Ferromagnetic Liquid Metal Putty-Like Material with Transformed Shape and Reconfigurable Polarity

Bioinspired Liquid Metal Based Soft Humanoid Robots

The pursuit of constructing humanoid robots to replicate the anatomical structures and capabilities of human beings has been a long-standing significant undertaking and especially garnered tremendous attention in recent years. However, despite the progress made over recent decades, humanoid robots have predominantly been confined to those rigid metallic structures, which however starkly contrast with the inherent flexibility observed in biological systems. To better innovate this area, the present work systematically explores the value and potential of liquid metals and their derivatives in facilitating a crucial transition towards soft humanoid robots. Through a comprehensive interpretation of bionics, an overview of liquid metals' multifaceted roles as essential components in constructing advanced humanoid robots-functioning as soft actuators, sensors, power sources, logical devices, circuit systems, and even transformable skeletal structures-is presented. It is conceived that the integration of these components with flexible structures, facilitated by the unique properties of liquid metals, can create unexpected versatile functionalities and behaviors to better fulfill human needs. Finally, a revolution in humanoid robots is envisioned, transitioning from metallic frameworks to hybrid soft-rigid structures resembling that of biological tissues. This study is expected to provide fundamental guidance for the coming research, thereby advancing the area.

Magnetically Responsive Gallium-Based Liquid Metal: Preparation, Property and Application

Magnetically responsive soft smart materials have garnered significant academic attention due to their flexibility, remote controllability, and reconfigurability. However, traditional soft materials used in the construction of these magnetically responsive systems typically exhibit low density and poor thermal and electrical conductivities. These limitations result in suboptimal performance in applications such as medical radiography, high-performance electronic devices, and thermal management. To address these challenges, magnetically responsive gallium-based liquid metals have emerged as promising alternatives. In this review, we summarize the methodologies for achieving magnetically responsive liquid metals, including the integration of magnetic agents into the liquid metal matrix and the utilization of induced Lorentz forces. We then provide a comprehensive discussion of the key physicochemical properties of these materials and the factors influencing them. Additionally, we explore the advanced and potential applications of magnetically responsive liquid metals. Finally, we discuss the current challenges in this field and present an outlook on future developments and research directions.

Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly

Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications.

Interface of gallium-based liquid metals: oxide skin, wetting, and applications

Gallium-based liquid metals (GaLMs) are promising for a variety of applications-especially as a component material for soft devices-due to their fluidic nature, low toxicity and reactivity, and high electrical and thermal conductivity comparable to solid counterparts. Understanding the interfacial properties and behaviors of GaLMs in different environments is crucial for most applications. When exposed to air or water, GaLMs form a gallium oxide layer with nanoscale thickness. This "oxide nano-skin" passivates the metal surface and allows for the formation of stable microstructures and films despite the high-surface tension of liquid metal. The oxide skin easily adheres to most smooth surfaces. While it enables effective printing and patterning of the GaLMs, it can also make the metals challenging to handle because it adheres to most surfaces. The oxide also affects the interfacial electrical resistance of the metals. Its formation, thickness, and composition can be chemically or electrochemically controlled, altering the physical, chemical, and electrical properties of the metal interface. Without the oxide, GaLMs wet metallic surfaces but do not wet non-metallic substrates such as polymers. The topography of the underlying surface further influences the wetting characteristics of the metals. This review outlines the interfacial attributes of GaLMs in air, water, and other environments and discusses relevant applications based on interfacial engineering. The effect of surface topography on the wetting behaviors of the GaLMs is also discussed. Finally, we suggest important research topics for a better understanding of the GaLMs interface.

Long-Term Corrosion of Eutectic Gallium, Indium, and Tin (EGaInSn) Interfacing with Diamond

Thermal transport is of grave importance in many high-value applications. Heat dissipation can be improved by utilizing liquid metals as thermal interface materials. Yet, liquid metals exhibit corrosivity towards many metals used for heat sinks, such as aluminum, and other electrical devices (i.e., copper). The compatibility of the liquid metal with the heat sink or device material as well as its long-term stability are important performance variables for thermal management systems. Herein, the compatibility of the liquid metal Galinstan, a eutectic alloy of gallium, indium, and tin, with diamond coatings and the stability of the liquid metal in this environment are scrutinized. The liquid metal did not penetrate the diamond coating nor corrode it. However, the liquid metal solidified with the progression of time, starting from the second year. After 4 years of aging, the liquid metal on all samples solidified, which cannot be explained by the dissolution of aluminum from the titanium alloy. In contrast, the solidification arose from oxidation by oxygen, followed by hydrolysis to GaOOH due to the humidity in the air. The hydrolysis led to dealloying, where In and Sn remained an alloy while Ga separated as GaOOH. This hydrolysis has implications for many devices based on gallium alloys and should be considered during the design phase of liquid metal-enabled products.

Recent Advances in Wearable Healthcare Devices: From Material to Application

In recent years, the proliferation of wearable healthcare devices has marked a revolutionary shift in the personal health monitoring and management paradigm. These devices, ranging from fitness trackers to advanced biosensors, have not only made healthcare more accessible, but have also transformed the way individuals engage with their health data. By continuously monitoring health signs, from physical-based to biochemical-based such as heart rate and blood glucose levels, wearable technology offers insights into human health, enabling a proactive rather than a reactive approach to healthcare. This shift towards personalized health monitoring empowers individuals with the knowledge and tools to make informed decisions about their lifestyle and medical care, potentially leading to the earlier detection of health issues and more tailored treatment plans. This review presents the fabrication methods of flexible wearable healthcare devices and their applications in medical care. The potential challenges and future prospectives are also discussed.

Principles and methods of liquid metal actuators

As a promising material, liquid metals (LMs) have gained considerable interest in the field of soft robotics due to their ability to move as designed routines or change their shape dramatically under external stimuli. Inspired by the science fiction film Terminator, tremendous efforts have been devoted to liquid robots with high compliance and intelligence. How to manipulate LM droplets is crucial to achieving this goal. Accordingly, this review is dedicated to presenting the principles driving LMs and summarizing the potential methods to develop LM actuators of high maneuverability. Moreover, the recent progress of LM robots based on these methods is overviewed. The challenges and prospects of implementing autonomous robots have been proposed.

Bioinspired Stimuli-Responsive Materials for Soft Actuators

Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.

Engineering Magnetic Soft and Reconfigurable Robots

Magnetic control has gained popularity recently due to its ability to enhance soft robots with reconfigurability and untethered maneuverability, among other capabilities. Several advancements in the fabrication and application of reconfigurable magnetic soft robots have been reported. This review summarizes novel fabrication techniques for designing magnetic soft robots, including chemical and physical methods. Mechanisms of reconfigurability and deformation properties are discussed in detail. The maneuverability of magnetic soft robots is then briefly discussed. Finally, the present challenges and possible future work in designing reconfigurable magnetic soft robots for biomedical applications are identified.

Magnetic Putty as a Reconfigurable, Recyclable, and Accessible Soft Robotic Material

Magnetically hard materials are widely used to build soft magnetic robots, providing large magnetic force/torque and macrodomain programmability. However, their high magnetic coercivity often presents practical challenges when attempting to reconfigure magnetization patterns, requiring a large magnetic field or heating. In this study, magnetic putty is introduced as a magnetically hard and soft material with large remanence and low coercivity. It is shown that the magnetization of magnetic putty can be easily reoriented with maximum magnitude using an external field that is only one-tenth of its coercivity. Additionally, magnetic putty is a malleable, autonomous self-healing material that can be recycled and repurposed. The authors anticipate magnetic putty could provide a versatile and accessible tool for various magnetic robotics applications for fast prototyping and explorations for research and educational purposes.

Reactive wetting enabled anchoring of non-wettable iron oxide in liquid metal for miniature soft robot

Magnetic liquid metal (LM) soft robots attract considerable attentions because of distinctive immiscibility, deformability and maneuverability. However, conventional LM composites relying on alloying between LM and metallic magnetic powders suffer from diminished magnetism over time and potential safety risk upon leakage of metallic components. Herein, we report a strategy to composite inert and biocompatible iron oxide (Fe3O4) magnetic nanoparticles into eutectic gallium indium LM via reactive wetting mechanism. To address the intrinsic interfacial non-wettability between Fe3O4 and LM, a silver intermediate layer was introduced to fuse with indium component into AgxIny intermetallic compounds, facilitating the anchoring of Fe3O4 nanoparticles inside LM with improved magnetic stability. Subsequently, a miniature soft robot was constructed to perform various controllable deformation and locomotion behaviors under actuation of external magnetic field. Finally, practical feasibility of applying LM soft robot in an ex vivo porcine stomach was validated under in-situ monitoring by endoscope and X-ray imaging.

Shaping a Soft Future: Patterning Liquid Metals

This review highlights the unique techniques for patterning liquid metals containing gallium (e.g., eutectic gallium indium, EGaIn). These techniques are enabled by two unique attributes of these liquids relative to solid metals: 1) The fluidity of the metal allows it to be injected, sprayed, and generally dispensed. 2) The solid native oxide shell allows the metal to adhere to surfaces and be shaped in ways that would normally be prohibited due to surface tension. The ability to shape liquid metals into non-spherical structures such as wires, antennas, and electrodes can enable fluidic metallic conductors for stretchable electronics, soft robotics, e-skins, and wearables. The key properties of these metals with a focus on methods to pattern liquid metals into soft or stretchable devices are summari.

Liquid Metal Patterning and Unique Properties for Next-Generation Soft Electronics

Room-temperature liquid metal (LM)-based electronics is expected to bring advancements in future soft electronics owing to its conductivity, conformability, stretchability, and biocompatibility. However, various difficulties arise when patterning LM because of its rheological features such as fluidity and surface tension. Numerous attempts are made to overcome these difficulties, resulting in various LM-patterning methods. An appropriate choice of patterning method based on comprehensive understanding is necessary to fully utilize the unique properties. Therefore, the authors aim to provide thorough knowledge about patterning methods and unique properties for LM-based future soft electronics. First, essential considerations for LM-patterning are investigated. Then, LM-patterning methods-serial-patterning, parallel-patterning, intermetallic bond-assisted patterning, and molding/microfluidic injection-are categorized and investigated. Finally, perspectives on LM-based soft electronics with unique properties are provided. They include outstanding features of LM such as conformability, biocompatibility, permeability, restorability, and recyclability. Also, they include perspectives on future LM-based soft electronics in various areas such as radio frequency electronics, soft robots, and heterogeneous catalyst. LM-based soft devices are expected to permeate the daily lives if patterning methods and the aforementioned features are analyzed and utilized.

Neuron-Inspired Soft Robot Teams and Their Non-Contact Electric Signal Transmission Based on Electromagnetic Induction

Transmission of electric signal among robots enables them to construct a team to behave beyond capabilities of the individuals. However, such a signal transmission is elusive so far for soft robots due to the employment of soft materials, rather than traditionally rigid electronic units. In this study, we demonstrate neuron-inspired soft robots (NISRs) with an electromagnetic induced signal transmission system. The prototype 15-cm-long NISRs can not only be moved driven by a manually moving magnet but also transmit signals to others in a noncontact type based on the electromagnetic induction through their tentacle units. Owing to the motion and special signal transmission mode, three NISRs can form diverse signal transport pathways to light up light emitting diodes in different positions. Furthermore, an alternative current (AC) signal can be generated when applying an interval loading/unloading compressive force with the velocity of 800 mm·min^-1 on the head of NISR integrated a magnet and a coil (named it NISR-plus). Such an AC signal can be immediately sensed by neighboring NISRs, indicating the construction of a signal transmission network among the NISR team. Our results open perspectives to realize signal transmission of soft robots via wireless electromagnetic induction and favor the development of soft robot teams.

Phase-Transitional Bismuth-Based Metals enable Rapid Embolotherapy, Hyperthermia, and Biomedical Imaging

Embolization has been an important minimally invasive therapy for occlusion of malfunctioned vasculature and tumor treatment via target delivering embolic agents. The limitation of conventional embolic agents, such as fabrication process, precipitation time, invisibility, and lack of integrated functions often leads to insufficient embolization efficacy. To overcome these drawbacks, a multifunctional bismuth (Bi)-based liquid embolic agent for simultaneous realization of embolotherapy, thermotherapy, as well as high-contrast biomedical imaging is proposed. Benefitting from the suitable melting point, flexible nature, metallic merit, and easygoing operation via injection, the versatile embolic agent can achieve rapid liquid-solid phase transition, magnetic hyperthermia, and multimodal imaging capability. The Bi-based materials are demonstrated with excellent arteriovenous embolization efficiency and favorable biocompatibility according to in vivo investigations. Introduction of the liquid embolic agent to tumor arteries achieves evident tumor regression and rather clear imaging under computed tomography (CT), magnetic resonance imaging (MRI), and thermographs for consistently tracking the implants over the biological body. Further, the combined therapy coupled with thermotherapy exhibits improved therapeutic efficiency with formation of necrosis and total tumor eradiation at day 15 after the treatment. The present innovative embolic agent and the surgical principle provide a promising modality for embolization and potential theranostic platform of tumors.

Gallium-Based Liquid Metal Materials for Antimicrobial Applications

The hazards caused by drug-resistant bacteria are rocketing along with the indiscriminate use of antibiotics. The development of new non-antibiotic antibacterial drugs is urgent. The excellent biocompatibility and diverse multifunctionalities of liquid metal have stimulated the studies of antibacterial application. Several gallium-based antimicrobial agents have been developed based on the mechanism that gallium (a type of liquid metal) ions disorder the normal metabolism of iron ions. Other emerging strategies, such as physical sterilization by directly using LM microparticles to destroy the biofilm of bacteria or thermal destruction via infrared laser irradiation, are gaining increasing attention. Different from traditional antibacterial agents of gallium compounds, the pronounced property of gallium-based liquid metal materials would bring innovation to the antibacterial field. Here, LM-based antimicrobial mechanisms, including iron metabolism disorder, production of reactive oxygen species, thermal injury, and mechanical destruction, are highlighted. Antimicrobial applications of LM-based materials are summarized and divided into five categories, including liquid metal motors, antibacterial fabrics, magnetic field-responsive microparticles, liquid metal films, and liquid metal polymer composites. In addition, future opportunities and challenges towards the development and application of LM-based antimicrobial materials are presented.

Are Liquid Metals Bulk Conductors?

Stretchable electronics have potential in wide-reaching applications including wearables, personal health monitoring, and soft robotics. Many recent advances in stretchable electronics leverage liquid metals, particularly eutectic gallium-indium (EGaIn). A variety of EGaIn electromechanical behaviors have been reported, ranging from bulk conductor responses to effectively strain-insensitive responses. However, numerous measurement techniques have been used throughout the literature, making it difficult to directly compare the various proposed formulations. Here, the electromechanical responses of EGaIn found in the literature is reviewed and pure EGaIn is investigated using three electrical resistance measurement techniques: four point probe, two point probe, and Wheatstone bridge. The results indicate substantial differences in measured electromechanical behavior between the three methods, which can largely be accounted for by correcting for a fixed offset corresponding to the resistances of various parts of the measurement circuits. Yet, even accounting for several of these sources of experimental error, the average relative change in resistance of EGaIn is found to be lower than that predicted by the commonly used bulk conductor assumption, referred to as Pouillet's law. Building upon recent theories proposed in the literature, possible explanations for the discrepancies are discussed. Finally, suggestions are provided on experimental design to enable reproducible and interpretable research.

A Universal Mechanochemistry Allows On-Demand Synthesis of Stable and Processable Liquid Metal Composites

Gallium-based liquid metal (LM) is regarded as one of the most promising candidates for the new-generation jigsaw of stretchable electronics. Nonetheless, the obstacle for the LM application lies in its high surface tension and easy fluidity which leads to great difficulty in handling and processing. Herein, a cross-mechanochemistry between liquid metal and inorganic solid, mediated via the coordination binding between the empty electronic orbits of the former and the lone electron pair of the latter is reported. The mechanism is validated via density functional theory calculation and electron energy loss spectroscopy, and experimentally proven to be universally applicable for various liquid metals and inorganic solids. With the unique mechanochemistry, simple ball milling allows on-demand transformation of the liquid metal into a low-surface-tension liquid, semi-solid paste, or even solid powder. The overcoming of the intrinsic high surface tension of the liquid metal with this approach unleashes the freedom to easily process the liquid metal composites into polymer composites or as direct molding processable paste and printable electronic ink.

Locally controllable magnetic soft actuators with reprogrammable contraction-derived motions

Reprogrammable magneto-responsive soft actuators capable of working in enclosed and confined spaces and adapting functions under changing situations are highly demanded for new-generation smart devices. Despite the promising prospect, the realization of versatile morphing modes (more than bending) and local magnetic control remains challenging but is crucial for further on-demand applications. Here, we address the challenges by maximizing the unexplored potential of magnetothermal responsiveness and covalent adaptable networks (CANs) in liquid crystalline elastomers (LCEs). Various magneto-actuated contraction-derived motions that were hard to achieve previously (e.g., bidirectional shrinkage and dynamic 3D patterns) can be attained, reprogrammed, and assembled seamlessly to endow functional diversity and complexity. By integration of LCEs with different magneto-responsive threshold values, local and sequential magnetic control is readily realized. Many magnetic actuation portfolios are performed by rationally imputing "logic switch" sequences. Meanwhile, our systems exhibit additional favorable performances including stepwise magnetic controllability, multiresponsiveness, self-healing, and remolding ability.

A Liquid Metal-Enhanced Wearable Thermoelectric Generator

It is a key challenge to continuously power personal wearable health monitoring systems. This paper reports a novel liquid metal-enhanced wearable thermoelectric generator (LM-WTEG that directly converts body heat into electricity for powering the wearable sensor system. The gallium-based liquid metal alloys with room-temperature melting point (24~30 °C) and high latent heat density (about 500 MJ/m³) are used to design a new flexible finned heat sink, which not only absorbs the heat through the solid-liquid phase change of the LM and enhances the heat release to the ambient air due to its high thermal conduction. The LM finned is integrated with WTEG to present high biaxial flexibility, which could be tightly in contact with the skin. The LM-WTEG could achieve a super high output power density of 275 μW/cm² for the simulated heat source (37 °C) with the natural convective heat transfer condition. The energy management unit, the multi-parameter sensors (including temperature, humidity, and accelerometer), and Bluetooth module with a total energy consumption of about 65 μW are designed, which are fully powered from LM-WTEG through harvesting body heat.

Active Perception in Non-Visual Recognition Environments by Stretchable Tentacle Sensor Arrays

Smoke fog or other light-interference environments have intrinsic obstruction for visual recognition techniques to explore objects and surroundings. Alternatively, tactile perceptions, rather than visual observations, are commonly used by burrowing or deep-sea animals to communicate with environments. Bio-inspired by this natural wisdom, here, we demonstrate stretchable tentacle sensor arrays, which can recognize surrounding objects located in non-visual conditions such as smoke fog or dark environment. Each tentacle sensor is composed of two functional parts: a retractable tentacle with a magnetic top and an elastomer bottom containing copper coils. Different from traditionally passive tactile sensors, these tentacle sensors can actively stretch under the control of a syringe pump, yielding different electrical signals when in contact with the objects. Analyzing collected sensing signals of those tactile sensor arrays by the feature analysis model, complex morphological information of irregular objects in the smoke fog can be recognized. Our study reveals a fundamental connection between stretchable tactile sensors and feature analysis and demonstrates its practical potential for active perception in a non-visual recognition environment.

Self-Healable and Recyclable Dual-Shape Memory Liquid Metal–Elastomer Composites

Liquid metal (LM)–polymer composites that combine the thermal and electrical conductivity of LMs with the shape-morphing capability of polymers are attracting a great deal of attention in the fields of reconfigurable electronics and soft robotics. However, investigation of the synergetic effect between the shape-changing properties of LMs and polymer matrices is lacking. Herein, a self-healable and recyclable dual-shape memory composite, comprising an LM (gallium) and a Diels–Alder (DA) crosslinked crystalline polyurethane (PU) elastomer, is reported. The composite exhibits a bilayer structure and achieves excellent shape programming abilities, due to the phase transitions of the LM and the crystalline PU elastomers. To demonstrate these shape-morphing abilities, a heat-triggered soft gripper, which can grasp and release objects according to the environmental temperature, is designed and built. Similarly, combining the electrical conductivity and the dual-shape memory effect of the composite, a light-controlled reconfigurable switch for a circuit is produced. In addition, due to the reversible nature of DA bonds, the composite is self-healable and recyclable. Both the LM and PU elastomer are recyclable, demonstrating the extremely high recycling efficiency (up to 96.7%) of the LM, as well as similar mechanical properties between the reprocessed elastomers and the pristine ones.

Reconfigurable Magnetic Liquid Metal Robot for High-Performance Droplet Manipulation

Droplet manipulation is crucial for diverse applications ranging from bioassay to medical diagnosis. Current magnetic-field-driven manipulation strategies are mainly based on fixed or partially tunable structures, which limits their flexibility and versatility. Here, a reconfigurable magnetic liquid metal robot (MLMR) is proposed to address these challenges. Diverse droplet manipulation behaviors including steady transport, oscillatory transport, and release can be achieved by the MLMR, and their underlying physical mechanisms are revealed. Moreover, benefiting from the magnetic-field-induced active deformability and temperature-induced phase transition characteristics, its droplet-loading capacity and shape-locking/unlocking switching can be flexibly adjusted. Because of the fluidity-based adaptive deformability, MLMR can manipulate droplets in challenging confined environments. Significantly, MLMR can accomplish cooperative manipulation of multiple droplets efficiently through on-demand self-splitting and merging. The high-performance droplet manipulation using the reconfigurable and multifunctional MLMR unfolds new potential in microfluidics, biochemistry, and other interdisciplinary fields.

Responsive Liquid Metal Droplets: From Bulk to Nano

Droplets exist widely in nature and play an extremely important role in a broad variety of industrial processes. Typical droplets, including water and oil droplets, have received extensive attention and research, however their single properties still cannot meet diverse needs. Fortunately, liquid metal droplets emerging in recent years possess outstanding properties, including large surface tension, excellent electrical and thermal conductivity, convenient chemical processing, easy transition between liquid and solid phase state, and large-scale deformability, etc. More interestingly, liquid metal droplets with unique features can respond to external factors, including the electronic field, magnetic field, acoustic field, chemical field, temperature, and light, exhibiting extraordinary intelligent response characteristics. Their development over the past decade has brought substantial breakthroughs and progress. To better promote the advancement of this field, the present article is devoted to systematically summarizing and analyzing the recent fundamental progress of responsive liquid metal droplets, not only involving droplet characteristics and preparation methods, but also focusing on their diverse response behaviors and mechanisms. On this basis, the challenges and prospects related to the following development of liquid metal droplets are also proposed. In the future, responsive liquid metal droplets with a rapid development trend are expected to play a key role in soft robots, biomedicine, smart matter, and a variety of other fields.

Liquid Metal Based Nano-Composites for Printable Stretchable Electronics

Liquid metal (LM) has attracted prominent attention for stretchable and elastic electronics applications due to its exceptional fluidity and conductivity at room temperature. Despite progress in this field, a great disparity remains between material fabrication and practical applications on account of the high surface tension and unavoidable oxidation of LM. Here, the composition and nanolization of liquid metal can be envisioned as effective solutions to the processibility-performance dilemma caused by high surface tension. This review aims to summarize the strategies for the fabrication, processing, and application of LM-based nano-composites. The intrinsic mechanism and superiority of the composition method will further extend the capabilities of printable ink. Recent applications of LM-based nano-composites in printing are also provided to guide the large-scale production of stretchable electronics.

Magnetically tightened form-stable phase change materials with modular assembly and geometric conformality features

Phase change materials have attracted significant attention due to their promising applications in many fields like solar energy and chip cooling. However, they suffer leakage during the phase transition process and have relatively low thermal conductivity. Here, through introducing hard magnetic particles, we synthesize a kind of magnetically tightened form-stable phase change materials. They achieve multifunctions such as leakage-proof, dynamic assembly, and morphological reconfiguration, presenting superior high thermal (increasing of 1400–1600%) and electrical (>10⁴ S/m) conductivity, and prominent compressive strength, respectively. Furthermore, free-standing temperature control and high-performance thermal and electric conversion systems based on these materials are developed. This work suggests an efficient way toward exploiting a smart phase change material for thermal management of electronics and low-grade waste heat utilization.

Despite phase change materials’ promising properties for thermal management, their application can be hindered by challenges regarding leakage and low thermal conduction. Here, authors report PCMs with embedded magnetic particles displaying zero leakage and morphological reconfiguration.

Magnetic Soft Materials and Robots

In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.

Soft actuators for real-world applications

Inspired by physically adaptive, agile, reconfigurable and multifunctional soft-bodied animals and human muscles, soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, haptic devices and medical devices. However, the complex performance of biological systems cannot yet be fully replicated in synthetic designs. In this Review, we discuss new materials and structural designs for the engineering of soft actuators with physical intelligence and advanced properties, such as adaptability, multimodal locomotion, self-healing and multi-responsiveness. We examine how performance can be improved and multifunctionality implemented by using programmable soft materials, and highlight important real-world applications of soft actuators. Finally, we discuss the challenges and opportunities for next-generation soft actuators, including physical intelligence, adaptability, manufacturing scalability and reproducibility, extended lifetime and end-of-life strategies.

Applications of liquid metals in nanotechnology

Post-transition liquid metals (LMs) offer new opportunities for accessing exciting dynamics for nanomaterials. As entities with free electrons and ions as well as fluidity, LM-based nanomaterials are fundamentally different from their solid counterparts. The low melting points of most post-transition metals (less than 330 °C) allow for the formation of nanodroplets from bulk metal melts under mild mechanical and chemical conditions. At the nanoscale, these liquid state nanodroplets simultaneously offer high electrical and thermal conductivities, tunable reactivities and useful physicochemical properties. They also offer specific alloying and dealloying conditions for the formation of multi-elemental liquid based nanoalloys or the synthesis of engineered solid nanomaterials. To date, while only a few nanosized LM materials have been investigated, extraordinary properties have been observed for such systems. Multi-elemental nanoalloys have shown controllable homogeneous or heterogeneous core and surface compositions with interfacial ordering at the nanoscale. The interactions and synergies of nanosized LMs with polymeric, inorganic and bio-materials have also resulted in new compounds. This review highlights recent progress and future directions for the synthesis and applications of post-transition LMs and their alloys. The review presents the unique properties of these LM nanodroplets for developing functional materials for electronics, sensors, catalysts, energy systems, and nanomedicine and biomedical applications, as well as other functional systems engineered at the nanoscale.

Tailorable, Lightweight and Superelastic Liquid Metal Monoliths for Multifunctional Electromagnetic Interference Shielding

A confined thermal expansion strategy to fabricate liquid metal (LM)-based monoliths with continuous LM network at ultra-low content. The results show a strong integration advantage of LM-based monoliths in density, mechanical strength, electromagnetic interference shielding effectiveness, and near field shielding effectiveness, as well as multi-functions such as magnetic actuation.

Flexible Wearables for Plants

The excellent stretchability and biocompatibility of flexible sensors have inspired an emerging field of plant wearables, which enable intimate contact with the plants to continuously monitor the growth status and localized microclimate in real-time. Plant flexible wearables provide a promising platform for the development of plant phenotype and the construction of intelligent agriculture via monitoring and regulating the critical physiological parameters and microclimate of plants. Here, the emerging applications of plant flexible wearables together with their pros and cons from four aspects, including physiological indicators, surrounding environment, crop quality, and active control of growth, are highlighted. Self-powered energy supply systems and signal transmission mechanisms are also elucidated. Furthermore, the future opportunities and challenges of plant wearables are discussed in detail.

Stimuli-Driven Insulator-Conductor Transition in a Flexible Polymer Composite Enabled by Biphasic Liquid Metal

Metal-polymer composites (MPCs) with combined properties of metals and polymers have achieved much industrial success. However, metals in MPCs are thought to be ordinary and invariable electrically conductive fillers in supportive polymers to show limited use in modern technologies. This work that is disclosed here, for the first time, introduces stimuli-driven transition from biphasic to monophasic state of liquid metal into polymer science to form dynamic soft conductors from the binary metal-polymer composites. The binary metal that exhibits temperature-driven reversible transition between solid and liquid states via a biphasic state is fabricated. A conducting stretchable polymer composite is developed using the judiciously chosen biphasic binary metal that undergoes conductor to insulator transition upon stretching. Insulating stretched films become conducting upon heating. A "tube" model elegantly describes such distinctive deformation/temperature-dependent behaviors. Moreover, the conducting polymer composite shows decrease in its resistance upon increasing the sample temperature. The resistance can be tuned from 1 to 10⁸  Ω depending on the state of binary metal in the phase diagram. This work would build the intimate and interesting connection between metal phases and polymer science toward next-generation soft conductors and beyond.

Mussel-Inspired Multifunctional Integrated Liquid Metal-Based Magnetic Suspensions with Rheological, Magnetic, Electrical, and Thermal Reinforcement

Magnetic liquid metal is regarded as a promising material due to its integration of fluidic, metallic, and magnetic properties simultaneously. Previously, few methods of fabricating magnetic liquid metal have been proposed. However, either the alloying reaction inside the matrix or the poor performance in electrical and thermal conduction is troublesome in practical applications. Here, inspired by the mussel in nature, polydopamine is introduced to in situ reduce and immobilize silver shells on the surface of iron particles, and then the modified particles mix with liquid metal to prepare liquid metal-based magnetic suspensions (LMMSs). The silver shells can prevent iron particles from alloying with liquid metal and enhance the electrical and thermal conductivities of the LMMS concurrently. Besides, the LMMS thus obtained can keep its magnetism intact for a long period, at least during the 60 days of the test. Compared to directly mixing bare iron particles with liquid metal, the maximum electrical conductivities increase by at least 13.69% and the thermal conductivities increase by almost 4 times in the LMMS. The LMMS also exhibits potential applications in patterning and magnetic manipulation. This work puts forward a new strategy for preparing a LMMS with appealing properties and its broad applications are expected in the future.

Pervasive liquid metal printed electronics: From concept incubation to industry

Electronic devices play vital role in modern civilization. Compared to conventional electronic manufacturing, the recently emerging liquid metal printed electronics (LMPE) is opening many extraordinary opportunities, such as large-area printing, pervasive adaptability, flexibility for personal use, low cost, high performance, and environmental friendliness. More uniquely, liquid metal printing allows customize electronic products on demand to fabricate electronics spanning from 2D plane surface to 3D structure and on any desired substrates. This deems it to reshape modern electronics and integrated circuits field. So far, a variety of technological breakthroughs in this new generation electronic engineering area have been made in the process of developing various liquid metal functional inks, printing machines and applications, which significantly stimulate the quick incubation and formation of a new electronic industry. Clearly, sorting out the major R&D directions and clarifying future challenges is crucial for the large scale industrialization of LMPE. This perspective article is dedicated to briefly outline the representative principles and key technologies lying behind, and illustrate the milestone products and equipment thus invented for the coming LMPE industry. In addition, we evaluate the corresponding industrialization trends and promising roadmap and interpret future prospects for the new era of pervasive electronics when anyone can freely use such a tool to print out himself functional electronic device to fulfill various purposes at anywhere and anytime.

Liquid Metal Based Flexible and Implantable Biosensors

Biosensors are the core elements for obtaining significant physiological information from living organisms. To better sense life information, flexible biosensors and implantable sensors that are highly compatible with organisms are favored by researchers. Moreover, materials for preparing a new generation of flexible sensors have also received attention. Liquid metal is a liquid-state metallic material with a low melting point at or around room temperature. Owing to its high electrical conductivity, low toxicity, and superior fluidity, liquid metal is emerging as a highly desirable candidate in biosensors. This paper is dedicated to reviewing state-of-the-art applications in biosensors that are expounded from seven aspects, including pressure sensor, strain sensor, gas sensor, temperature sensor, electrical sensor, optical sensor, and multifunctional sensor, respectively. The fundamental scientific and technological challenges lying behind these recommendations are outlined. Finally, the perspective of liquid metal-based biosensors is present, which stimulates the upcoming design of biosensors.

Liquid Metal-Based Magnetorheological Fluid with a Large Magnetocaloric Effect

Herein, liquid metal and Mn_0.6Fe_0.4NiGe_0.54Si_0.46 particles with a large magnetocaloric effect are adopted to prepare a novel magnetocaloric suspension named liquid metal-based magnetorheological fluid (LM²RF), which can well solve the problems of brittleness, low thermal conductivity, and poor machinability in classical magnetocaloric materials. The low melting point and high boiling point of liquid metal could significantly widen the operating temperature range of such a fluid. As a carrier, the high thermal conductivity, low viscosity, and large density of liquid metal display advantageous to heat transfer. The maximum loading fraction is 19.5 wt %, while LM²RF features the liquid state. A series of tests are conducted to investigate the alloying behavior in LM²RF. It is found that galinstan will react with Mn_0.6Fe_0.4NiGe_0.54Si_0.46 particles and form MnGa alloy. However, the reaction rate is very slow and the generated MnGa alloy is passivating. Consequently, the quantity of MnGa alloy is too sparse to affect the magnetocaloric performance of LM²RF. Overall, the LM²RF exhibits a large MCE at around room temperature with a lower magnetic hysteresis loss, and the transition temperature (T_m) remains constant in 60 days. This work demonstrates the outstanding performance of LM²RF and provides a promising alternative to MCE materials for practical magnetic refrigeration.