Superelongation of Liquid Metal

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.

Magnetic Liquid Metal Droplet Robot with Multifunction and High Output Force in Milli-Newton

Magnetically actuated miniature robots have immeasurable potential in lab-on-a-chip and biomedical due to their ability to navigate in constrained space. However, current soft robots made by elastomers have limited functionalities and are prevented from very narrow environments such as channel much smaller than their size because of their non- or limited deformability. In this study, a soft and multifunctional robot based on liquid metal (magnetic liquid-metal droplet robot [MLDR]) with high output force is reported. It is fabricated by engulfing iron particles into a Galinstan droplet. By changing the shape and motion of permanent magnets, the MLDR can be reshaped and moved. The MLDR can also be split in batches and merged efficiently. It shows good softness and flexibility when navigating freely in a narrow channel, and thus can pass through a confined space smaller than its size easily. Furthermore, the MLDR can also push and spread the accumulated liquid in a desired path, and manipulate the motions of small objects well. Benefiting from the solidification-like phenomenon, an MLDR can output milli-Newton-level force much higher than the output force of ferrofluid droplet robots in micro-Newton level. The demonstrated capabilities of the MLDR are promising for the applications in lab-on-a-chip or biomedical devices.

Millirobot Based on a Phase-Transformable Magnetorheological Liquid Metal

Droplet robots have attracted much attention in recent years due to their large-scale deformability and flexible mobility in confined spaces. However, droplet robots are always difficult to maintain rigid shapes, making them difficult to manipulate objects with large inertia. Moreover, their low conductivity makes them unable to complete tasks such as circuit repair. Herein, a millirobot made from magnetorheological liquid metal is proposed to address the problems. Specifically, the magnetorheological liquid metal (MLM) robot is made by engulfing iron particles into gallium-indium alloy, and the mass fraction of the MLM robot is determined by microscopic observation and rheological test. The MLM robot possesses both solid and liquid properties, enabling the robot with plasticity, large-scale deformability, good conductivity, motion flexibility, and good object manipulation. The MLM robot can achieve almost all of the functions of existing droplet robots, including splitting, merging, navigating in narrow channels, and pushing objects. In addition, it can also accomplish some other tasks that are difficult for existing droplet robots, such as pulling large objects, repairing damaged circuits selectively and reversibly, and repairing suspended circuits through plasticity. The demos show that MLM robots can traverse narrow spaces and repair circuit damage selectively and reversibly. It is believed that MLM robots can enrich diverse functionalities in the future.

High-Performance Magnetic and Electric Control of Liquid Metal Droplets

In the present study, we propose a magnetically controlled and electrically controlled magnetic liquid metal (MLM) method to achieve high-performance multiple manipulation of droplets. The prepared MLM has good active and passive deformability. Under the action of the magnetic field, controllable transport, splitting, merging, and rotation are realized. In addition, controllable electric field manipulation in alkaline and acidic electrolytes is realized. This simple preparation method can be applied to the precise and rapid control of the magnetic field and electric field at the same time. Compared with other droplet manipulation methods, we realized droplet manipulation independent of special surfaces. It has the advantages of easy implementation, low cost, and high controllability. It shows great application potential in the fields of biochemical analysis, microfluidics, drug transportation in complex limited space, and intelligent soft robots.

Liquid Metal-Doped Conductive Hydrogel for Construction of Multifunctional Sensors

Interest in wearable and stretchable multifunctional sensors has grown rapidly in recent years. The sensing elements must accurately detect external stimuli to expand their applicability as sensors. However, the sensor's self-healing and adhesion to a target object have been major challenges in developing such practical and versatile devices. In this study, we prepared a hydrogel (LM-SA-PAA) composed of liquid metal (LM), sodium alginate (SA), and poly(acrylic acid) (PAA) with ultrastretchable, excellent self-healing, self-adhesive, and high-sensitivity sensing capabilities that enable the conformal contact between the sensor and skin even during dynamic movements. The excellent self-healing performance of the hydrogel stems from its double cross-linked networks, including physical and chemical cross-linked networks. The physical cross-link formed by the ionic interaction between the carboxyl groups of PAA and gallium ions provide the hydrogel with reversible autonomous repair properties, whereas the covalent bond provides the hydrogel with a stable and strong chemical network. Alginate forms a microgel shell around LM nanoparticles via the coordination of its carboxyl groups with Ga ions. In addition to offering exceptional colloidal stability, the alginate shell has sufficient polar groups, ensuring that the hydrogel adheres to diverse substrates. Based on the efficient electrical pathway provided by the LM, the hydrogel exhibited strain sensitivity and enabled the detection of various human motions and electrocardiographic monitoring. The preparation method is simple and versatile and can be used for the low-cost fabrication of multifunctional sensors, which have broad application prospects in human-machine interface compatibility and medical monitoring.

3D actuation of foam-core liquid metal droplets

Precise manipulation of liquid metal (LM) droplets possesses the potential to enable a wide range of applications in reconfigurable electronics, robotics, and microelectromechanical systems. Although a variety of methods have been explored to actuate LM droplets on a 2D plane, versatile 3D manipulation remains a challenge due to the difficulty in overcoming their heavy weight. Here, foam-core liquid metal (FCLM) droplets that can maintain the surface properties of LM while significantly reducing the density are developed, enabling 3D manipulation in an electrolyte. The FCLM droplet is fabricated by coating LM on the surface of a copper-grafted foam sphere. The actuation of the FCLM droplet is realized by electrically inducing Marangoni flow on the LM surface. Two motion modes of the FCLM droplet are observed and studied and the actuation performance is characterized. Multiple FCLM droplets can be readily controlled to form 3D structures, demonstrating their potential to be further developed to form collaborative robots for enabling wider applications.

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.

A free-standing, phase-change liquid metal mold for 3D flexible microfluidics

This paper describes a method to fabricate the 3D microfluidic channel using the free-standing, phase-change gallium mold. Three approaches to prepare the free-standing gallium molds are described. The solid metal framework is strong enough to stand against the gravity. After casting, the embedded gallium molds are melted from solid to liquid and then extracted from the encasing elastomer to form the 3D microfluidic channel due to the phase change property. Since this method is compatible with many encasing materials (e.g., elastomers, gels, resins, ceramics), the encasing materials will bring novel functionalities to the microfluidic chip. Two proof-of-concept experiments have been demonstrated. Firstly, a soft, sticky, on-skin microfluidic cooler is developed based on this method to deliver the focused, minimal invasive cooling power at arbitrary skins of human body with temperature control. Secondly, an ultra-stretchable viscoelastic microchannel with the ultra-soft base is fabricated to continuously tune the viscoelastic particle focusing with a large dynamic range. This proposed technique suggests the new possibilities for the development of lab-on-a-chip applications.

Surface-Embedded Liquid Metal Electrodes with Abrasion Resistance via Direct Magnetic Printing

Gallium-based liquid metals (LMs) featuring both high conductivity and fluidity are ideal conductors for soft and stretchable electronics. However, their liquid nature is a double-edged sword in many key applications since LMs are inherently prone to mechanical damage. Although additional encapsulation is frequently used for the protection of delicate LM electrodes, it hinders the electrical interfacing with other objects for interconnection, sensing, and stimulation. Here, different from conventional patterning methods that deposit LM on or inside substrates, we for the first time report a simple strategy to create surface-embedded LM of eutectic gallium-indium (EGaIn) circuits with mechanical damage endurance. This was achieved by using direct magnetic printing to overcome the high surface tension of LM, allowing it to be passively filled into the laser-patterned microgrooves on soft substrates. We show that the surface-embedded LM circuits are resistant to mechanical erasure, washing, and peeling. We also show the applications of our surface-embedded LM electrodes in respiration monitoring and electrical stimulation of nerves. This work provides a simple and efficient way to create mechanically reliable LM microelectrodes, holding great promise for wearable and implantable bioelectronics.

Construction of liquid metal-based soft microfluidic sensors via soft lithography

Background

Liquid metal (LM) can be integrated into microfluidic channel, bringing new functionalities of microfluidics and opening a new window for soft microfluidic electronics, due to the superior advantages of the conductivity and deformability of LMs. However, patterning the LMs into microfluidic channels requires either selective surface wetting or complex fabrication process.

Results

In this work, we develop a method to pattern the LMs onto the soft elastomer via soft lithographic process for fabrication of soft microfluidic sensors without the surface modification, bulky facilities, and complicated processes. The combination of the interfacial hydrogen bond and surface tension enables the LM patterns transfer to the soft elastomer. The transferred LM patterns with an ellipse-like cross-section further improve the stability under the mechanical deformation. Three proof-of-concept experiments were conducted to demonstrate the utilization of this method for development of thermochromic sensors, self-powered capacity sensors and flexible biosensor for glucose detection.

Conclusions

In summary, the proposed method offers a new patterning method to obtain soft microfluidic sensors and brings new possibilities for microfluidics-related wearable devices.

Graphical Abstract

Supplementary Information

The online version contains supplementary material available at 10.1186/s12951-022-01471-0.