Applications In Soft Robotics Research Articles

A Naturally Inspired Extrusion-Based Microfluidic Approach for Manufacturing Tailorable Magnetic Soft Continuum Microrobotic Devices.

Soft materials play a crucial role in small-scale robotic applications by closely mimicking the complex motion and morphing behavior of organisms. However, conventional fabrication methods face challenges in creating highly integrated small-scale soft devices. In this study, microfluidics is leveraged to precisely control reaction-diffusion (RD) processes to generate multifunctional and compartmentalized calcium-cross-linkable alginate-based microfibers. Under RD conditions, sophisticated alginate-based fibers are produced for magnetic soft continuum robotics applications with customizable features, such as geometry (compact or hollow), degree of cross-linking, and the precise localization of magnetic nanoparticles (inside the core, surrounding the fiber, or on one side). This fine control allows for tuning the stiffness and magnetic responsiveness of the microfibers. Additionally, chemically cleavable regions within the fibers enable disassembly into smaller robotic units or roll-up structures under a rotating magnetic field. These findings demonstrate the versatility of microfluidics in processing highly integrated small-scale devices.

Nano-Sized rGO-Encapsulated TiO2 Nanowire-Filled PDMS cone type dielectric elastomer actuator operating at low applied electric field

Dielectric elastomer actuators (DEAs) have versatile applications in soft robotics, medical devices, and environmental monitoring, making them a highly anticipated area for future applications. On the other hand, developing DEAs exhibiting high strain at low voltages remains challenging. This paper reports a strategy for enhancing the actuating performance of polydimethylsiloxane (PDMS) at low voltages by preparing a hybrid filler comprised of TiO2 nanowires (TiO2 NWs), polydopamine (PDA), and nano-sized reduced graphene oxide (nrGO). This hybrid filler, merging the virtues of these three materials, was added at 15 parts per hundred of rubber (phr), resulting in a 2.3-fold increase in the dielectric permittivity of PDMS while mitigating the increase in loss tangent and enhancing efficiency. Actuators fabricated using this composite exhibited the highest deformation at 10 phr, reaching approximately 27.31 % (at 28 V/µm), representing a remarkable 15.2-fold improvement compared to pure PDMS. Moreover, even at a low voltage of 1.6 V/µm, they displayed a substantial actuated strain of 2 %. This novel strategy for manufacturing hybrid fillers is a promising example of enhancing the performance of DEAs, offering innovative solutions for future technological advancements.

Light‐activated 3D printed fish‐like actuator

AbstractHydrogel‐based actuators are innovative materials that exhibit responsive and dynamic behavior in response to external stimuli, making them promising candidates for a wide range of applications in fields such as soft robotics. We employ 3D printing to create layered rectangles, using a passive ink composed of gelatin methacryloyl (GelMA) and an active ink consisting of GelMA and poly(N‐isopropylacrylamide) (PNIPAM). Our aim is to assess and compare the bending capabilities of these structures based on their layer arrangements in a buffer above the lower critical solution temperature. Therefore, an asymmetric rectangular structure is selected as the shape‐changing component in the tail of a 3D printed fish‐shaped hydrogel actuator. We show that gold nanostars integrated into the actuators serve as photothermal elements, enabling the fish tail to repeatedly bend when near infrared light is turned on and off. Our effort illustrates the potential of combining 3D printing, responsive hydrogels and photothermal elements with near infrared light towards soft robotic applications. This combination yields actuators capable of shape‐shifting without requiring localized light or transitioning between environments with varying temperatures.

Design and Scalable Fast Fabrication of Biaxial Fabric Pouch Motors for Soft Robotic Artificial Muscle Applications

Soft pouch motors, engineered to mimic the natural movements of skeletal muscles, play a crucial role in advancing robotics and exoskeleton development. However, the fabrication techniques often involve multistage processes; they lack soft sensing capabilities and are sensitive to cutting and damage. This work introduces a new textile‐based pouch motors with the capacity for biaxial actuation and capacitive sensory functions, achieved through the application of computerized knitting technology using ultrahigh molecular weight polyethylene yarn (Spectra) and conductive silver yarns. This method enables the rapid and scalable mass fabrication of robust pouch motors. The resulting pouch motors exhibit maximum lifting capacity of 10 kg, maximum contraction of 53.3% along the y‐axis, and transverse extension of 41.18% along the x‐axis at 50 kPa pressure. Finite element analysis closely matches the experimental data. The capacitance signals in relation to contraction motion are well suited for detecting air pressure levels and hold promise for applications requiring robotic control. Notably, it effectively elevates an ankle joint simulator at a 20° angle, highlighting its potential for applications such assisting individuals with foot drop. This study presents a practical demonstration of the soft ankle exosuit designed to provide lifting support for individuals facing this mobility challenge.

Bio-inspired mechanical metamaterial with ultrahigh load-bearing capacity for energy dissipation

Mechanical metamaterials with energy-dissipating properties can provide impact mitigation in the field of engineering. However, current energy-dissipating metamaterials frequently face a tradeoff between energy-dissipation performance and load-bearing capability, severely limiting their practicality in high-intensity impact scenarios. Here, inspired by mushroom gills, we propose a mechanism for the snap-through buckling induced by geometric frustration, and we construct a snap-through metamaterial (STM) to address this problem. By analyzing the bifurcation buckling phenomenon, the STM is improved with higher energy-dissipation efficiency. Experiments demonstrate that the STM adaptively dissipates energy and mitigates impacts, achieving up to 33% reduction, in a reusable, self-recoverable, and rate-independent manner, leading to comprehensive performance. Employing a preloading strategy further enhances its impact mitigation capability as required. Notably, the STM exhibits a remarkable load-bearing capacity of up to 55 times higher than those of previous designs. The proposed design strategy of STMs paves the way for the development of interaction-based metamaterials, enabling applications in advanced dampers, mechanical waveguides, soft robotics, and low-frequency energy harvesters.

Preparation of PANI/CuPc/PDMS Composite Elastomer with High Dielectric Constant and Low Modulus Assisted by Electric Fields.

Dielectric elastomer is a kind of electronic electroactive polymer, which plays an important role in the application of soft robots and flexible electronics. In this study, an all-organic polyaniline/copper phthalocyanine/silicone rubber (PANI/CuPc/PDMS) dielectric composite with superior comprehensive properties was prepared by manipulating the arrangement of filler in a polymer matrix assisted by electric fields. Both CuPc particles and PANI particles can form network structures in the PDMS matrix by self-assembly under electric fields, which can enhance the dielectric properties of the composites at low filler content. The dielectric constant of the assembled PANI/CuPc/PDMS composites can reach up to 140 at 100 Hz when the content of CuPc and PANI particles is 4 wt% and 2.5 wt%, respectively. Moreover, the elastic modulus of the composites remains below 2 MPa, which is important for electro-deforming. The strain of assembled PANI/CuPc/PDMS three-phase composites at low electric field strength (2 kV/mm) can increase up to five times the composites with randomly dispersed particles, which makes this composite have potential application in the field of soft robots and flexible electronics.

Biodegradable and Flexible Wood-Gelatin Composites for Soft Actuating Systems.

Compliant materials are indispensable for many emerging soft robotics applications. Hence, concerns regarding sustainability and end-of-life options for these materials are growing, given that they are predominantly petroleum-based and non-recyclable. Despite efforts to explore alternative bio-derived soft materials like gelatin, they frequently fall short in delivering the mechanical performance required for soft actuating systems. To address this issue, we reinforced a compliant and transparent gelatin-glycerol matrix with structure-retained delignified wood, resulting in a flexible and entirely biobased composite (DW-flex). This DW-flex composite exhibits highly anisotropic mechanical behavior, possessing higher strength and stiffness in the fiber direction and high deformability perpendicular to it. Implementing a distinct anisotropy in otherwise isotropic soft materials unlocks new possibilities for more complex movement patterns. To demonstrate the capability and potential of DW-flex, we built and modeled a fin ray-inspired gripper finger, which deforms based on a twist-bending-coupled motion that is tailorable by adjusting the fiber direction. Moreover, we designed a demonstrator for a proof-of-concept suitable for gripping a soft object with a complex shape, i.e., a strawberry. We show that this composite is entirely biodegradable in soil, enabling more sustainable approaches for soft actuators in robotics applications.

Magnetic Hyperporous Elastic Material with Excellent Fatigue Resistance and Oil Retention for Oil-Water Separation.

Oily wastewater has caused serious threats to the environment; thus, high-performance absorbing materials for effective oil-water separation technology have attracted increasing attention. Herein, we develop a magnetic, hydrophobic, and lipophilic hyperporous elastic material (HEM) templated by high internal phase emulsions (HIPE), in which free-radical polymerization of butyl acrylate (BA) and divinylbenzene (DVB) is employed in the presence of poly(dimethylsiloxane) (PDMS), lecithin surfactant, and modified Fe3O4 nanoparticles. The adoption of the emulsion template with nanoparticles as both stabilizers and cross-linkers endows the HEM with biomimetic hierarchical open-cell micropores and elastic cross-linked networks, generating an oil absorbent with outstanding mechanical stability. Compressive fatigue resistance of the HEM is demonstrated to endure 2000 mechanical cycles without plastic deformation or strength degradation. By exploiting the synergistic effect of hierarchical structures and low-surface-energy components, the resulting HEM also possesses excellent and robust hydrophobicity (water contact angle of 164°) and good oil absorption capacity, in which Fe3O4 nanoparticles lead to convenient magnetically controlled oil recyclability as well. Notably, the unique biomimetic microporous structure demonstrates superior oil retention capacity (>95% at 1000 rpm and >60% at 10,000 rpm) over the state-of-the-art porous materials for a diverse variety of oils to reduce the risk of secondary oil leakage, along with good recoverability by squeezing owing to the excellent compression resilience. These excellent performances of our HEM provide broad prospects for practical applications in oil-water separation, energy conversion, and smart soft robotics.

Revolutionizing medicine: Molecularly imprinted polymers as precision tools in cancer diagnosis and antibiotic detection.

Molecularly imprinted polymers (MIPs) are pivotal in medicine, mimicking biological receptors with enhanced specificity and affinity. Comprising templates, functional monomers, and cross-linkers, MIPs form stable three-dimensional polymer networks. Synthetic templates like glycan and aptamers improve efficiency, guiding the molecular imprinting process. Cross-linking determines MIPs' morphology and mechanical stability, with printable hydrogels offering biocompatibility and customizable properties, mimicking native extracellular matrix (ECM) microenvironments. Their versatility finds applications in tissue engineering, soft robotics, regenerative medicine, and wastewater treatment. In cancer research, MIPs excel in both detection and therapy. MIP-based detection systems exhibit superior sensitivity and selectivity for cancer biomarkers. They target nucleic acids, proteins, and exosomes, providing stability, sensitivity, and adaptability. In therapy, MIPs offer solutions to challenges like multidrug resistance, excelling in drug delivery, photodynamic therapy, photothermal therapy, and biological activity regulation. In microbiology, MIPs serve as adsorbents in solid-phase extraction (SPE), efficiently separating and enriching antibiotics during sample preparation. They contribute to bacterial identification, selectively capturing specific strains or species. MIPs aid in detecting antibiotic residues using fluorescent nanostructures and developing sensors for sulfadiazine detection in food samples. In summary, MIPs play a pivotal role in advancing medical technologies with enhanced sensitivity, selectivity, and versatility. Applications range from biomarker detection to innovative cancer therapies, making MIPs indispensable for the accurate determination and monitoring of diverse biological and environmental samples.

A mechanically robust and facile shape morphing using tensile-induced buckling.

Inspired by the adaptive mechanisms observed in biological organisms, shape-morphing soft structures have emerged as promising platforms for many applications. In this study, we present a shape-morphing strategy to overcome existing limitations of the intricate fabrication process and the lack of mechanical robustness against mechanical perturbations. Our method uses tensile-induced buckling, achieved by attaching restraining strips to a stretchable substrate. When the substrate is stretched, the stiffness mismatch between the restraining strips and the substrate, and the Poisson's effect on the substrate cause the restraining strips to buckle, thereby transforming initially flat shapes into intricate three-dimensional (3D) configurations. Guided by an inverse design method, we demonstrate the capability to achieve complicated and diverse 3D shapes. Leveraging shape morphing, we further develop soft grippers exhibiting outstanding universality, high grasping efficiencies, and exceptional durability. Our proposed shape-morphing strategy is scalable and material-independent, holding notable potential for applications in soft robotics, haptics, and biomedical devices.

Biomimetic Mechanically Robust Chiroptical Hydrogel Enabled by Hierarchical Bouligand Structure Engineering.

Natural bouligand structures enable crustacean exoskeletons and fruits to strike a combination of exceptional mechanical robustness and brilliant chiroptical properties owing to multiscale structural hierarchy. However, integrating such a high strength-stiffness-toughness combination and photonic functionalities into synthetic hydrogels still remains a grand challenge. In this work, we report a simple yet general biomimetic strategy to construct an ultrarobust chiroptical hydrogel by closely mimicking the natural bouligand structure at multilength scale. The hierarchical structural engineering of long-range ordered cellulose nanocrystals' bouligand structure, well-defined poly(vinyl alcohol) nanocrystalline domains, and dynamic interfacial interaction synergistically contributes to the integration of high strength (23.3 MPa), superior modulus (264 MPa), and high toughness (54.7 MJ m-3), as well as extraordinary impact resistance, which far exceed their natural counterparts and synthetic photonic hydrogels. More importantly, seamless chiroptical and solvent-responsive patterns with high resolution can also be scalably integrated into the hydrogel by localized manipulation of the photonic band, while maintaining good ionic conductivity. Such exceptional mechanical-photonic combination holds tremendous potential for applications in wearable sensors, encryption, displays, and soft robotics.

Solvent‐Independent 3D Printing of Organogels

AbstractOrganogels are polymer networks extended by a liquid organic phase, offering a wide range of properties due to the many combinations of polymer networks, solvents, and shapes achievable through 3D printing. However, current printing methods limit solvent choice and composition, which in turn limits organogels' properties, applications, and potential for innovation. As a solution, a method for solvent‐independent printing of 3D organogel structures is presented. In this method, the printing step is decoupled from the choice of solvent, allowing access to the full spectrum of solvent diversity, thereby significantly expanding the range of achievable properties in organogel structures. With no changes to the polymer network, the 3D geometry, or the printing methodology itself, the choice of solvent alone is shown to have an enormous impact on organogel properties. As demonstrated, it can modulate the thermo‐mechanical properties of the organogels, both shifting and extending their thermal stability range to span from ‐30 to over 100 °C. The choice of solvent can also transition the organogels from highly adhesive to extremely slippery. Finally, the method also improves the surface smoothness of prints. Such advances have potential applications in soft robotics, actuators, and sensors, and represent a versatile approach to expanding the functionality of 3D‐printed organogels.

Bending, electroadhesion and sensing performances of single compliant electrode dielectric elastomer actuator based on SEBS gel

Dielectric elastomer actuators (DEAs) have great potential for application in soft robotics due to their ability to undergo substantial deformations, rapid response times, and high energy density when subjected to external electrical stimuli. However, the application of DEAs in the field of soft grippers is limited by their restricted direct electro-bending capability, output force, self-sensing capacity, and pre-stretching requirement. In this study, we fabricated a single compliant electrode DEA (SCE-DEA) which was made by sandwiching a compliant electrode between two layers of poly(styrene-b-ethylene-co-butylene-b-styrene) (SEBS)/white mineral oil (WO) dielectric elastomer films. The SCE-SEBS/WO was demonstrated to have the capacities of bending, sensing, and electroadhesion (EA). The SCE-SEBS/WO can be used in various soft actuator modes, such as the unipolar EA actuator, soft gripper, and soft vibrator. The grabbing mechanism of SCE-SEBS/WO-based soft grippers with opposite bipolar configuration is caused by electric field induced bending of SEC-SEBS/WO and subsequent electrostatic attraction between both SEC-SEBS/WO. The SEC-SEBS/WO based soft grippers have rapid response detachment, and ability to grasp various types of objects. Three-layer stacked SCE-SEBS/WO-60 (with 60 wt% of WO) exhibited 531 mN cm−2 of EA stress on the paper at 3.0 kV applied voltage, and the soft gripper made by four SCE-SEBS/WO-60 can successfully grab wood blocks weighing 162.4 g at 5 kV applied voltage. The sensing capacity of SCE-SEBS/WO based soft gripper was based on the bending strain dependent resistance changes of the compliant electrode. Our results provide new insights into the fabrication of DEA based soft grippers.

Water‐Assisted Reprocessing and Shape Programming of Epoxy Vitrimer

Water‐Assisted Reprocessing and Shape Programming of Epoxy Vitrimer

Structure-properties relationships of defined CNF single-networks crosslinked by telechelic PEGs

The high structural anisotropy and colloidal stability of cellulose nanofibrils' enable the creation of self-standing fibrillar hydrogel networks at very low solid contents. Adding methacrylate moieties on the surface of TEMPO oxidized CNFs allows the formation of more robust covalently crosslinked networks by free radical polymerization of acrylic monomers, exploiting the mechanical properties of these networks more efficiently. This technique yields strong and elastic networks but with an undefined network structure. In this work, we use acrylate-capped telechelic polymers derived from the step-growth polymerization of PEG diacrylate and dithiothreitol to crosslink methacrylated TEMPO-oxidized cellulose nanofibrils (MATO CNF). This combination resulted in flexible and strong hydrogels, as observed through rheological studies, compression and tensile loading. The structure and mechanical properties of these hydrogel networks were found to depend on the dimensions of the CNFs and polymer crosslinkers. The structure of the networks and the role of individual components were evaluated with SAXS (Small-Angle X-ray Scattering) and photo-rheology. A thorough understanding of hybrid CNF/polymer networks and how to best exploit the capacity of these networks enable further advancement of cellulose-based materials for applications in packaging, soft robotics, and biomedical engineering.

Durable semi-interpenetrating polymer network containing dynamic boroxine bonds for multi-shape manipulated deformation

Shape-shifting materials with multiple shape manipulation, integrated with durability, shape reconfiguration, shape memory, and reversible deformation, are in high demand for applications in soft robotics, electrical devices, and other fields, but remain a significant technical challenge. In this study, we present a straightforward approach to develop a semi-interpenetrating polymer network (named PVP-VPBA-PEGDMA) crosslinked with dynamic boroxine bonds to address these challenges. The typical PVP-VPBA2-PEGDMA0.2 exhibits high mechanical strength of 38.5 MPa, exceptional self-healing capability (with up to 89.4 % efficiency), and recyclability, ensuring remarkable durability during shape-changing process. Notably, the PVP-VPBA-PEGDMA can be programmatically transformed from 2D sheets into a variety of 3D shapes using humidity-induced solid-state plasticity, which is facilitated by humidity-sensitive dynamic boroxine bonds. The PVP-VPBA-PEGDMA can be folded like paper through origami techniques, and maintain permanent shape configurations, highly suitable for complex shape morphing applications. Moreover, the PVP-VPBA-PEGDMA, in their temporary geometries, can power a model car using shape memory, demonstrating substantial actuation ability and mechanical performance. Leveraging the asymmetric humidity-triggered behavior of the PVP-VPBA-PEGDMA, various functional humidity-responsive devices have been developed, including a crawling robot, a hat, and a conveyor belt with wet sorting capability. Given the programmable shape reconfiguration, shape memory and reversible shape-changing ability of PVP-VPBA-PEGDMA, it opens up numerous potential applications in soft robotics, flexible electronic devices, and intelligent sensors.

Active stiffness tuning of lattice metamaterials

In this paper, surface conductive heating was utilized to actively control the stiffness of lattice metamaterials manufactured employing multi-material 3D printing. To create an electrical surface conduction, additively manufactured samples in single and dual material configurations were dip coated in a solution of carbon black in water. Electro-thermo-mechanical tests conducted successfully demonstrated that the low-cost conductive coating can be used to actively alter the stiffness of the structure through surface joule heating. The process was found to result in repeatable and reproduceable stiffness tuning. Stiffness reductions of 56% and 94% were demonstrated for single and dual material configurations under the same electrical loading. The proposed methodology can be implemented to actively control the properties of polymeric lattice materials/structures where the change in the composition of polymers (introduce bulk electrical conductivity) is difficult and can have a wide range of applications in soft robotics, shape-changing, and deployable structures.

Electronic skin with shape sensing and Bending-Insensitive pressure sensing for soft robotic grippers object recognition

Soft robotic grippers rely on accurate contact surface information to perform gripping and sorting tasks safely. Difficulty in obtaining accurate contact surface information for recognizing objects with a single type of sensor hinders the advanced capabilities of soft robotic grippers. To obtain contact surface information more accurately for object recognition, in this paper a shape-pressure dual-mode electronic skin for contact surface detection of soft robotic grippers is proposed. It consists of pressure sensing units and curvature sensing units. The pressure sensing unit is insensitive to curvature through an ingenious structural design. It can detect pressure in the range of 0–––7.5 N with a measurement error of 3.92 %. The curvature sensing unit can detect curvature in the range of 0–––0.5 cm−1 with a sensitivity of 63.66 % / cm-1. The experimental results show that the electronic skin can help the soft robotic gripper obtain information on the contact surface. The electronic skin is expected to accelerate the application of soft robots in advanced tasks such as recognition and classification.

Bi-material nanofibrous electrospun junctions: A versatile tool to mimic the muscle–tendon interface

Soft robotics aims to replicate the structure and mechanics of skeletal muscles. The challenge lies in seamlessly integrating these muscle-inspired soft actuators with the joints they intend to actuate, resembling the natural connection between muscles and tendons (i.e., myotendinous junction). This study addresses this issue by producing electrospun bundles of aligned nanofibers using a thermoplastic polyurethane, mimicking the muscle fascicle, and nylon 6.6 for the tendon one. A novel method was developed to create electrospun bi-material bundles with two different types of myotendinous-inspired junctions, called flat and conical. Scanning electron microscopy and microtomography analyses confirmed that conical junctions mimicked natural myotendinous structures better than flat ones. Tensile mechanical tests demonstrated that bi-material junctions reached stress at failure comparable to polyurethane bundles (11 ± 2 MPa), with the conical junction showing stiffness (0.13 ± 0.02 N/mm) and net elastic modulus (153 ± 10 MPa) values closer to the natural myotendinous ones. Cyclic tests verified the mechanical stability of junctions and their ability to dampen nylon 6.6 hardening over time. Moreover, all bundles withstood cyclic loading without breaking. These findings suggest the potential of biomimetic electrospun junctions for applications in soft robotics, marking a significant step toward advancing this field.

Functional soft robotic composites based on organic photovoltaic and dielectric elastomer actuator.

Improving the energy efficiency of robots remains a crucial challenge in soft robotics, with energy harvesting emerging as a promising approach to address it. This study presents a functional soft robotic composite called OPV-DEA, which integrates flexible organic photovoltaic (OPV) and dielectric elastomer actuator (DEA). The composite can simultaneously generate electrostatic bending actuation and harvest energy from external lights. Owing to its simplicity and inherent flexibility, the OPV-DEA is poised to function as a fundamental building block for soft robots. This study aimed to validate this concept by initially establishing the fabrication process of OPV-DEA. Subsequently, experimental samples are fabricated and characterized. The results show that the samples exhibit a voltage-controllable bending actuation of up to 15.6° and harvested power output of 1.35 mW under an incident power irradiance of 11.7 mW/cm2. These performances remain consistent even after 1000 actuation cycles. Finally, to demonstrate the feasibility of soft robotic applications, an untethered swimming robot equipped with two OPV-DEAs is fabricated and tested. The robot demonstrates swimming at a speed of 21.7mm/s. The power consumption of the robot is dominated by a high-voltage DC-DC converter, with a value approximately 1.5 W. As a result, the on-board OPVs cannot supply the necessary energy during locomotion simultaneously. Instead, they contribute to the overall system by charging a battery used for the controller on board. Nevertheless, these findings suggest that the OPV-DEA could pave the way for the development of an unprecedented range of functional soft robots.