Soft Robotics Research Articles

Efficient fabrication of conductive sponges for wearable flexible sensors

In recent years, flexible and wearable sensors, particularly piezoresistive sensors, have been widely used in various fields such as human–computer interface, soft robotics, and artificial electronic skin. Three-dimensional (3D) conductive sponges have attracted widespread attention due to their excellent sensor performance, ease of manufacture, and seamless integration into circuits. Polydimethylsiloxane (PDMS) is widely used as an ideal substrate for these 3D conductive sponges due to its excellent chemical stability, good biocompatibility, and ideal mechanical properties. In this study, we synthesize a series of conductive silicone sponges (PCSs) by the one-pot thiol oxidative coupling reaction using commercially available multi-walled carbon nanotubes and poly((thiopropyl)methyl dimethylsiloxane). The PCSs possess controllable density and electrical conductivity. Moreover, the PCS-a sponge exhibits a wide pressure sensing range from 0.5 to 230 kPa with high-pressure sensitivity along with excellent mechanical and sensing stability. Pressure sensors fabricated using PCSs can be utilized in speech recognition systems and human activity monitoring such as arm/finger bending or walking while attached to joint positions. Additionally, they can also function as compressible switching devices for pressure alarms and LEDs.

Evaluating Stacked Dielectric Elastomer Actuators as Soft Motor Units for Forming Artificial Muscles in Biomimetic Rehabilitation Robots

The recent commercial availability of stacked dielectric elastomer actuators (SDEAs) has unlocked new opportunities for their application as “artificial skeletal muscles” in rehabilitation robots and powered exoskeletons. Composed of multiple layers of thin, elastic capacitors, these actuators present a lightweight, soft, and acoustically noiseless alternative to traditional DC motor actuators commonly used in rehabilitation robotics, thereby enhancing the natural feel of such systems. Building on our previous research, this study aimed to evaluate the most recent version of commercial SDEAs to assess their potential for mechanizing rehabilitation robots. We quantified the stress and strain behavior and stiffness of these actuators in both single and 1 × 3 configurations (with three SDEAs connected in series). The actuators demonstrated the capability to generate up to 25 N of force and 115 KPa, a value surpassing human biceps, with a longitudinal strain measured at about 11%. The significant increase in force generation from 10 N in the previous version to 25 N and displacement from 3.3% to 11% substantially enhances the applicability of this actuator in rehabilitation robotics. SDEAs’ high force generation capability, combined with their strain and stress characteristics comparable to that of human biological muscles, make them ideal alternative actuators for biomimetic robots and applications where actuators must operate in the vicinity of the human body.

Structurally-colored adhesives for sensitive, high-resolution, and non-invasive adhesion self-monitoring

Polymeric adhesives are critical in many applications, from daily life to implantable devices and soft robotics. Monitoring adhesion in a real-time and convenient manner before premature failure is essential yet challenging. Herein, we present structurally-colored adhesives for sensitive, high-resolution, and non-invasive adhesion self-monitoring via distinct color change for detecting subtle deformation and debonding. The structurally-colored adhesives are designed by integrating one-dimensional photonic nanochains into exemplified acrylate-copolymer-based adhesives and demonstrate distinct color-changing capability through a unique tilting mechanism of nanochains under shear. Our structurally-colored adhesives can be customized as pressure-sensitive and structural adhesives, exhibiting ultrafast response (<60 ms), high sensitivity, and high resolution (~120 μm). Moreover, predicting adhesion states and premature failure can be achieved assisted by imaging systems and machine learning algorithms with an average accuracy of up to 97.2%. Our structurally-colored adhesives are expected to offer a practical paradigm for structural health monitoring in the Internet of Things era.

Microfiber Actuators With Hot-Pressing-Programmable Mechano-Photothermal Responses for Electromagnetic Perception.

Electromagnetic radiation (EMR) is a ubiquitous harm and hard to detect dynamically in multiple scenarios. A mechano-photothermal cooperative microfiber film (MFF) actuator is developed that can synchronously detect EMR with high reliability. The programmable actuation is deployed by a hot-pressing methodology, achieving the MFF with moderate modulus (378MPa) and superior toughness (87.26MJm-3) that ensure superior response (0.068cm-1s-1) and bending curvature (0.63cm-1). A secondary hot-pressing can further program the actuation behavior with black phosphorus local photothermal enhancement patterns to achieve 2D-3D transformable geometries. An amphibious robot with a land-water adaptive locomotion mechanism is designed by programming the MFFs. It can crawl on land and locomote on water with a velocity up to ≈1.8mms-1, and ≈2.39cms-1, respectively. Employing the conductive fabric layer of the actuator with electromagnetic induction effect, the amphibious robot can synchronously perceive environmental EMR with sensitivity up to 99.73%±0.15% during locomotion, with superior adaptability to EMR source intensity (0.1 to 3000W) and distance (≈9m) compared to a commercial EMR detector. This EMR detective microfiber actuator can inspire a new direction of environment-interactive smart materials, and soft robots with multi-scenario adaptivity and autonomous environment perceptivity.

Large-torque and fast-response electrothermal-motivated liquid crystal elastomer twisted yarn actuators

Analogous to biological muscles, twisted yarns with the capacity to output torsional torque and reversible rotation are of significant value in the development of soft robotic systems. However, how to achieve large torque while efficiently integrating electrical control elements to the soft actuators remains scientific and engineering challenges. Here, by concentric twisting a flexible silver-plated polyamide strand (SPS) with multi-layer liquid crystal elastomer fibers (LCEFs), a twisted yarn actuator with the skin-core structure that exhibits outstanding rotational motion under the electrical current control is fabricated. It has been proved that this multi-layered twisting structure efficiently improves the actuating performance. The yarn actuator can produce a peak torque of 33.4 N m kg−1 which outperforms reported commercial rotating motors and a specific power density of 21.2 W kg−1 that is comparable to the human skeletal muscle. As conceptual applications, electrical soft rotors and a novel flexible lifter have been successfully constructed based on the twisted yarn actuator, demonstrating precise torque responsiveness and controllability. Furthermore, a smart crawling fabric embedded with the twisted yarn actuators has been weaving fabricated which can crawl forward continuously and achieve the crawling stroke of 19.9 mm in 55 s and a maximum speed of 1.1 mm s−1. The research provides insights for designing soft robots employing fabric structures.

Differential growth and shape formation of a flower-shaped structure

Morphogenesis, which is a complex interplay of biological, chemical, and physical processes, facilitates differential growth in various biological systems, particularly in plant organs, such as petals and leaves. Although recent studies have increasingly delved into the mechanical aspects of these biological structures, there remains a lack of a comprehensive quantitative understanding of shape formation induced by differential growth in plant organs. Thus, this study addressed this gap by employing a multifaceted approach encompassing theoretical analyses and comprehensive finite element analysis of the effect of differential growth on the shape of a cylinder into a flower shape. Based on the derivation of the strain energy expressions for the axisymmetric and asymmetric configurations, the shape function of the growing flower-like structures were calculated through mathematical optimization. The findings of this study shed light on the influence of the growth function, geometric characteristics, and material properties. As the wave number increased, the final configuration tended to have smaller waves, whereas a longer cylinder buckled more easily and the thickness had a minimal effect. This study offers insights that can pave the way for innovative geometrical designs, thereby providing inspiration for applications on both micro-and macroscales, such as in the realms of self-assembly of soft robotics and flexible electronics.

Graphene-Based Thermopneumatic Generator for On-Board Pressure Supply of Soft Robots.

Various fields, including medical and human interaction robots, gain advantages from the development of bioinspired soft actuators. Many recently developed grippers are pneumatics that require external pressure supply systems, thereby limiting the autonomy of these robots. This necessitates the development of scalable and efficient on-board pressure generation systems. While conventional air compression systems are hard to miniaturize, thermopneumatic systems that joule heat a transducer material to generate pressure present a promising alternative. However, the transducer materials of previously reported thermopneumatic systems demonstrate high heat capacities and limited surface area resulting in long response times and low operation frequencies. This study presents a thermopneumatic pressure generator using aerographene, a highly porous (>99.99%) network of interconnected graphene microtubes, as lightweight and low heat capacity transducer material. An aerographene pressurizer module (AGPM) can pressurize a reservoir of 4.2 cm3 to ∼14 kPa in 50 ms. Periodic operation of the AGPM for 10 s at 0.66 Hz can further increase the pressure in the reservoir to ∼36 kPa. It is demonstrated that multiple AGPMs can be operated parallelly or in series for improved performance. For example, three parallelly operated AGPMs can generate pressure pulses of ∼21.5 kPa. Connecting AGPMs in series increase the maximum pressure achievable by the system. It is shown that three AGPMs working in series can pressurize the reservoir to ∼200 kPa in about 2.5 min. The AGPM's minimalistic design can be easily adapted to circuit boards, making the concept a promising fit for the on-board pressure supply of soft robots.

Ultra-Fast Fabrication of Mechanical-Water-Responsive Color-Changing Photonic Crystals Elastomers and 3D Complex Devices.

The traditional fabrication of opal-structured photonic crystals is constrained by the rate of solvent evaporation, a process that is not only time-consuming but also labor-intensive. This study introduces a paradigm shift by incorporating silica nanoparticles (SiNPs) with high zeta potentials and hydrogen bonding capabilities into an elastomeric matrix, resulting in a novel non-close-packed structure. This innovation circumvents the limitations of conventional methods by enabling the rapid formation of photonic inks (PI) into vibrant and luminous photonic elastomers (PEs) within seconds. These PEs demonstrate remarkable mechanochromic properties, exhibiting dynamic color changes across the visible spectrum in response to tensile and compressive deformations. Furthermore, the presence of hydroxyl groups endows the PEs with superior water-responsiveness, which can be finely tuned through the ink formulation. The elimination of solvent evaporation dependency facilitates the fabrication of macroscopic photonic crystal devices with complex geometries using digital light processing (DLP)-based 3D printing. This approach ensures exceptional optical performance and high customization potential. The resulting PEs hold significant promise for applications in smart wearables, soft robotics, and advanced human-machine interface technologies.

Performance of Organic Electrochemical Transistors with Ionic Liquid Crystal Elastomers as Solid Electrolytes.

Organic electrochemical transistors (OECTs) have emerged as attractive devices for bioelectronics, wearable electronics, soft robotics, and energy storage devices. The electrolyte, being a fundamental component of OECTs, plays a crucial role in their performance. Recently, it has been demonstrated that ionic liquid crystal elastomers (iLCEs) can be used as a solid electrolyte for OECTs. Their capabilities, however, have only been shown for relatively large size substrate-free OECTs. Here, we study the influence of the different alignments of iLCEs on steady state and transient behavior of OECTs using a lateral geometry with source, drain, and gate in the same plane. We achieve excellent electrical response with an ON/OFF switching ratio of >105 and minimal leakage current. The normalized maximum transconductance gm/w of the most sensitive iLCE was found to be 33 S m-1, which is one of the highest among all solid-state-based OECTs reported so far. Additionally, iLCEs show high stability and can be removed and reattached multiple times to the same OECT device without decreasing performance.

Shape reconstruction of soft continuum robots via the fusion of local strains and global poses

Shape reconstruction of soft continuum robots via the fusion of local strains and global poses

On the Piezomagnetism of Magnetoactive Elastomeric Cylinders in Uniform Magnetic Fields: Height Modulation in the Vicinity of an Operating Point by Time-Harmonic Fields.

Soft magnetoactive elastomers (MAEs) are currently considered to be promising materials for actuators in soft robotics. Magnetically controlled actuators often operate in the vicinity of a bias point. Their dynamic properties can be characterized by the piezomagnetic strain coefficient, which is a ratio of the time-harmonic strain amplitude to the corresponding magnetic field strength. Herein, the dynamic strain response of a family of MAE cylinders to the time-harmonic (frequency of 0.1-2.5 Hz) magnetic fields of varying amplitude (12.5 kA/m-62.5 kA/m), superimposed on different bias magnetic fields (25-127 kA/m), is systematically investigated for the first time. Strain measurements are based on optical imaging with sub-pixel resolution. It is found that the dynamic strain response of MAEs is considerably different from that in conventional magnetostrictive polymer composites (MPCs), and it cannot be described by the effective piezomagnetic constant from the quasi-static measurements. The obtained maximum values of the piezomagnetic strain coefficient (∼102 nm/A) are one to two orders of magnitude higher than in conventional MPCs, but there is a significant phase lag (35-60°) in the magnetostrictive response with respect to an alternating magnetic field. The experimental dependencies of the characteristics of the alternating strain on the amplitude of the alternating field, bias field, oscillation frequency, and aspect ratio of cylinders are given for several representative examples. It is hypothesized that the main cause of observed peculiarities is the non-linear viscoelasticity of these composite materials.

Vision-based reinforcement learning control of soft robot manipulators

PurposeThis study aims to tackle control challenges in soft robots by proposing a visually-guided reinforcement learning approach. Precise tip trajectory tracking is achieved for a soft arm manipulator.Design/methodology/approachA closed-loop control strategy uses deep learning-powered perception and model-free reinforcement learning. Visual feedback detects the arm’s tip while efficient policy search is conducted via interactive sample collection.FindingsPhysical experiments demonstrate a soft arm successfully transporting objects by learning coordinated actuation policies guided by visual observations, without analytical models.Research limitations/implicationsConstraints potentially include simulator gaps and dynamical variations. Future work will focus on enhancing adaptation capabilities.Practical implicationsBy eliminating assumptions on precise analytical models or instrumentation requirements, the proposed data-driven framework offers a practical solution for real-world control challenges in soft systems.Originality/valueThis research provides an effective methodology integrating robust machine perception and learning for intelligent autonomous control of soft robots with complex morphologies.

Sensor‐Embedded Muscle for Closed‐Loop Controllable Actuation in Proprioceptive Biohybrid Robots

Biohybrid robots are soft robots that exploit unique characteristics of biological cells and tissues for motion generation. Skeletal muscle tissue‐based bioactuators respond to externally applied stimuli, such as electrical fields. However, current bioactuation systems rely on open‐loop control strategies that lack knowledge of the actuator's state. The regulation of output force and position of biohybrid robots requires self‐sensing control systems that combine bioactuators with sensors and control paradigms. Herein, a soft, fiber‐shaped mechanical sensor based on a piezoresistive composite is proposed that efficiently integrates with engineered skeletal muscle tissue and senses its contracting states in a cell culture environment in the presence of applied electrical fields. After testing the sensor's insulation and biocompatibility, its sensitivity for typical strains (&lt;1%) is characterized, and its ability is proven to detect motions from contractile skeletal muscle tissue constructs. Finally, it is shown that the sensor response can feed an autonomous control system, thus demonstrating the first proprioceptive biohybrid robot that senses and responds to its contraction state. In addition to inspiring implantable systems, biomedical models, and other bioelectronic devices, the proposed technology will confer biohybrids with decisional autonomy, thus driving the paradigm shift between bioactuators and intelligent biohybrid robots.

Programming Hydrogen Bonds for Reversible Elastic-Plastic Phase Transition in a Conductive Stretchable Hydrogel Actuator with Rapid Ultra-High-Density Energy Conversion and Multiple Sensory Properties.

Smart hydrogels have recently garnered significant attention in the fields of actuators, human-machine interaction, and soft robotics. However, when constructing large-scale actuated systems, they usually exhibit limited actuation forces (≈2kPa) and actuation speeds. Drawing inspiration from hairspring energy conversion mechanism, an elasticity-plasticity-controllable composite hydrogel (PCTA) with robust contraction capabilities is developed. By precisely manipulating intermolecular and intramolecular hydrogen-bonding interactions, the material's elasticity and plasticity can be programmed to facilitate efficient energy storage and release. The proposed mechanism enables rapid generation of high contraction forces (900kPa) at ultra-high working densities (0.96MJm-3). Molecular dynamics simulations reveal that modifications in the number and nature of hydrogen bonds lead to a distinct elastic-plastic transition in hydrogels. Furthermore, the conductive PCTA hydrogel exhibits multimodal sensing capabilities including stretchable strain sensing with a wide sensing range (1-200%), fast response time (180ms), and excellent linearity of the output signal. Moreover, it demonstrates exceptional temperature and humidity sensing capabilities with high detection accuracy. The strong actuation power and real-time sensory feedback from the composite hydrogels are expected to inspire novel flexible driving materials and intelligent sensing systems.

Soft Micropneumatic Touchpad

Soft tactile sensors outputting fluidic signals have many potential applications in soft microfluidic devices and soft robots. However, existing systems have been limited to a single or a few sensors in parallel, so they are not comparable to the state‐of‐the‐art electrical resistive and capacitive touchpads, which can detect rich tactile information, including touch location, pressure, area, and even multiple touches simultaneously. This work reports a soft micropneumatic touchpad. The touchpad consists of 32 pneumatic channels inside soft elastomer, with 16 channels aligned row‐wise and 16 column‐wise. The flow resistance of each channel is measured using a pressure divider. When the pad is touched, the cross‐sectional area of the channels close to the contact location deforms, which changes the flow resistance of those channels. With 32 sensing channels, the location, depth, area of the contact, and even two simultaneous touches can be detected. Letters hand‐written on the touchpad can be reconstructed from the measured data. With the assumption of sparsity, a tactile pressure map, with a value at each 16 × 16 grid point, can also be reconstructed. This work opens a path to replace electronic tactile sensors in soft devices with all‐fluidic alternatives.

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.

Humidity-responsive fiber actuators assembled from cellulose nanofibrils

Fiber actuators, particularly valuable in soft robotics and environmental sensing, are at the forefront of “smart” materials and materials innovation. In this realm, torsional and tensile biofiber actuators, notable for their cost-effectiveness and biodegradability, mark a critical gap in the development of next-generation functional systems and devices. To address this gap, this study showcased moisture-responsive fiber actuators made from cellulose nanofibrils (CNFs). The initial focus of this contribution was on an innovative torsional actuator, which capitalized on the hydrophilic nature of the CNFs filaments produced through wet-spinning processes. These robust filaments, with a mechanical strength of (237.0 ± 10.7) MPa, were twisted to form the torsional actuator. This actuator demonstrated a rapid rotational response, achieving up to 1180 rpm within merely 10 s of exposure to moisture, and maintained high durability over multiple cycles. Building upon this platform, the study continued and aimed to build up a tensile actuator, which ingeniously integrated a supercoiled nylon fiber core within a moisture-sensitive CNFs sheath. This design enhances the structural support and functionality of the actuator. The pursued transition from torsional to tensile actuator demonstrates an iterative and innovative approach in actuator technology, underscoring the versatility and potential of CNFs in the realm of “smart” actuation materials.

High-Voltage Power Supply for Four-Quadrant Dielectric Elastomer Actuators.

Dielectric elastomer actuators (DEAs) are emerging as promising candidates for various applications in robotics and optical devices due to their lightweight, miniaturization potential, high energy density, simple structure, and low power consumption. However, their effective actuation always demands sophisticated high-voltage driving circuits that are compact and responsive. DEAs need to be capable of generating intricate high-voltage waveforms or simultaneously controlling multiple quadrants with distinct high-voltage levels. This paper proposes a high-voltage power supply for DEAs, featuring a four-quadrant high-voltage driving circuit. The circuit is capable of independently generating high-voltage signals ranging from 100 V to 6000 V and producing arbitrary waveforms with adjustable frequencies. The independent operation of the quadrants without crosstalk showcases the system's integration and potential for cross-disciplinary applications.

4D Printing Hybrid Soft Robots Enabled by Shape-Transformable Liquid Metal Nanoparticles.

In recent years, soft robotics has emerged as a rapidly expanding frontier research field that draws inspiration from the locomotion mechanisms of soft-bodied creatures in nature to achieve smooth and complex motion for diverse applications. However, the fabrication of soft robots with hybrid structures remains challenging due to limitations in material selection and the complex, multi-step processes involved in traditional manufacturing methods. Herein, a novel direct one-step additive manufacturing (3D printing) approach is introduced for the fabrication of hybrid robots composed of soft and rigid components for sophisticated tasks. Inspired by the shape-transformable liquid metal nanoparticles (LMNPs), a functional material toolkit with tuneable mechanical properties and deformability is developed by integrating differently shaped gallium-based nanoparticles (GNPs) into the 3D printing polymers. Then the direct printing of assembled or one-piece hybrid soft-rigid robots is presented through a single recipe of GNPs-integrated inks. This fabrication method enables precise control of the mechanical properties and shape memory properties within the hybrid structures of robot body with a customized structure design. Their capabilities are further demonstrated through the design and fabrication of hybrid robots as high-precision gripper, bioinspired motor, and hand rehabilitation device.

Mechanochromic Suction Cups for Local Stress Detection in Soft Robotics

Advancements in smart soft materials are enhancing the capabilities of robotic manipulators in object interactions and complex tasks. Mechanochromic materials, acting as lightweight sensors, offer easily interpretable visual feedback for localized stress detection, structural health monitoring, and energy‐efficient robotic skins. Herein, an innovative mechanochromic soft end‐effector capable of discerning local contact stresses during mechanical interactions with objects is presented and their relative position is ascertained. This system utilizes a reversible force‐induced color switch in a thin layer of spiropyran‐functionalized polydimethylsiloxane, which coats a silicone‐made suction cup. The mechanochromic suction cup is integrated with a 3D‐printed compact load‐transferring system and electronic color‐changing detection elements. The assembly may serve as a synthetic receptor for robotic actuators, discerning localized interaction forces down to 3 N. The system's resilience to varying environmental factors, including illumination, tilting, and interaction with objects of various shapes is verified. The results indicate potential for exteroceptive solutions in reconfigurable manipulation tasks without compromising the overall softness of the manipulator.