNIPAAm network through its pronounced refractive index changes. The obtained data reveal signatures of multiple phases during the volume transition, which are driven by the diffusion of water molecules into and out of the network structure and by polymer chain re-arrangement. For the micrometer-thick hydrogel film in the swollen state, the layer can respond as fast as several milliseconds depending on the strength of the heating optical pulse and on the tuning of the ambient temperature with respect to the lower critical solution temperature of the polymer. Distinct differences in the time constants of swelling and collapse are observed and attributed to the dependence of the cooperative diffusion coefficient of polymer chains on polymer volume fraction. The reported results may provide guidelines for novel miniature actuator designs and micromachines that take advantages of the non-reciprocal temperature-induced volume transitions in thermo-responsive hydrogel materials.

Aeroelastic Response of Wind Turbine Rotors under Rapid Actuation of Flap-Based Flow Control Devices

The largest commercial wind turbines today are rated at powers between 12 MW to 16 MW, with rotor diameters between 220 m to 242 m, which are expected to grow beyond 250 m in the near future. Economies-of-scale factors suggest the advantages of upscaling in rotor size to effectively harvest the wind potential. An increased emphasis on studies related to improvements and innovations in aerodynamic load-control methodologies has led researchers to focus on overcoming the bottlenecks in size upscaling. Though conventional pitch control is an effective approach for long-term load variations, their application to mitigate short-term fluctuations has limitations. This is directly associated with the cubical dependence on the weight of the rotor with increasing diameter. Alternatively, active flow-control devices (FCDs) have the potential to alleviate load fluctuations through rapid aerodynamic trimming. Fractional light-weight attachments such as trailing-edge flaps promise the swift response of such rapid fluctuations and require low power of actuation. The current study investigates the performance of active in dynamic load control for utility-scale wind turbines through an aeroelastic evaluation of the turbine response to control actions in short time-scales relevant to rapid load fluctuations. The numerical platform used in the analysis is designed to consider the complex multi-physics dynamics of the wind turbine through a self-adaptive Ordinary Differential Equation (ODE) algorithm that integrates the dynamics presented by control system in to the coupled response of aerodynamics and structural deformations of the rotor. The benchmark case in consideration is the use of fractional trailing-edge flaps used on blades designed for the NREL-5MW Reference Wind Turbine, originally designed by the National Renewable Energy Laboratory.

A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback.

During open surgery, a surgeon relies not only on the detailed view of the organ being operated upon and on being able to feel the fine details of this organ but also heavily relies on the combination of these two senses. In laparoscopic surgery, haptic feedback provides surgeons information on interaction forces between instrument and tissue. There have been many studies to mimic the haptic feedback in laparoscopic-related telerobotics studies to date. However, cutaneous feedback is mostly restricted or limited in haptic feedback-based minimally invasive studies. We argue that fine-grained information is needed in laparoscopic surgeries to study the details of the instrument’s end and can convey via cutaneous feedback. We propose an exoskeleton haptic hand wearable which consists of five 4 × 4 miniaturized fingertip actuators, 80 in total, to convey cutaneous feedback. The wearable is described as modular, lightweight, Bluetooth, and WiFi-enabled, and has a maximum power consumption of 830 mW. Software is developed to demonstrate rapid tactile actuation of edges; this allows the user to feel the contours in cutaneous feedback. Moreover, to demonstrate the idea as an object displayed on a flat monitor, initial tests were carried out in 2D. In the second phase, the wearable exoskeleton glove is then further developed to feel 3D virtual objects by using a virtual reality (VR) headset demonstrated by a VR environment. Two-dimensional and 3D objects were tested by our novel untethered haptic hand wearable. Our results show that untethered humans understand actuation in cutaneous feedback just in a single tapping with 92.22% accuracy. Our wearable has an average latency of 46.5 ms, which is much less than the 600 ms tolerable delay acceptable by a surgeon in teleoperation. Therefore, we suggest our untethered hand wearable to enhance multimodal perception in minimally invasive surgeries to naturally feel the immediate environments of the instruments.

High-frequency and rapid response tungsten sulfide nano onion-based electrochemical actuators.

Poor rate capability, the biggest barrier to potential applications of electrochemical actuators (ECAs), is primarily resulted from symmetric electrochemical reactions. This makes it extremely difficult for ECAs to actuate above 1 Hz while maintaining sufficient displacement retainability compared with their actuations at relatively low frequencies, particularly when working in liquids. Here, tungsten trisulfide (WS3) assisted tungsten disulfide nano onions are synthesized through a one-step laser-assisted strategy. Using the irreversibility of WS3 in adsorbing hydrogen in an acidic solution, the electrochemical reaction of tungsten sulfide nano onions is tailored to realize an asymmetric redox reaction for breaking the symmetry of the electrical double layer and battery-like process. Experiments demonstrate that the ECA's response rate (0.24 mm-1 s-1) is at least 10 times faster than that of the previously reported ECAs. Moreover, this ECA can actuate at 30 Hz and reaches top performance in liquids at 4 Hz with long-term durability (>90% after 23 000 cycles), which is comparable to that of electromagnetic and electrothermal actuators. To understand the electrochemical actuation of tungsten sulfide from the atomic scale to the macroscopic scale, density functional theory calculations are conducted and an electrochemomechanical coupling model is proposed. A new generation of subvolt electric-driven actuators used in underwater robotics can be developed by modulating the electrochemical response and chemomechanical coupling effect.

Bi‐Shell Valve for Fast Actuation of Soft Pneumatic Actuators via Shell Snapping Interaction (Adv. Sci. 15/2021)

Soft Pneumatic Actuators In article number 2100445, Chuan Qiao, Lu Liu, and Damiano Pasini propose a bi-shell valve leveraging shell snap-through buckling interaction for the rapid actuation of pneumatic soft actuators. A demonstrative experiment shows that the actuation time can be significantly reduced. The concept introduced here, offers a new function that is unattainable by existing soft valves used in soft robotics.

A Hybrid Jamming Structure Combining Granules and a Chain Structure for Robotic Applications.

To allow versatile manipulation of soft robots made of compliant materials with limited force transmission, variable stiffness has been actively developed, which has become one of the most important factors in soft robotics. Variable stiffness is usually achieved by a jamming mechanism using layers, granules, or chain structures, through vacuum pressure or cable-driven mechanism due to its simple and rapid actuation. However, such jamming mechanisms are not suitable for actual robotic applications that require large supporting forces or drastic changes in stiffness. In this article, a hybrid jamming structure that combines granules and a rigid chain structure is proposed to simultaneously increase the average stiffness change in all directions and the maximum force in a certain direction. The improved performance of the proposed structure was compared to that of conventional granular and chain jamming structures. Based on the analytical model of the proposed structure, the principles for designing the hybrid jamming structure were derived and experimentally verified. Finally, based on the hybrid jamming structures, a multilink hybrid jamming structure was developed as a wearable system to assist the upper limbs and a robotic arm structure.

Design of MXene Composites with Biomimetic Rapid and Self-Oscillating Actuation under Ambient Circumstances.

Although responsive actuators have been intensively investigated, it remains challenging to enable rapid and self-oscillating actuation under ambient circumstances without human intervention analogous to living organisms. By hybridizing a unique type of two-dimensional nanomaterials (i.e., MXene) with a particular hydrophilic polymer, a smart and flexible conductive composite was produced with rapid actuation and spontaneous oscillation near a moist surface. Due to the presence of layered microstructures and the moisture-sensitivity improved by surface roughness and intercalated polymeric layers, the composites could reversibly bend up to 180° in 2 s or 210° in 10 s on demand when the circumstantial humidity was varied, being superior or comparable to many actuators in the literature. More importantly, the composite was capable not only of flipping upside down repeatedly on the moist surface but also of self-oscillating ceaselessly under ambient gradient humidity without human intervention, e.g., an oscillation between 30 and 100° with an oscillation frequency of 0.08 Hz. This self-oscillation resulted from the occurrence of rapid asymmetrical hydration and dehydration of the composite between the regions of high and low humidity, which could further be modulated both by different hydrophilic polymers and by photoradiation owing to the photothermal effect of MXene nanosheets. Because of the ubiquitous presence of humidity gradient near the moist surface, this type of smart composite may not only offer a strategy for designing artificial materials that are capable of spontaneous actuation under ambient circumstance without human intervention but also promise potential applications in artificial muscles, autonomous robotics, and energy harvesting from environments.

Bi-Shell Valve for Fast Actuation of Soft Pneumatic Actuators via Shell Snapping Interaction.

Rapid motion in soft pneumatic robots is typically achieved through actuators that either use a fast volume input generated from pressure control, employ an integrated power source, such as chemical explosions, or are designed to embed elastic instabilities in the body of the robot. This paper presents a bi‐shell valve that can fast actuate soft actuators neither relying on the fast volume input provided by pressure control strategies nor requiring modifications to the architecture of the actuator. The bi‐shell valve consists of a spherical cap and an imperfect shell with a geometrically tuned defect that enables shell snapping interaction to convert a slowly dispensed volume input into a fast volume output. This function is beyond those of current valves capable to perform fluidic flow regulation. Validated through experiments, the analysis unveils that the spherical cap sets the threshold of the snapping pressure along with the upper bounds of volume and energy output, while the imperfect shell interacts with the cap to store and deliver the desired output for rapid actuation. Geometry variations of the bi‐shell valve are provided to show that the concept is versatile. A final demonstration shows that the soft valve can quickly actuate a striker.

Robust and rapid responsive organic-inorganic hybrid bilayer hydrogel actuators with silicon nanoparticles as the cross-linker

Hydrogel actuators belong to a type of smart soft materials which can take place anisotropic thrust and/or displacement under various environmental stimuli including thermal, light, pH, humidity etc. Robust strength and rapid response are of critical importance to high-performance hydrogel actuators. Here we report the syntheses and investigations of mechanical properties for series novel organic-inorganic hydrogels by using vinyl functionalized silicon nanoparticles (SiNPs) as the cross-linker. The doped SiNPs significantly enhance the mechanical strength of polyacrylamide (PAAm) hydrogels. Furthermore, the SiNPs composite poly-N-isopropylacrylamide (PNIPAm) hydrogels exhibit rapid response in deswelling and swelling behaviours. The excellent mechanical and responsive properties are attributed to the enhanced rigidity via SiNPs doping into the hydrogel network and the improved water diffusion through mPEG branch chains on the surface of nanoparticles, respectively. As a proof of concept, a bilayer PNIPAm@PAAm hydrogel actuator is facilely synthesized via an in-situ polymerization process. This composite hydrogel actuator shows extremely fast response rate of directional bending in hot water, about 6 times faster than the control without doping of SiNPs. This work demonstrates that these SiNPs composite hydrogels provide enhanced mechanical and responsive performances and may expand the future applications in smart hydrogel materials.

Displacement amplification enhances rapid actuation of electromagnetic actuators: Drive with load of spring–mass–damper system

Displacement amplification affects the response time of actuators using electromagnetic attractive force. Although this force is widely used for actuation, it exhibits a tradeoff between thrust and stroke, because thrust depends on the gap between the electromagnet and armature, and increasing the gap (stroke) drastically degrades thrust. Displacement amplification has been proposed for actuators to mitigate this tradeoff by magnifying the gap motion to efficiently use large forces in small gaps. Although such an actuator is applicable to submillimeter stroke and fast motions, dynamic characteristics have not been studied enough for designing in practical usages. This paper reveals the effect of displacement amplification on the actuation time through both a simple dynamic model for basic theoretical discussion and a simulation including damping factor to gain a more practical perspective. We also propose a test bench to verify the analyses and compare experimental and simulation results. The experiments confirm shorter actuation time and thus improved performance by combining electromagnetic attractive force and displacement amplification with spring–mass–damper as load. In addition, the experimental and simulation results show that only characteristics of the magnetic circuit should be considered for deciding the amplification ratio in designing DAEAs.

Time-dependent motion of 3D-printed soft thermal actuators for switch application in electric circuits

We present a reversible and three-dimensional (3D)-printed soft thermal actuator (3-STA) and transient analysis for electrical switch applications. The actuating performance as a switch was numerically modeled to predict the transient motion of the 3-STA. For simple fabrication, polylactic acid (PLA) filaments were directly printed onto a paper substrate. An electrical connection through the filament/paper composite was implemented to create the thermo-responsive soft actuator, which served as a switch. As a result, the 3-STA with 0.45 mm-thick PLA layer exhibited the most rapid (an average response time of 35.68 s) and stable actuation under 500 cycle tests. In addition, the developed model predicted the position of an actuator body well at a specific time and was comparable with the experimental results. The step current was successfully generated by delayed contacts between the actuators and pin headers, thereby controlling the electric power, which can be used for electrical components (e.g., a cooling fan). These results support the simple fabrication of an electrical switch through 3D printing and the development of transient analysis to estimate the position of soft actuators at a specific time.

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

Muscle weakness owing to stroke, spinal cord injuries, or aging can make a person’s life sedentary, temporarily as well as permanently. Such persons need to be motivated to break their sedentary postures and attempt independent motion. A key motivator in this aspect is the ability to easily transition from seated to standing posture. If this sit-to-stand transition (STSt) is easy, it will encourage further mobility. A soft wearable device that can assist the STSt, would fill this need perfectly. Such a device should be able to seamlessly assist during STSt and be unobtrusive during sitting. A major limitation that is currently holding back the development of soft exosuits in STSt-assist is the lack of low-profile soft actuators with high strain rate and force-to-weight ratio. Hence, we propose a novel low-profile vacuum actuator (LPVAc) with an integrated inductive displacement sensor that, can be rapidly fabricated, is lightweight (14g), and can provide high strain (65%) and a high force-to-weight ratio (285 times self-weight). The proposed actuator comprises a low-profile spring encased within a low-density polyethylene film with rapid vacuum actuation and passive quick return. The proposed inductive sensor has a sensitivity of $0.0022~\mu H/mm$ and the hysteresis is below 1.5% with an overall absolute average error percentage of 5.24%. The performance of the proposed integrated sensor in displacement control of the LPVAc is experimentally evaluated. The proposed actuator is integrated into a novel mono-articular STSt-assist exosuit for preliminary testing. Surface electromyography measurements of the gluteus maximus muscles during STSt indicate a mean muscle activity reduction of 45%. This supports the potential use of the proposed actuator in STSt-assist.

Electrowetting valves for sweat-based microfluidics

Skin-compatible microfluidic valving systems with on-demand sweat capture are necessary to understand the temporal variation of biomarkers. Here, we demonstrate solution-based electrowetting valves with rapid actuation integrated into a flexible microfluidic sweat collection patch. The valve is produced by inkjet-printing a pair of silver electrodes with spacings of 0.2–2 mm and modifying the downstream electrode with a hydrophobic self-assembled monolayer. To complete the valve, a microfluidic channel is fabricated from laser ablation of adhesive layers and pressed over the silver electrodes. Artificial perspiration is driven by capillary action within the channel until stopped by the electrowetting valve. A low voltage is applied to the electrodes, decreasing the surface energy of the hydrophobic monolayer and allowing the fluid front to continue through the microchannel. Statistical analysis demonstrated that applied voltage, and not electrode spacing, influenced valve actuation time, with 17 ± 8 s for 4 V and 40 ± 16 s for 1 V. Inkjet-printing conditions were also optimized to achieve a valve fluid retention time of 9 h. Using four electrowetting valves, an integrated wearable device is designed for artificial perspiration collection through valve actuation at distinct time points over 40 min. Finally, these inexpensive, user-friendly, and disposable electrowetting valves offer exciting opportunities for non-invasive point-of-care sweat monitoring.

Fast and High‐Strain Electrochemically Driven Yarn Actuators in Twisted and Coiled Configurations

AbstractCommercially available yarns are promising precursor for artificial muscles for smart fabric‐based textile wearables. Electrochemically driven conductive polymer (CP) coated yarns have already shown their potential to be used in smart fabrics. Unfortunately, the practical application of these yarns is still hindered due to their slow ion exchange properties and low strain. Here, a method is demonstrated to morph poly‐3,4‐ethylenedioxythiophene:poly‐styrenesulfonate (PEDOT:PSS) coated multifilament textile yarns in highly twisted and coiled structures, providing >1% linear actuation in <1 s at a potential of +0.6 V. A potential window of +0.6 V and –1.2 V triggers the fully reversible actuation of a coiled yarn providing >1.62% strain. Compared to the untwisted, regular yarns, the twisted and coiled yarns produce >9× and >20× higher strain, respectively. The strain and speed are significantly higher than the maximum reported results from other electrochemically operated CP yarns. The yarn's actuation is explained by reversible oxidation/reduction reactions occurring at CPs. However, the helical opening/closing of the twisted or coiled yarns due to the torsional yarn untwisting/retwisting assists the rapid and large linear actuation. These PEDOT:PSS coated yarn actuators are of great interest to drive smart textile exoskeletons.

Modeling of integrated shape memory alloy and Macro-Fiber Composite actuated trailing edge

Owing to their high energy densities, smart materials like shape memory alloys (SMAs), Macro-Fiber Composites (MFCs) and, electroactive polymers (EAPs) have massive potential as actuators in wing morphing applications. In this article, a detailed numerical model is developed for the shape prediction of an elastic base that is actuated by a combination of a shape memory alloy (SMA) wire and a Macro-Fiber Composite (MFC) bimorph. It has been demonstrated using the model that it is possible to achieve large deflections at low frequencies by virtue of the phase transformations in the SMA wire and rapid actuation with small deflections due to the MFC bimorph. In the developed scheme, the elastic base is modeled using non-linear Euler-Bernoulli beam theory. The influence of the non-linear hysteresis in the SMA wire and the linear actuation characteristics of the MFC is studied by incorporating thermo-mechanical and electro-mechanical constitutive behavior into the non-linear beam theory. The system of coupled equations hence obtained, is solved iteratively to obtain the deflected shape of the elastic base. The results from the developed numerical scheme are validated against the previously available studies in the literature and experiments. Additionally, the synergistic advantage of using the two actuators together has been shown through experiments. As an illustration, a smart trailing edge camber morphing concept is developed by integrating the flexible elastic structure along with the two smart actuators to a NACA 0012 airfoil as the trailing edge.

Rapid remote actuation in shape memory hyperbranched polyurethane composites using cross-linked photothermal reduced graphene oxide networks

We report near-infrared (NIR) laser-driven rapid shape recovery in hyperbranched polyurethane/epoxy (HBPU/EP) composites based on cross-linked graphene photothermal networks. Graphene-based photothermal reinforcements were synthesized by functionalizing graphene oxide (GO) with the epoxy bisphenol A diglycidil ether (DGEBA) to form DGEBA-f-GO, and by subsequent reduction of DGEBA-f-GO to DGEBA-f-reduced graphene oxide (DGEBA-f-rGO). Upon irradiation with an 808 nm NIR laser, the composites with 1 wt% cross-linked DGEBA-f-rGO exhibited a remarkable shape recovery time of 6.5 s (one-fourth that of the composites with 1 wt% GO). The rapid actuation in these composites results from excellent photothermal conversion by the cross-linked DGEBA-f-rGO owing to enhanced π conjugation in rGO and homogeneous dispersion of graphene networks in the polymer matrix due to covalent interactions. An increase in the epoxy groups on the GO surface also enhanced the mechanical properties of the composites by forming denser cross-linked networks. Graphene-based photothermal networks may be suitable for fabricating robust and remote-controllable rapid shape recovery composites.

Visible-Light-Driven, Nickel-Doped Cobalt Oxides/Hydroxides Actuators with High Stability.

Material-based, light-driven actuators have been a recent research focus for the development of untethered, miniaturized devices and microrobots. Recently introduced nickel hydroxide/oxyhydroxide (Ni(OH)2/NiOOH) and cobalt oxides/hydroxides (CoOx(OH)y) are promising light-driven actuators, as they exhibit large and rapid actuation response and are inexpensive to fabricate by fast electrodeposition. However, as their actuation is due to the volume change accompanying the light-induced desorption of intercalated water in their turbostratic structures, their actuation reduces over time as crystallization takes place slowly, which lowers the amount of water held. Here, we introduce nickel-doped cobalt oxides/hydroxides (NiCoOx(OH)y) actuator that exhibits similar turbostratic crystal structures and actuation magnitude as CoOx(OH)y, but with much slower crystallization and hence significantly more stable actuation than CoOx(OH)y or Ni(OH)2/NiOOH. The new actuator exhibits much better applicability than the Co and Ni counterparts, and the present work shows that a stabilized turbostratic structure is a key for achieving high light-driven actuation in transition-metal oxide/hydroxide actuators.

Micromechanics Study on Actuation Efficiency of Hard-Magnetic Soft Active Materials

Abstract Hard-magnetic soft active materials have drawn significant research interest in recent years due to their advantages of untethered, rapid and reversible actuation, and large shape change. These materials are typically fabricated by embedding hard-magnetic particles in a soft matrix. Since the actuation is achieved by transferring the microtorques generated on the magnetic particles by the applied magnetic field to the soft matrix, the actuation depends on the interactions between the magnetic particles and the soft matrix. In this paper, we investigate how such interactions can affect the actuation efficiency by using a micromechanics approach through the representative volume element simulations. The micromechanics reveals that particle rotations play an essential role in determining the actuation efficiency, i.e., the torque transmission efficiency. In particular, a larger local particle rotation in the matrix would reduce the effective actuation efficiency. Micromechanics simulations further show that the efficiency of the torque transmission from the particles to the matrix depends on the particle volume fraction, the matrix modulus, the applied magnetic field strength, as well as the particle shape. Based on the micromechanics simulations, a simple theoretical model is developed to correlate the torque transmission efficiency with the particle volume fraction, the matrix modulus, as well as the applied magnetic field strength. We anticipate this study on the actuation efficiency of hard-magnetic soft active materials would provide optimization and design guidance to the parameter determination for the material fabrication for different applications.

Separated Flow Response to Rapid Flap Deflection

The transient response of a massively separated flow over an airfoil to rapid flap actuation is presented. A NACA 0006 airfoil is oriented at a fixed incidence of 20 deg for a Reynolds number of . The experiments are performed in a water tunnel with a wing spanning the width of the test section to produce a nominally two-dimensional flowfield. The airfoil is bisected about the midchord position, resulting in a 50%-chord trailing-edge flap. The flap is rapidly deflected in a smoothed-ramp profile over a range of deflection speeds and amplitudes. The flap maneuver is completed in a fraction of a single convective time. Focus is given to a deflection amplitude of 2 deg to minimize geometric deviation from the nondeflected configuration. The desired response to such a flap motion is the evocation of vortical transients conducive to lift enhancement. Through this study, two distinct transient responses are observed that are directionally dependent on flap actuation. In motions resulting in an increase in airfoil camber, the lift is increased instantaneously to modest values before relaxation to a separated steady state. In effect, this mode expedites convergence to the steady-state value of the final airfoil configuration and is devoid of the “antilift” spike associated with the discrete actuation of conventional fluidic actuators. In motions resulting in a decrease in airfoil camber, the lift profile is characterized by an initial reduction before a surge in lift, culminating in a global peak and followed by relaxation. Both deflection modes prove disruptive to the leading-edge shear-layer dynamics through trailing-edge actuation and are cause for rollup of a leading-edge vortex. Ridges of the finite-time Lyapunov exponent field are used to determine that the net decrease in camber motion induces significant entrainment near the trailing edge, leading to a smaller recirculation region and reattachment of the flow above the suction surface trailing-edge region. The net increase in camber motion does not generate this entrainment, and therefore yields a significantly larger recirculation region.

Shape memory effect and rapid reversible actuation of nanocomposite hydrogels with electrochemically controlled local metal ion coordination and crosslinking.

Rapid and reversible actuation and shape memory effects are critical for biomimetic soft actuators based on polymer hydrogels. However, most conventional hydrogel actuators show very slow actuation or deformation rates in water. It remains a challenge to realize rapid actuations, particularly for hydrogels to actuate in air. Here, a novel strategy to create diverse hydrogel devices with shape memory effects and rapid reversible actuations even in air was demonstrated. This strategy relies on a precise definition of local crosslinking by using multivalent metal ion coordination. This is demonstrated by infiltrating Fe3+ ions into stretchable nanocomposite polyacrylamide hydrogels with the amide groups converted into primary amine groups for multivalent coordination and crosslinking. The Fe3+ coordination with amine groups enhanced the crosslink density and modulus, leading to deswelling. By using an iron rod electrode, the Fe3+ coordination and crosslinking were precisely controlled to generate hydrogels with heterogeneous local crosslinking, including Janus hydrogels, S-shaped hydrogels, and cross-shaped hydrogel grippers. These soft devices were reversibly actuated in tens of seconds when cyclically dehydrated in ethanol and rehydrated in water. Most interestingly, very rapid reversible actuations of a hydrogel device in air were demonstrated by using electro-redox reaction of Fe3+ and Fe2+ in the hydrogel, where the reversible local coordination crosslinking and decomposition served as a hinge to actuate the hydrogel. This strategy based on reversible local coordination and crosslinking may open an avenue for rapid fabrication of hydrogel devices with well-defined structures and actuation properties.