Soft Actuators Made of Discrete Grains

Soft composites with liquid inclusions: functional properties and theoretical models

Soft materials containing liquid inclusions have emerged as a promising class of materials. Unlike solid inclusions, liquid inclusions possess intrinsic fluidity, which allows them to retain the excellent deformation ability of soft materials. This can prevent compliance mismatches between the inclusions and the matrix, thus leading to improved performance and durability. Various liquids, including metallic, water-based, and ionic liquids, have been selected as inclusions for embedding into soft materials, resulting in unique properties and functionalities that enable a wide range of applications in soft robotics, wearable devices, and other cutting-edge fields. This review provides an overview of recent studies on the functional properties of composites with liquid inclusions and discusses theoretical models used to estimate these properties, aiming to bridge the gap between the microstructure/components and the overall properties of the composite from a theoretical perspective. Furthermore, current challenges and future opportunities for the widespread application of these composites are explored, highlighting their potential in advancing technologies.

Development of Dynamic Four-Dimensional Printing Technology for Patterned Structures by Applying Microcellular Foaming Process

Four-dimensional (4D) printing adds the dimension of time to 3D-printed specimens, causing movement when external stimuli are applied. This movement enables applications across various fields, including the soft robotics, aerospace, apparel, and automotive industries. Traditionally, 4D printing has utilized special materials such as shape-memory polymers (SMPs) or shape-memory alloys (SMAs) to achieve this movement. This study explores a novel approach to 4D printing by applying microcellular foaming processes (MCPs) to 3D printing. This study primarily aims to design and fabricate patterned specimens using common materials, such as PLA, through 3D printing and to analyze their dynamic behavior under various foaming conditions. To demonstrate the potential applications of this technology, the degree of bending was measured by controlling the patterning and foaming conditions. The 3D-printed specimens with microcellular foaming exhibited predictable deformations owing to the asymmetric expansion caused by differential gas saturation. The results confirm that 4D printing can be realized using conventional materials without the need for smart materials and can introduce foaming processes as a new external stimulus. This study highlights the potential of combining 3D printing with microcellular foaming for advanced 4D printing applications.

Multiscale Heterogeneous Polymer Composites for High Stiffness 4D Printed Electrically Controllable Multifunctional Structures

4D printing is an emerging field where 3D printing techniques are used to pattern stimuli-responsive materials to create morphing structures, with time serving as the fourth dimension. However, current materials utilized for 4D printing are typically soft, exhibiting an elastic modulus (E) range of 10-4 to 10 MPa during shape change. This restricts the scalability, actuation stress, and load-bearing capabilities of the resulting structures. To overcome these limitations, multiscale heterogeneous polymer composites are introduced as a novel category of stiff, thermally responsive 4D printed materials. These inks exhibit an E that is four orders of magnitude greater than that of existing 4D printed materials and offer tunable electrical conductivities for simultaneous Joule heating actuation and self-sensing capabilities. Utilizing electrically controllable bilayers as building blocks, a flat geometry is designed and printed that morphs into a 3D self-standing lifting robot, setting new records for weight-normalized load lifted and actuation stress when compared to other 3D printed actuators. Furthermore, the ink palette is employed to create and print planar lattice structures that transform into various self-supporting complex 3D shapes. These contributions are integrated into a 4D printed electrically controlled multigait crawling robotic lattice structure that can carry 144 times its own weight.

Multiscale Heterogeneous Polymer Composites for High Stiffness 4D Printed Electrically Controllable Multifunctional Structures

4D printing is an emerging field where 3D printing techniques are used to pattern stimuli-responsive materials to create morphing structures, with time serving as the fourth dimension. However, current materials utilized for 4D printing are typically soft, exhibiting an elastic modulus (E) range of 10-4 to 10 MPa during shape change. This restricts the scalability, actuation stress, and load-bearing capabilities of the resulting structures. To overcome these limitations, multiscale heterogeneous polymer composites are introduced as a novel category of stiff, thermally responsive 4D printed materials. These inks exhibit an E that is four orders of magnitude greater than that of existing 4D printed materials and offer tunable electrical conductivities for simultaneous Joule heating actuation and self-sensing capabilities. Utilizing electrically controllable bilayers as building blocks, a flat geometry that morphs into a 3D self-standing lifting robot is designed and printed, setting new records for weight-normalized load lifted and actuation stress when compared to other 3D printed actuators. Furthermore, this ink palette is employed to create and print planar lattice structures that transform into various self-supporting complex 3D shapes. Finally these inks are integrated into a 4D printed electrically controlled multigait crawling robotic lattice structure that can carry 144 times its own weight.

Synthesis of Microparticles with Diverse Thermally Responsive Shapes Originated from the Same Janus Liquid Crystalline Microdroplets

Liquid crystalline elastomer (LCE)-based microparticles that can change shapes in response to external stimuli are of great interest for potential applications such as artificial cells, micro-actuators, micro-valves, and smart drug carriers. Here, the synthesis of LCE microparticles with diverse temperature-dependent anisotropic shapes originated from the same Janus microdroplets is reported. The Janus microdroplets, suspended in an aqueous solution of surfactants, are transformed from microdroplets consisting of a mixture of liquid crystal (LC) monomers, oligomers, silicone oil, and an organic solvent, after the removal of the organic solvent. The molecular alignment of the LC part at the interface, whether planar, homeotropic, or hybrid, is dependent on the choice of the surfactants but not affected by the silicone oil. After polymerization and solvent extraction of the unreacted components, LCE microparticles of various shapes are obtained depending on the concentration and composition of the surfactants, the weight ratio of the LC part to the silicone oil part, and the choice of the extraction solvent. The microparticles that undergo different synthetic pathways show distinct thermally responsive shapes, much like how stem cells differentiate in different environmental conditions.

Shape Morphing Directed by Spatially Encoded, Dually Responsive Liquid Crystalline Elastomer Micro-Actuators

Liquid crystalline elastomers (LCEs) with intrinsic molecular anisotropy can be programmed to morph shapes under external stimuli. However, it is difficult to program the position and orientation of individual mesogenic units separately and locally, whether in-plane or out-of-plane, since each mesogen is linked to adjacent ones through the covalently bonded polymer chains. Here, dually responsive, spindle-shaped micro-actuators are synthesized from LCE composites, which can reorient under a magnetic field and change the shape upon heating. When the discrete micro-actuators are embedded in a conventional and nonresponsive elastomer with programmed height distribution and in-plane orientation in local regions, robust and complex shape morphing induced by the cooperative actuations of the locally distributed micro-actuators, which corroborates with finite element analysis, are shown. The spatial encoding of discrete micro-actuators in a nonresponsive matrix allows to decouple the actuators and the matrix, broadening the material palette to program local and global responses to stimuli for applications including soft robotics, smart wearables, and sensors.

Wireless Miniature Magnetic Phase-Change Soft Actuators

Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g-1 work capacity under remote magnetic radio frequency heating, which are 106 -107 times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s-1 fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.

Oscillating light engine realized by photothermal solvent evaporation

Continuous mechanical work output can be generated by using combustion engines and electric motors, as well as actuators, through on/off control via external stimuli. Solar energy has been used to generate electricity and heat in human daily life; however, the direct conversion of solar energy to continuous mechanical work has not been realized. In this work, a solar engine is developed using an oscillating actuator, which is realized through an alternating volume decrease of each side of a polypropylene/carbon black polymer film induced by photothermal-derived solvent evaporation. The anisotropic solvent evaporation and fast gradient diffusion in the polymer film sustains oscillating bending actuation under the illumination of divergent light. This light-driven oscillator shows excellent oscillation performance, excellent loading capability, and high energy conversion efficiency, and it can never stop with solvent supply. The oscillator can cyclically lift up a load and output work, exhibiting a maximum specific work of 30.9 × 10⁻⁵ J g⁻¹ and a maximum specific power of 15.4 × 10⁻⁵ W g⁻¹ under infrared light. This work can inspire the development of autonomous devices and provide a design strategy for solar engines.

Developing an oscillating actuator that can directly convert solar energy into mechanical energy is highly desirable. Here, authors report a solvent-assisted light-driven oscillator by porous film that achieves excellent oscillating actuation performance and can even oscillate by carrying a load under light irradiation.