Quantum-Confined-Superfluidics-Enabled Moisture Actuation Based on Unilaterally Structured Graphene Oxide Papers

Ultrafast Bi-Directional Bending Moisture-Responsive Soft Actuators through Superfine Silk Rod Modified Bio-Mimicking Hierarchical Layered Structure

Development of stimulus-responsive materials is crucial for novel soft actuators. Among these actuators, the moisture-responsive actuators are known for their accessibility, eco-friendliness, and robust regenerative attributes. A major challenge of moisture-responsive soft actuators (MRSAs) is achieving significant bending curvature within short response times. Many plants naturally perform large deformation through a layered hierarchical structure in response to moisture stimuli. Drawing inspiration from the bionic structure of Delosperma nakurense (D. nakurense) seed capsule, here the fabrication of an ultrafast bi-directional bending MRSAs is reported. Combining a superfine silk fibroin rod (SFR) modified graphene oxide (GO) moisture-responsive layer with a moisture-inert layer of reduced graphene oxide (RGO), this actuator demonstrated large bi-directional bending deformation (-4.06 ± 0.09 to 10.44 ± 0.00 cm-1) and ultrafast bending rates (7.06 cm-1 s-1). The high deformation rate is achieved by incorporating the SFR into the moisture-responsive layers, facilitating rapid water transmission within the interlayer structure. The complex yet predictable deformations of this actuator are demonstrated that can be utilized in smart switch, robotic arms, and walking device. The proposed SFR modification method is simple and versatile, enhancing the functionality of hierarchical layered actuators. It holds the potential to advance intelligent soft robots for application in confined environments.

Biobased Inks Based on Cuttlefish Ink and Cellulose Nanofibers for Biodegradable Patterned Soft Actuators

Soft actuators with stimuli-responsive and reversible deformations have shown great promise in soft robotics. However, some challenges remain in existing actuators, such as the materials involved derived from nonrenewable resources, complex and nonscalable preparation methods, and incapability of complex and programmable deformation. Here, a biobased ink based on cuttlefish ink nanoparticles (CINPs) and cellulose nanofibers (CNFs) was developed, allowing for the preparation of biodegradable patterned actuators by direct ink writing technology. The hybrid CNF/CINP ink displays good rheological properties, allowing it to be accurately printed on a variety of flexible substrates. A bilayer actuator was developed by printing an ink layer on a biodegradable poly(lactic acid) film using extrusion-based 3D printing technology, which exhibits reversible and large bending behavior under the stimuli of humidity and light. Furthermore, programmable and reversible folding and coiling deformations in response to stimuli have been achieved by adjusting the ink patterns. This work offers a fast, scalable, and cost-effective strategy for the development of biodegradable patterned actuators with programmable shape-morphing.

Ultrarobust Actuator Comprising High-Strength Carbon Fibers and Commercially Available Polycarbonate with Multi-Stimulus Responses and Programmable Deformation

Polymer-based actuators have gained extensive attention owing to their potential applications in aerospace, soft robotics, etc. However, poor mechanical properties, the inability of multi-stimuli response and programmable deformation, and the costly fabrication procedure have significantly hindered their practical application. Herein, these issues are overcome via a simple and scalable one-step molding method. The actuator is fabricated by hot-pressing commercial unidirectional carbon fiber/epoxy prepregs with a commodity PC membrane. Notable CTE differences between the CF and PC layers endow the bilayer actuator with fast and reliable actuation deformation. Benefiting from the high strength of CF, the actuator exhibits excellent mechanical performance. Moreover, the anisotropy of CF endows the actuator with design flexibility. Furthermore, the multifunction of CF makes the actuator capable of responding to thermal, optical, and electrical stimulation simultaneously. Based on the bilayer actuator, we successfully fabricated intelligent devices such as light-driven biomimetic flowers, intelligent grippers, and gesture-simulating apparatuses, which further validate the programmability and multi-stimuli response characteristics of this actuator. Strikingly, the prepared gripper possesses a grasping capacity approximately 31.2 times its own weight. It is thus believed that the concept presented paves the way for building next-generation robust robotics.

Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator

Predictable bending deformation, high cycle stability, and multimode complex motion have always been the goals pursued in the field of flexible robots. In this study, inspired by the delicate structure and humidity response characteristics of Selaginella lepidophylla, a new multilevel assisted assembly strategy was developed to construct MXene-CoFe2O4 (MXCFO) flexible actuators with different concentration gradients, to achieve predictable bending deformation and multi-stimulus cooperative control of the actuators, revealing the intrinsic link between the gradient change and the bending deformation ability of the actuator. The thickness of the actuator shows uniformity compared with the common layer-by-layer assembly strategy. And, the bionic gradient structured actuator shows high cycle stability, and it maintains excellent interlayer bonding after bending 100 times. The flexible robots designed based on the predictable bending deformation and the multi-stimulus cooperative response characteristics of the actuator initially realize conceptual models of humidity monitoring, climbing, grasping, cargo transportation, and drug delivery. The designed bionic gradient structure and unbound multi-stimulus cooperative control strategy may show great potential in the design and development of robots in the future.

2D Materials Beyond Post-AI Era: Smart Fibers, Soft Robotics, and Single Atom Catalysts

Recent consecutive discoveries of various 2D materials have triggered significant scientific and technological interests owing to their exceptional material properties, originally stemming from 2D confined geometry. Ever-expanding library of 2D materials can provide ideal solutions to critical challenges facing in current technological trend of the fourth industrial revolution. Moreover, chemical modification of 2D materials to customize their physical/chemical properties can satisfy the broad spectrum of different specific requirements across diverse application areas. This review focuses on three particular emerging application areas of 2D materials: smart fibers, soft robotics, and single atom catalysts (SACs), which hold immense potentials for academic and technological advancements in the post-artificial intelligence (AI) era. Smart fibers showcase unconventional functionalities including healthcare/environmental monitoring, energy storage/harvesting, and antipathogenic protection in the forms of wearable fibers and textiles. Soft robotics aligns with future trend to overcome longstanding limitations of hard-material based mechanics by introducing soft actuators and sensors. SACs are widely useful in energy storage/conversion and environmental management, principally contributing to low carbon footprint for sustainable post-AI era. Significance and unique values of 2D materials in these emerging applications are highlighted, where the research group has devoted research efforts for more than a decade.

Study of a Multiple Responses, High Deformation, and Programmable PLA-PPC/PVA-PDA Actuator

The intelligent response actuators based on bilayer polymer can deform under the stimulation of temperature, humidity, light, and other external environment, which is the focus of research. However, achieving multiple responses, high deformation, and programmability is still one of the challenges for these actuators. Herein, a nondetachable bilayer structure, polylactic acid-polypropylene carbonate/polyvinyl alcohol-polydopamine (PLA-PPC/PVA-PDA) multiresponse programmable actuator is prepared by a simple scraping film method. Using PLA-PPC as the solvent-driven response layer, the effects of length, thickness, shape, and solvent vapor on the deformation of PLA-PPC/PVA-PDA actuators are studied. Among them, the high curvature of the film stimulated by ethyl acetate (EA) solution is 29.85 cm-1 . Using PVA-PDA as the response layer to water molecules and infrared (IR) light, the bilayer film shows excellent curling performance. Moreover, the dynamic processes of human clothing and biomimetic squid under solvent stimulation, the picture rolling motion under water molecule stimulation, the biomimetic flower blooming and merging under the synergistic of water molecules and IR light, and the deformation process of biomimetic mimosa under the competition between water molecules and IR light are simulated, which broadens the road for the development of intelligent driving materials.

Inchworm-like Soft Robot with Multi-Responsive Bilayer Films

As an important branch of robotics, soft robots have the advantages of strong flexibility, a simple structure, and high safety. These characteristics enable soft robots to be widely used in various fields such as biomedicine, military reconnaissance, and micro space exploration. However, contemporary soft crawling robots still face problems such as the single drive mode and complex external equipment. In this study, we propose an innovative design of an inchworm-like soft crawling robot utilizing the synergistic interaction of electricity and moisture for its hybrid dual-drive locomotion. The legs of the soft robot are mainly made of GO-CNT/PE composite film, which can convert its own volume expansion into a corresponding bending motion after being stimulated by electricity or moisture. Unlike other drive methods, it requires less power and precision from external devices. The combination of the two driving methods greatly improves the environmental adaptability of the soft robot, and we developed visible light as the driving method on the basis of the dual drive. Finally, we also verified the robot's excellent load capacity, climbing ability, and optical drive effect, which laid the foundation for the application of soft robots in the future.

Laser-reduced graphene oxide for a flexible liquid sliding sensing surface

Flexible electronic skin is a flexible sensor system that imitates human skin. Recently, flexible sensors have been successfully developed. However, the droplet sliding sensing technology on a flexible electronic skin surface is still challenging. In this Letter, a flexible droplet sliding sensing surface is proposed and fabricated by laser-reduced graphene oxide (LRGO). The LRGO shows porous structures and low surface energy, which are beneficial for infusing lubricants and fabricating stable slippery surfaces. The slippery surface guarantees free sliding of droplets. The droplet sliding sensing mechanism is a combination of triboelectricity and electrostatic induction. After a NaCl droplet slides from lubricant-infused LRGO, a potential difference (∼0.2 mV) can be measured between two Ag electrodes. This study reveals considerable potential applications in intelligent robots and the medical field.

Engineering Covalent Organic Frameworks with Polyethylene Glycol as Self-Sustained Humidity-Responsive Actuators

Regarding the global energy crisis, it is of profound significance to develop spontaneous power generators that harvest natural energy. Fabricating humidity-responsive actuators that can conduct such energy transduction is of paramount importance. Herein, we incorporate covalent organic frameworks with flexible polyethylene glycol to fabricate rigid-flexible coupled membrane actuators. This strategy significantly improves the mechanical properties and humidity-responsive performance of the actuators, meanwhile, the existence of ordered structures enables us to unveil the actuation mechanism. These high-performance actuators can achieve various actuation applications and exhibit interesting self-oscillation behavior above a water surface. Finally, after being coupled with a piezoelectric film, the bilayer device can spontaneously output electricity over 2 days. This work paves a new avenue to fabricate rigid-flexible coupled actuators for self-sustained energy transduction.

Unperceivable motion mimicking hygroscopic geometric reshaping of pine cones

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

Tuning thermal and electrical properties of MXenes via dehydration

Recently, MXenes (a class of two-dimensional transition metal carbides) have attracted great attention in various applications such as humidity sensors, owing to their unique electrical and thermal properties. However, previous studies of MXenes mostly focus on their humidity-sensing characteristics such as the mechanical response, and only few reports on their electrical and thermal response are available. Herein, we present novel transient electrothermal experiments to demonstrate that a transition from a negative to a positive resistance-temperature relationship can take place when the MXene sample becomes fully dehydrated. This surprising and unusual phenomenon was elucidated through non-equilibrium molecular dynamics simulations and attributed to water absorption/desorption onto the chemically active MXene surface. A linear relationship was also found between electrical/thermal properties and environmental humidity, which could be related to water adsorption on the surface of the MXene sensor. We further decomposed the total measured thermal conductivity and found that phonons were the dominant thermal carriers in the MXene sample. The main breakthrough of this work is the discovery of the unusual resistance-temperature relationship, which should be applicable to the design of MXene-based sensors for various applications.

Reconfigurable, Reversible, and Redefinable Deformation of GO Based on Quantum-Confined-Superfluidics Effect

Graphene oxide (GO) films with natural "quantum-confined-superfluidics" (QSF) channels for moisture actuation have emerged as a smart material for actuators and soft robots. However, programming the deformation of GO by engineering QSF nanochannels around 1 nm is extremely challenging. Herein, we report the reconfigurable, reversible, and redefinable deformation of GO under moisture actuation by tailoring QSF channels via moisture-assisted strain-induced wrinkling (MSW). The shape fixity ratio of a general GO film can reach ∼84% after the MSW process, and the shape recovery ratio is ∼83% at room temperature under moisture actuation. The flexible shaping and deformation abilites, as well as the self-healing property of GO make it possible to fabricate soft robots using GO. Besides, as a proof-of-concept, passive electronics and soft robots capable of crawling, turning, switching circuit, and automatic somersault are demonstrated. With unique shaping and deformation abilities, GO may bring great implications for future soft robotics.

Development and challenges of smart actuators based on water-responsive materials

Water-responsive (WR) materials, due to their controllable mechanical response to humidity without energy actuation, have attracted lots of attention to the development of smart actuators. WR material-based smart actuators can transform natural humidity to a required mechanical motion and have been widely used in various fields, such as soft robots, micro-generators, smart building materials, and textiles. In this paper, the development of smart actuators based on different WR materials has been reviewed systematically. First, the properties of different biological WR materials and the corresponding actuators are summarized, including plant materials, animal materials, and microorganism materials. Additionally, various synthetic WR materials and their related applications in smart actuators have also been introduced in detail, including hydrophilic polymers, graphene oxide, carbon nanotubes, and other synthetic materials. Finally, the challenges of the WR actuator are analyzed from the three perspectives of actuator design, control methods, and compatibility, and the potential solutions are also discussed. This paper may be useful for the development of not only soft actuators that are based on WR materials, but also smart materials applied to renewable energy.

Multi-stimuli-responsive actuator based on bilayered thermoplastic film

Recently, soft actuators have attracted considerable interest owing to their biomimetic performance. Unfortunately, it remains a great challenge to fabricate multi-stimuli-responsive soft actuators by a facile but low-cost method. Herein, a thermoplastic film with bilayered architecture was designed and fabricated by a one-step method. This bilayered thermoplastic film can act as a soft actuator, demonstrating versatile shape-programmable performance in response to acetone vapor exposure and temperature change. Interestingly, diverse biomimetic devices including a worm-like self-walker, crawler-type robot and soft gripper can be realized, which highlights its promising applications in biomimetic robots, artificial muscles and automatic devices. Considering the one-step preparation process and the low-cost raw materials, this approach can be cost-effectively scaled up for practical production.

Bidirectional Actuation of Silk Fibroin Films: Role of Water and Alcohol Vapors

Three-dimensional (3D) shape morphism observed in nature inspires the development of stimuli-responsive soft actuators. Vapor-responsive actuators are promising among the different stimuli-responsive materials due to their capability to produce macroscale movements in response to a minuscule amount of specific chemical vapor. Here, we report unusual multiple vapor-responsive bidirectional macroscale actuation behaviors of single-layer regenerated silk fibroin films. The vapor-responsive silk fibroin actuator exhibits antagonistic actuation characteristics in a reversible manner to both water and ethanol vapors. For instance, it produces an upward bending in the presence of water vapor and downward bending in ethanol vapor, which demonstrates the chemical vapor-specific actuation. However, the actuation characteristics remain largely invariant upon changing the polarity of alcohol molecules. The silk fibroin actuators effectively utilize the vapor-induced minuscule expansion and contraction of the film surface to produce large-scale actuation, which is fully reversible. The intrinsic water content of the films and the vapor pressure of the stimulants are exploited to control the actuation performance. Further, we demonstrated the 3D shape morphing ability of the actuator by generating an undulating wavelike motion via preprogrammed water and ethanol vapor exposure conditions. The change in the actuation direction is instantaneous, which ensures the sensitivity and rapid response of the fabricated actuators.

Toward a Multifunctional Light-Driven Biomimetic Mudskipper-Like Robot for Various Application Scenarios

The systematicness, flexibility, and complexity of natural biological organisms are a constant stream of inspiration for researchers. Therefore, mimicking the natural intelligence system to develop microrobotics has attracted broad interests. However, developing a multifunctional device for various application scenarios has great challenges. Herein, we present a bionic multifunctional actuation device─a light-driven mudskipper-like actuator that is composed of a porous silicone elastomer and graphene oxide. The actuator exhibits a reversible and well-integrated response to near-infrared (NIR) light due to the photothermal-induced contractile stress in the actuation film, which promotes generation of cyclical and rapid locomotion upon NIR light being switched on and off, such as bending in air and crawling in liquid. Furthermore, through rational device design and modulation of light, the mechanically versatile device can float and swim controllably following a predesigned route at the liquid/air interface. More interestingly, the actuator can jump from liquid medium to air with an extremely short response time (400 ms), a maximum speed of 2 m s^-1, and a height of 14.3 cm under the stimulation of near-infrared light. The present work possesses great potential in the applications of bioinspired actuators in various fields, such as microrobots, sensors, and locomotion.

Mechanically and operationally stable flexible inverted perovskite solar cells with 20.32% efficiency by a simple oligomer cross-linking method

Due to their great potential in wearable and portable electronics, flexible perovskite solar cells (FPSCs) have been extensively studied. The major challenges in the practical applications of FPSCs are efficiency, operational stability, and mechanical stability. Herein, we developed a facile approach by incorporating a cross-linking oligomer of trimethylolpropane ethoxylate triacrylate (TET) into perovskite films to simultaneously enhance the power conversion efficiency (PCE) and stability of FPSCs. A PCE of 20.32% was achieved, which are among the best results for the inverted FPSCs. Both mechanical and environmental stabilities were improved for the TET-incorporated FPSCs. In particular, the PCE retained approximately 87% of its initial value after 20,000 bending cycles at a radius of 4 mm. The inverted FPSCs retained 85% of the initial PCE after 500 h storage at 85 °C and 90% after 900 h continuous one-sun illumination. A joint experiment-theory analysis ascribed the underlying mechanism to the reduced defect densities, improved crystallinity, and stability of the perovskite absorbers on flexible substrates caused by TET incorporation.

Facile Preparation of a 3D Porous Aligned Graphene-Based Wall Network Architecture by Confined Self-Assembly with Shape Memory for Artificial Muscle, Pressure Sensor, and Flexible Supercapacitor

The development of a novel preparation strategy for 3D porous network structures with an aligned channel or wall is always in challenge. Herein, a 3D porous network composed of an aligned graphene-based wall is fabricated by a confined self-assembly strategy in which holey reduced graphene oxide (HrGO)/lignin sulfonate (Lig) composites are orientedly anchored on the framework of the Lig/single-wall carbon nanotube (Lig/SWCNT) hydrogel by vacuum-assisted filtration accompanied with confined self-assembly and followed with hydrothermal treatment. After freeze drying, the obtained ultralight Lig/SWCNT/HrGO_al aerogel exhibits excellent shape memory properties and can roll back to the original shape even if suffering from a high compressive strain of 86.2%. Furthermore, the as-prepared aerogel used as a water-driven artificial muscle shows powerful driving force and can lift ultrahigh weight cargo that is 1030.6 times its own weight. When the prepared Lig/SWCNT/HrGO_al aerogel is used as a pressure sensor, it also exhibits high sensitivity (2.28 kPa^-1) and a wide detection region of 0.27-14.1 kPa. Additionally, the symmetric flexible supercapacitor assembled with as-prepared aerogel films shows superior stored energy performance that can tolerate 5000 cycles of bending. The present work not only fabricates a high-performance multifunctional material but also develops a new strategy for the preparation a wood-like 3D porous aligned wall network structure.

Photoprogrammable Moisture-Responsive Actuation of a Shape Memory Polymer Film

Humidity-responsive polymeric actuators have gained considerable interest due to their great potential in the fields including soft robotics, artificial muscles, smart sensors, and actuators. However, most of them can only exhibit invariable shape changes, which severely restricts their further exploration and practical use. Herein, we report that programmable humidity-responsive actuating behaviors can be realized by introducing photoprogrammable hygroscopic patterns into shape memory polymers. Poly(ethylene-co-acrylic acid) is selected as a model polymer and the solvent-processed thin films are soft and elastic, whose external shapes can be programmed by a modified shape memory process. On another aspect, an Fe³⁺-carboxylate coordinating network formed by surface treatments can be spatially dissociated under UV, resulting in transient hygroscopic gradients as active joints for moisture-driven actuation. Moreover, we show that the shape memory effect can be an effective means to adjust the direction as well as the amplitude of the moisture-driven actuating behavior. The proposed strategy is convenient and can be generally extended to other shape memory polymers to realize programmable moisture-responsive actuating behaviors.

High-resolution in situ patterning of perovskite quantum dots via femtosecond laser direct writing

Colloidal quantum dots (QDs) have exhibited great potential for optoelectronic applications, including displays, lasers, anti-counterfeiting and information storage. However, the high-resolution patterning technique of QDs is still a challenge, while precise patterned QDs are of great value for practical applications. Here, a femtosecond laser direct writing strategy was demonstrated for the in situ fabrication of high-resolution-patterned perovskite quantum dots (PQDs) by the laser-induced Marangoni flow to aggregate and deposit the PQDs based on the opto-thermoelectric mechanism. By regulating the laser power and the exposure time, the minimum line width could reach 1.58 μm. Importantly, through the patterning of red, green and blue PQDs, the strategy exhibited the applicability in full-color PQD materials. Moreover, the deposited PQDs can preserve the original photophysical properties including photoluminescence spectra and excited state lifetime. The approach provides a strategy to fabricate high-resolution patterned PQDs in situ, which is a promising alternative in photonic applications including high-resolution displays and anti-counterfeiting.

Laser Fabrication of Titanium Alloy-Based Photothermal Responsive Slippery Surface

In recent years, biomimetic materials inspired from natural organisms have attracted great attention due to their promising functionalities and cutting-edge applications, emerging as an important research topic. For example, how to reduce the reflectivity of the solid surface and increase the absorption of the substrate surface is essential for developing light response smart surface. Suitable solutions to this issue can be found in natural creatures; however, it is technologically challenging. In this work, inspired from butterfly wings, we proposed a laser processing technology to prepare micro nanostructured titanium alloy surfaces with anti-reflection properties. The reflectivity is significantly suppressed, and thus, the light absorption is improved. Consequently, the anti-reflection titanium alloy surface can be further employed as a photothermal substrate for developing light-responsive slippery surface. The sliding behavior of liquid droplets on the smart slippery surface can be well controlled via light irradiation. This method facilitates the preparation of low-reflection and high-absorption metallic surfaces towards bionic applications.

Infrared spectroscopic monitoring of solid-state processes

We put a spotlight on IR spectroscopic investigations in materials science by providing a critical insight into the state of the art, covering both fundamental aspects, examples of its utilisation, and current challenges and perspectives focusing on the solid state.

Micro-/Nano-Structures Fabricated by Laser Technologies for Optoelectronic Devices

Due to unique optical and electrical properties, micro-/nano-structures have become an essential part of optoelectronic devices. Here, we summarize the recent developments in micro-/nano-structures fabricated by laser technologies for optoelectronic devices. The fabrication of micro-/nano-structures by various laser technologies is reviewed. Micro-/nano-structures in optoelectronic devices for performance improvement are reviewed. In addition, typical optoelectronic devices with micro-nano structures are also summarized. Finally, the challenges and prospects are discussed.

Electro-responsive actuators based on graphene

Electro-responsive actuators (ERAs) hold great promise for cutting-edge applications in e-skins, soft robots, unmanned flight, and in vivo surgery devices due to the advantages of fast response, precise control, programmable deformation, and the ease of integration with control circuits. Recently, considering the excellent physical/chemical/mechanical properties (e.g., high carrier mobility, strong mechanical strength, outstanding thermal conductivity, high specific surface area, flexibility, and transparency), graphene and its derivatives have emerged as an appealing material in developing ERAs. In this review, we have summarized the recent advances in graphene-based ERAs. Typical the working mechanisms of graphene ERAs have been introduced. Design principles and working performance of three typical types of graphene ERAs (e.g., electrostatic actuators, electrothermal actuators, and ionic actuators) have been comprehensively summarized. Besides, emerging applications of graphene ERAs, including artificial muscles, bionic robots, human-soft actuators interaction, and other smart devices, have been reviewed. At last, the current challenges and future perspectives of graphene ERAs are discussed.

Materials and Schemes of Multimodal Reconfigurable Micro/Nanomachines and Robots: Review and Perspective

Mechanically programmable, reconfigurable micro/nanoscale materials that can dynamically change their mechanical properties or behaviors, or morph into distinct assemblies or swarms in response to stimuli have greatly piqued the interest of the science community due to their unprecedented potentials in both fundamental research and technological applications. To date, a variety of designs of hard and soft materials, as well as actuation schemes based on mechanisms including chemical reactions and magnetic, acoustic, optical, and electric stimuli, have been reported. Herein, state-of-the-art micro/nanostructures and operation schemes for multimodal reconfigurable micro/nanomachines and swarms, as well as potential new materials and working principles, challenges, and future perspectives are discussed.

Programmable Humidity-Responsive Actuation of Polymer Films Enabled by Combining Shape Memory Property and Surface-Tunable Hygroscopicity

Most humidity-responsive polymeric actuators can only exhibit shape transformations between a planar shape in the dry state and a bended three-dimensional (3D) shape when exposed to moisture, and it is challenging to design and prepare hygroscopic actuators with programmable actuating behaviors displayed from sophisticated 3D structures. Herein, we demonstrate that the integration of shape memory property and surface treatment enabled hygromorphic responsivity endows a single-component polymer film with programmable moisture-driven actuating behaviors. The solvent-processed polyethylene-co-acrylic acid (EAA) copolymer film is soft and stretchable at room temperature, and has a good thermal-responsive shape memory property. By surface treatment using base/acid solutions, the reversible gradient conversion between carboxyl groups and carboxylate salts along the thickness direction enables the film to exhibit designed hygroscopic actuations. The shape memory property and moisture-driven actuating behaviors can be combined to realize 3D-3D morphing by first programming the films into 3D shapes and then conducting the surface treatments. Both shape programming and surface treatment processes can be reprogrammed to make the actuation behavior readily tunable. We also show that the created surface patterns can act as moisture-sensitive conducting paths to detect human breathes, and the combination of shape memory, moisture-responsive morphing and conductivity change leads to some interesting applications such as smart switch in conducting circuit. This work provides a new and general strategy for the design of advanced humidity-responsive actuators.

Tough and Multifunctional Composite Film Actuators Based on Cellulose Nanofibers toward Smart Wearables

Although humidity-responsive actuators serve as a promising candidate in smart wearables, artificial muscles, and biomimetic devices, most of them derived from synthetic polymers could not simultaneously achieve multifunctional properties. In this work, a cellulose nanofiber (CNF)-based film actuator with high mechanical properties, excellent Joule heating, and antibacterial capability is successfully constructed by integrating with Ti₃C₂T_x (MXene) and tannic acid (TA) via a vacuum-assisted filtration approach. Owing to the unique nacrelike structure and strong hydrogen bonds, the tensile strength and toughness of the composite film could reach 275.4 MPa and 10.2 MJ·m^-3, respectively. Importantly, the hydrophilic nature of CNFs and alterable interlayer spacing of MXene nanosheets endow the composite film with sensitive humidity response and extraordinary stability (1000 cycles). With the assistance of MXene nanosheets and TA, the composite film could not only present outstanding Joule heating but also possess remarkable antibacterial properties against both Gram-negative Escherichia coli and Gram-positive Staphylococcus aureus. Benefiting from the above merits, the proof-of-concept smart garment is assembled by the as-prepared film and is capable of regulating humidity and temperature.

Recent progress of biomimetic motions-from microscopic micro/nanomotors to macroscopic actuators and soft robotics

Motion is a basic behavioral attribute of organisms, and it is a behavioral response of organisms to the external environment and internal state changes. Materials with switchable mechanical properties are widespread in living organisms and play crucial roles in the motion of organisms. Therefore, significant efforts have been made toward mimicking such architectures and motion behaviors by making full use of the properties of stimulus-responsive materials to design smart materials/machines with specific functions. In recent years, the biomimetic motions based on micro/nanomotors, actuators and soft robots constructed from smart response materials have been developed gradually. However, a comprehensive discussion on various categories of biomimetic motions in this field is still missing. This review aims to provide such a panoramic overview. From nano-to macroscales, we summarize various biomimetic motions based on micro/nanomotors, actuators and soft robotics. For each biomimetic motion, we discuss the driving modes and the key functions. The challenges and opportunities of biomimetic motions are also discussed. With rapidly increasing innovation, advanced, intelligent and multifunctional biomimetic motions based on micro/nanomotors, actuators and soft robotics will certainly bring profound impacts and changes for human life in the near future.

Biomimetic motions are derived from the many different functional materials and/or intricate and highly organized structure of the biological material from the molecular to the nanoscale, microscale and macroscale.

Highly Deformable High-Performance Paper-Based Perovskite Photodetector with Improved Stability

Paper-based photodetectors have attracted extensive research interest owing to their environmentally friendly and highly deformable properties. Although perovskite crystals with outstanding optoelectronic properties have proved to be one of the most promising candidates for photodetectors, the development of paper-based photodetectors is hindered by the moisture absorptivity of paper and the instability of perovskite crystals in a humid atmosphere. In this study, we demonstrate a highly deformable and high-performance paper-based perovskite photodetector. The photodetector maintains its excellent performance even after exposure to a relative humidity of 60% for 120 h.

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.

Bioinspired Soft Robots Based on the Moisture-Responsive Graphene Oxide

Graphene oxide (GO), which has many oxygen functional groups, is a promising candidate for use in moisture-responsive sensors and actuators due to the strong water-GO interaction and the ultrafast transport of water molecules within the stacked GO sheets. In the last 5 years, moisture-responsive actuators based on GO have shown distinct advantages over other stimuli-responsive materials and devices. Particularly, inspired by nature organisms, various moisture-enabled soft robots have been successfully developed via rational assembly of the GO-based actuators. Herein, the milestones in the development of moisture-responsive soft robots based on GO are summarized. In addition, the working mechanisms, design principles, current achievement, and prospects are also comprehensively reviewed. In particular, the GO-based soft robots are at the forefront of the advancement of automatable smart devices.

Magnetism-Responsive Anisotropic Film with Self-Sensing and Multifunctional Shape Manipulation

At small scales, shape-programmable magnetic materials and self-sensing conductive materials have an enticing potential for realizing the functionalities that are unattainable by traditional machines. This work reports a facile preparation method of aself-sensing magnetism-responsive anisotropic films (SMAF) in which magnetic materials and conductive materials can be predesigned, oriented, and patterned without requiring an external magnetic field generator or other expensive devices. A variety of shaped magnetoactive films with complex chain-orientation structures that can achieve advanced actuation functions have been developed, such as magnetically driven flowers, windmills, and leaves. It is also verified that the as-prepared samples coated with the sensing layer can distinguish different actuation modes, such as inward bending, outward bending, twisting, and combined deformation, which would be conducive to further exploration and development of directionally responsive applications in the smart actuating system and soft robotics.

MXene-Based Humidity-Responsive Actuators: Preparation and Properties

Water is a significant and abundant resource as well as a pure natural energy source. Many researchers have been reported on humidity-responsive actuators that mimick the humidity responsive behavior that widely exists in nature. Benefiting from advantages such as hydrophilicity, high electrical conductivity, and good dispersibility, MXenes (Ti₃ C₂ T_x ) show promising performance when applied to humidity-responsive actuators. This Minireview describes the preparation methods and structural characteristics of MXenes, and the mechanism of humidity-responsive actuators. Recent important advances of MXene materials in actuators are objectively reviewed and evaluated, and existing issues are discussed. In addition, the development of these systems is outlined from the aspects of MXene preparation, structure control, design and assembly, and applications, and provides new ideas and guidance for the development of the next generation of high-performance MXene-based humidity-responsive actuators.

Bioinspired Surfaces With Switchable Wettability

The surface wettability of plants exhibits many unique advantages, which enhances the environmental adaptability of plants. In view of the rapid development of responsive materials, smart surfaces have been explored extensively to regulate surface wettability through external stimuli. Herein, we summarized recent advancements in bioinspired surfaces with switchable wettability. Typical bioinspired surfaces with switchable wettability and their emerging applications have been reviewed. In the end, we have discussed the remaining challenges and provided perspective on future development.

An intelligent film actuator with multi-level deformation behaviour

Smart materials with simply reversible deformation or reconfigurability have shown great potential in artificial muscles, robots, controlled displays, etc. However, the combination of reversible and reconfigured functions in responsive materials, which can endow them with mature and complex actuation performance similar to that of living things, is still a great challenge. In this regard, we report an intelligent graphene oxide (GO)/polyvinylidene fluoride (PVDF) film with reconfigured structures resulting from inner plastic deformation after treatment at elevated temperature (40-80 °C), which simultaneously expresses basically and secondarily reversible deformation ability of its original and reconfigured states in response to external stimuli (e.g. IR light and moisture), respectively. As a result, this film achieves unique multi-level actuation behaviour by combining reversible and reconfigured functions. Based on this, an "Artificial Pupil" with two switchable light penetration modes under the different reconfigured states was designed and developed. Furthermore, many special and reconfigured 3D structures (e.g. cubic boxes, pyramids) have been well explored, which is promising for applications in future materials engineering and biomimetic devices.

Airflow Enhanced Solar Evaporation Based on Janus Graphene Membranes with Stable Interfacial Floatability

Solar interfacial evaporation has been recognized as a versatile energy conversion protocol for cutting-edge applications such as water treatment and power generation (e.g., hydro voltaic effect). Recently, to enhance water evaporation rates, water temperature and evaporation area have been considered as essential ingredients, and thus photothermal materials and three-dimensional hierarchical structures have been developed to promote light-to-heat conversion efficiency and enhance interfacial evaporation. However, less attention has been paid to the airflow effect, because the interfacial floatability of photothermal membranes should be considered under air blast. Here, inspired from the stable interfacial floatability of lotus leaves, we report the airflow enhanced solar interfacial evaporation approach using a graphene-based Janus membrane. Laser-induced graphene (LIG) film was treated unilaterally by O₂ plasma, forming a LIG/oxidized LIG (LIG-O) Janus membrane with distinct wettability on two sides. Higher water evaporation rate of 1.512 kg m^-2 h^-1 is achieved. The high solar interfacial evaporation performance can be attributed to the two advantages: (i) the combination of microscale capillary water transporting and nanoscale light trapping; (ii) hydrophobic/hydrophilic Janus membrane for stable interfacial floatability under airflow. Our approach is feasible for developing high-performance solar interfacial evaporation devices for practical clean energy utilization.

Design of Active Interfaces Using Responsive Molecular Components

Responsive interfaces are interfaces that show a defined and reversible change in physical properties in response to external stimuli. Typically, responsive interfaces result from the immobilization of responsive molecular components at the interface that translate a nanoscale signal into a macroscopic effect. Responsive interfaces can also be obtained if the topology of the interface can be reversibly changed using an external stimulus. As the surface of any material is its connection to the environment, responsive interfaces provide opportunities for interactive materials which are not only able to change properties upon demand, but also sense their environment and act autonomously. The application of responsive molecular components at interfaces, however, requires chemical and physical compatibility with the material surface of interest, posing a challenge not least in the retention of the responsive functionality. The state of the art in "active" interfaces which display responsive wettability, permeability, or adhesion is discussed, with a particular emphasis on microscale and nanoscale patterning since patterned interfaces can give rise to unique material properties. Finally, perspectives in the development of responsive interfaces, as well as promising approaches for bypassing the most prominent challenges are discussed.

Actuation and locomotion driven by moisture in paper made with natural pollen

Much progress has been made in developing bioinspired sensors and actuators based on engineered synthetic materials, although there remains a critical need to incorporate cost-effective and eco-friendly materials. Here naturally abundant pollen grains are used as a material template to produce paper that sensitively and reversibly responds as an actuator to variations in environmental humidity. The actuating properties of the all-natural paper are readily tuned by material characteristics, such as sheet thickness and surface roughness. We demonstrate self-actuation of the pollen-based paper by mimicking flower blooming. The results presented here point to pathways for the creation of self-propelled robots, flexible electronics, and multifunctional devices. They also offer the potential for digital printing and fabrication of complex and programmable natural actuators.

Here we describe the development of a humidity-responsive sheet of paper that is derived solely from natural pollen. Adaptive soft material components of the paper exhibit diverse and well-integrated responses to humidity that promote shape reconfiguration, actuation, and locomotion. This mechanically versatile and nonallergenic paper can generate a cyclically high contractile stress upon water absorption and desorption, and the rapid exchange of water drives locomotion due to hydrodynamic effects. Such dynamic behavior can be finely tuned by adjusting the structure and properties of the paper, including thickness, surface roughness, and processing conditions, analogous to those of classical soapmaking. We demonstrate that humidity-responsive paper-like actuators can mimic the blooming of the Michelia flower and perform self-propelled motion. Harnessing the material properties of bioinspired systems such as pollen paper opens the door to a wide range of sustainable, eco-friendly, and biocompatible material innovation platforms for applications in sensing, actuation, and locomotion.

Nacre-inspired moisture-responsive graphene actuators with robustness and self-healing properties

Moisture-responsive actuators based on graphene oxide (GO) have attracted intensive research interest in recent years. However, current GO actuators suffer from low mechanical strength. Inspired by the robustness of nacre's structure, moisture-responsive actuators with high mechanical strength and self-healing properties were successfully developed based on GO and cellulose fiber (CF) hybrids. The hybrid paper demonstrated significantly improved tensile strength, ∼20 times higher than that of pure GO paper, and self-healing properties. A broken paper can be well cured under moist conditions, and the mechanical properties of the self-healed hybrid paper can still maintain similar tensile strength to the pristine one. After controllable ultraviolet light photoreduction treatment, a hybrid paper with a photoreduction gradient along the normal direction was prepared, which can act as a moisture-responsive actuator. A maximum bending curvature of ∼1.48 cm^-1 can be achieved under high relative humidity (RH = 97%). As a proof-of-concept, a butterfly-like actuator that can deform itself with moisture actuation was demonstrated. Our approach may pave a new way for designing robust and self-healable graphene actuators.

Multi-stimuli-responsive programmable biomimetic actuator

Untethered small actuators have various applications in multiple fields. However, existing small-scale actuators are very limited in their intractability with their surroundings, respond to only a single type of stimulus and are unable to achieve programmable structural changes under different stimuli. Here, we present a multiresponsive patternable actuator that can respond to humidity, temperature and light, via programmable structural changes. This capability is uniquely achieved by a fast and facile method that was used to fabricate a smart actuator with precise patterning on a graphene oxide film by hydrogel microstamping. The programmable actuator can mimic the claw of a hawk to grab a block, crawl like an inchworm, and twine around and grab the rachis of a flower based on their geometry. Similar to the large- and small-scale robots that are used to study locomotion mechanics, these small-scale actuators can be employed to study movement and biological and living organisms.

Untethered small actuators have various applications but existing small-scale actuators are limited in their response to different stimuli. Here, we present a multiresponsive patternable actuator that can respond to humidity, temperature and light, via programmable structural changes.