Pressure-Perceptive Actuators for Tactile Soft Robots and Visual Logic Devices

Soft Robots with Plant-Inspired Gravitropism Based on Fluidic Liquid Metal

Plants can autonomously adjust their growth direction based on the gravitropic response to maximize energy acquisition, despite lacking nerves and muscles. Endowing soft robots with gravitropism may facilitate the development of self-regulating systems free of electronics, but remains elusive. Herein, acceleration-regulated soft actuators are described that can respond to the gravitational field by leveraging the unique fluidity of liquid metal in its self-limiting oxide skin. The soft actuator is obtained by magnetic printing of the fluidic liquid metal heater circuit on a thermoresponsive liquid crystal elastomer. The Joule heat of the liquid metal circuit with gravity-regulated resistance can be programmed by changing the actuator's pose to induce the flow of liquid metal. The actuator can autonomously adjust its bending degree by the dynamic interaction between its thermomechanical response and gravity. A gravity-interactive soft gripper is also created with controllable grasping and releasing by rotating the actuator. Moreover, it is demonstrated that self-regulated oscillation motion can be achieved by interfacing the actuator with a monostable tape spring, allowing the electronics-free control of a bionic walker. This work paves the avenue for the development of liquid metal-based reconfigurable electronics and electronics-free soft robots that can perceive gravity or acceleration.

A liquid metal-based module emulating the intelligent preying logic of flytrap

Plant species like the Venus flytrap possess unique abilities to intelligently respond to various external stimuli, ensuring successful prey capture. Their nerve-devoided structure provides valuable insights for exploring natural intelligence and constructing intelligent systems solely from materials, but limited knowledge is currently available and the engineering realization of such concept remains a significant challenge. Drawing upon the flytrap's action potential resulting from ion diffusion, we propose a signal accumulation/attenuation model and a corresponding liquid metal-based logic module, which operates on the basis of the shape change of liquid metal within a sodium hydroxide buffer solution. The module itself exhibits memory and counting properties without involving any other electronic components, intelligently responding to various stimulus sequences, and reproducing the flytrap's most logical function. We also demonstrate and forecast its potential as a moving window integration-based high-pass filter, artificial synapse in neural networks, and other related applications. This research provides a fresh perspective on comprehending the intelligence inherent in nature and its realization through physical structures, which is expected to inspire logic device development in a broad engineering field.

Triple-Responsive Soft Actuator with Plastically Retentive Deformation and Magnetically Programmable Recovery

Multistimuli responsiveness and programmable shape recovery are crucial for soft actuators in soft robotics, electronics, and wearables. However, existing strategies for actuation cannot attain power-free shape retention after removing the external energy supply. Here, a self-assembled density deposition method was developed to fabricate an electrothermal-NIR-magnetic triple-response actuator which was composed of cellulose nanofiber/poly(vinyl alcohol)/liquid metal (CNF/PVA/LM) and magnetic polydimethylsiloxane (MPDMS) layer. Interestingly, the large deformation can be controllably fixed and the temporary configuration will be programmable recovered under a magnetic field due to the thermal-plastic transferring behavior of the CNF/PVA/LM. Rolling robot prepared based on soft actuators exhibits good ability to avoid obstacles. In addition, the object handling and programmable release capabilities of the carrier robots demonstrate that this actuation approach will contribute to a better understanding of how to more rationally utilize various stimuli for application purposes.

Dual-Layer All-Textile Flexible Pressure Sensor Coupled by Silver Nanowires with Ti3C2-Mxene for Monitoring Athletic Motion during Sports and Transmitting Information

At present, wearable flexible pressure sensors have broad application prospects in fields such as motion monitoring and information transmission. However, it is still a challenge to design flexible pressure sensors with high sensitivity over a large sensing range and simple fabrication. Here, we use a simple "dipping-drying" method to fabricate a fabric-based flexible pressure sensor by coupling silver nanowires (AgNWs) with Ti3C2-MXene. The interaction between MXene and AgNWs helps realize a dual-layer sensing network, achieving good synergistic effects between pressure sensitivity and sensing range. The effects of the material combination and dip-coating sequence on the sensor's performance are systematically studied. The results show that the sensor was impregnated sequentially with AgNWs solution, and the MXene solution has the highest sensitivity (0.168 kPa-1) over a wide range (190 kPa). Meanwhile, it has the advantages of low response hysteresis and detection limit, as well as good linearity and durability. We further demonstrate the application of this sensor in human physiological signal monitoring and motion pattern recognition. It can also encrypt and transmit information according to different pressing states. In addition, the proposed pressure sensor array exhibits spatial resolution detection capabilities, laying the foundation for applications in the fields of motion monitoring and human-computer interaction.

Magnetically and Electrically Responsive Soft Actuator Derived from Ferromagnetic Bimetallic Organic Framework

The advancement in smart devices and soft robotics necessitates the use of multiresponsive soft actuators with high actuation stroke and stable reversibility for their use in real-world applications. Here, this work reports a magnetically and electrically dual responsive soft actuator based on neodymium and iron bimetallic organic frameworks (NdFeMOFs@700). The ferromagnetic NdFeMOFs@700 exhibits a porous carbon structure with excellent magnetization saturation (166.96 emu g^-1 ) which allows its application to a dual functional material in both magnetoactive and electro-ionic actuations. The electro-ionic soft actuator, which is fabricated using NdFeMOFs@700 and PEDOT-PSS, demonstrates 4.5 times higher ionic charge storage capacity (68.21 mF cm^-2 ) and has excellent cycle stability compared with the PEDOT-PSS based actuator. Under a low sinusoidal input voltage of 1 V, the dual-responsive actuator displays bending displacement of 15.46 mm and also generates deflection of 10 mm at 50 mT. Present results show that the ferromagnetic bimetallic organic frameworks can open a new way to make dual responsive soft actuators due to the hierarchically porous structures with its high redox activity, superior magnetic properties, and larger electrochemical capacitance. With the NdFeMOFs@700 based soft actuators, walking movement of a starfish robot is demonstrated by applying both the magnetic and electric fields.

A one-pot approach to prepare stretchable and conductive regenerated silk fibroin/CNT films as multifunctional sensors

Silk fibroin (SF)-based materials are characterized by their outstanding biocompatibility and biodegradability and are considered as the most promising candidates for next-generation flexible electronics. In order to generate such devices, SF can be mixed with carbon nanotubes (CNTs) which feature excellent mechanical, electrical, and thermal properties. However, obtaining regenerated SF with homogeneous dispersion of CNTs in a sustainable manner represents a challenging task, mainly due to the difficulty in overcoming van der Waals forces and strong π-π interactions that hold together the CNT structure. In this study, a one-pot strategy for fabricating SF/CNT films is proposed by designing SF as a modifier of CNTs through non-covalent interactions with the assistance of aqueous phosphoric acid solution. Glycerol (GL) was introduced, endowing the SF/GL/CNT composite film with excellent flexibility and stretchability. The sustainable strategy greatly simplifies the preparation process, avoiding dialysis of SF and the use of artificial dispersants. The as-fabricated SF/GL/CNT films showed an excellent mechanical strength of 1.20 MPa and high sensitivity with a gauge factor of up to 13.7 toward tensile deformation. The composite films had a sensitive monitoring capability for small strains with detection limits as low as 1% and can be assembled into versatile sensors to detect human movement. Simultaneously, the composite films showed a superb thermosensitive capacity (1.64% °C^-1), which satisfied the requirement of real-time and continuous skin temperature monitoring. We anticipate that the presented one-pot strategy and the prepared composite films could open a new avenue for forthcoming technologies for electronic skins, personal health monitoring, and wearable electronics.

Flexible and Stretchable Carbon-Based Sensors and Actuators for Soft Robots

In recent years, the emergence of low-dimensional carbon-based materials, such as carbon dots, carbon nanotubes, and graphene, together with the advances in materials science, have greatly enriched the variety of flexible and stretchable electronic devices. Compared with conventional rigid devices, these soft robotic sensors and actuators exhibit remarkable advantages in terms of their biocompatibility, portability, power efficiency, and wearability, thus creating myriad possibilities of novel wearable and implantable tactile sensors, as well as micro-/nano-soft actuation systems. Interestingly, not only are carbon-based materials ideal constituents for photodetectors, gas, thermal, triboelectric sensors due to their geometry and extraordinary sensitivity to various external stimuli, but they also provide significantly more precise manipulation of the actuators than conventional centimeter-scale pneumatic and hydraulic robotic actuators, at a molecular level. In this review, we summarize recent progress on state-of-the-art flexible and stretchable carbon-based sensors and actuators that have creatively added to the development of biomedicine, nanoscience, materials science, as well as soft robotics. In the end, we propose the future potential of carbon-based materials for biomedical and soft robotic applications.

Artificial neuromuscular fibers by multilayered coaxial integration with dynamic adaption

Integrating sense in a thin artificial muscle fiber for environmental adaption and actuation path tracing, as a snail tentacle does, is highly needed but still challenging because of the interfacing mismatch between the fiber's actuation and sensing components. Here, we report an artificial neuromuscular fiber by wrapping a carbon nanotube (CNT) fiber core in sequence with an elastomer layer, a nanofiber network, and an MXene/CNT thin sheath, achieving the ingenious sense-judge-act intelligent system in an elastic fiber. The CNT/elastomer components provide actuation, and the sheath enables touch/stretch perception and hysteresis-free cyclic actuation tracing due to its strain-dependent resistance. As a whole, the coaxial structure builds a dielectric capacitor that enables sensitive touchless perception. The key to seamless integration is to use a nanofiber interface that allows the sensing layer to adaptively trace but not restrict actuation. This work provides promising solutions for closed-loop control for future intelligent soft robots.

Flexible Pressure Sensors with Combined Spraying and Self-Diffusion of Carbon Nanotubes

High-performance wearable sensors are required for applications in medical health and human-machine interaction, but their application has limited owing to the trade-off between sensitivity, pressure range, and durability. Herein, we propose the combined spraying and self-diffusion process of carbon nanotubes (CNTs) to balance and improve these parameters with the CNTs spontaneously diffusing into the film surface before the film curing. The obtained sensor not only achieves high sensitivity (155.54 kPa^-1) and ultrawide pressure detection range (0.1-500 kPa) but also exhibits exceptional durability (over 12,000 pressure cycles at a high pressure of 300 kPa). In addition, the sensor exhibits a fast response (25 ms), good stability, and full flexibility. This process is a general approach that may improve the performance of various types of thin film piezoresistive sensors. Besides, the fabricated sensors can be flexibly scaled into sensor arrays and communicate with smart devices to achieve wireless smart monitoring. At present, the sensor shows broad application prospects in the fields of intelligent medical health and motion sensing.