Electrochemically-driven actuators: from materials to mechanisms and from performance to applications

Soft actuators, pivotal for converting external energy into mechanical motion, have become increasingly vital in a wide range of applications, from the subtle engineering of soft robotics to the demanding environments of aerospace exploration. Among these, electrochemically-driven actuators (EC actuators), are particularly distinguished by their operation through ion diffusion or intercalation-induced volume changes. These actuators feature notable advantages, including precise deformation control under electrical stimuli, freedom from Carnot efficiency limitations, and the ability to maintain their actuated state with minimal energy use, akin to the latching state in skeletal muscles. This review extensively examines EC actuators, emphasizing their classification based on diverse material types, driving mechanisms, actuator configurations, and potential applications. It aims to illuminate the complicated driving mechanisms of different categories, uncover their underlying connections, and reveal the interdependencies among materials, mechanisms, and performances. We conduct an in-depth analysis of both conventional and emerging EC actuator materials, casting a forward-looking lens on their trajectories and pinpointing areas ready for innovation and performance enhancement strategies. We also navigate through the challenges and opportunities within the field, including optimizing current materials, exploring new materials, and scaling up production processes. Overall, this review aims to provide a scientifically robust narrative that captures the current state of EC actuators and sets a trajectory for future innovation in this rapidly advancing field.

Healable Ionoelastomer Designed from Polymeric Ionic Liquid and Vitrimer Chemistry

The growing demand for all-solid flexible, stretchable, and wearable devices has boosted the need for liquid-free and stretchable ionoelastomers. These ionic conducting materials are subjected to repeated deformations during functioning, making them susceptible to damage. Thus, imparting cross-linked materials with healing ability seems particularly promising to improve their durability. Here, a polymeric ionic liquid (PIL) bearing allyl functional groups was synthesized based on the quaternization of N-allylimidazole with a copolymer rubber of poly(epichlorohydrin) and poly(ethylene oxide) (PEO). The resulting PIL was then cross-linked with dynamic boronic ester cross-linkers 2,2'-(1,4-Phenylene)-bis[4-mercaptan-1,3,2-dioxaborolane] (BDB) through thiol-ene "click" photoaddition. PEO dangling chains were additionally introduced for acting as free volume enhancers. The properties of the resulting all-solid PIL networks were investigated by tuning dynamic cross-linkers and dangling chain contents. Adjusting the cross-linker and dangling chain quantities yielded soft (0.2 MPa), stretchable (300%), and highly conducting ionoelastomers (1.6 × 10^-5 S·cm^-1 at 30 °C). The associative exchange reaction between BDB endowed these materials with vitrimer properties such as healing and recyclability. The recycled materials were able to retain their original mechanical properties and ionic conductivity. These healable PIL networks display a great potential for applications requiring solid electrolytes with high ionic conductivity, healing ability, and reprocessability.

Biohybrid Variable-Stiffness Soft Actuators that Self-Create Bone

Inspired by the dynamic process of initial bone development, in which a soft tissue turns into a solid load-bearing structure, the fabrication, optimization, and characterization of bioinduced variable-stiffness actuators that can morph in various shapes and change their properties from soft to rigid are hereby presented. Bilayer devices are prepared by combining the electromechanically active properties of polypyrrole with the compliant behavior of alginate gels that are uniquely functionalized with cell-derived plasma membrane nanofragments (PMNFs), previously shown to mineralize within 2 days, which promotes the mineralization in the gel layer to achieve the soft to stiff change by growing their own bone. The mineralized actuator shows an evident frozen state compared to the movement before mineralization. Next, patterned devices show programmed directional and fixated morphing. These variable-stiffness devices can wrap around and, after the PMNF-induced mineralization in and on the gel layer, adhere and integrate onto bone tissue. The developed biohybrid variable-stiffness actuators can be used in soft (micro-)robotics and as potential tools for bone repair or bone tissue engineering.

Template-Assisted Self-Assembly of Conductive Polymer Electrodes for Ionic Electroactive Polymers

Ionic electroactive polymers (ionic EAPs) can greatly aid in biomedical applications where micro-sized actuators are required for delicate procedures. Since these types of actuators generally require platinum or gold metallic electrodes, they tend to be expensive and susceptible to delamination. Previous research has solved this problem by replacing the metallic electrodes with conductive polymers (CP) and forming an interpenetrating polymer network (IPN) between the conductive polymer (CP) and the solid polymer electrolyte (SPE). Since these actuators contain toxic ionic liquids, they are unsuitable for biological applications. In this study, we present a novel and facile method of fabricating a biocompatible and ionic liquid-free actuator that uses semi-IPN to hold the CP and Nafion-based SPE layers together. Surface activated fabrication treatment (SAFT) is applied to the precursor-Nafion membrane in order to convert the sulfonyl fluoride groups on the surface to sulfonate. Through template-assisted self-assembly, the CP electrodes from either polyaniline (PANI) or poly(3,4-ethylenedioxythiophene) (PEDOT) interlock with the surface treated precursor-Nafion membrane so that no delamination can occur. The electrodes growth pattern, interfacial layer's thickness, and shape can be controlled by adjusting the SAFT concentration and duration.

PEDOT-Based Conducting Polymer Actuators

Conducting polymers, particularly poly(3,4-ethylenedioxythiophene) (PEDOT) and its complex with poly(styrene sulfonate) (PEDOT:PSS), provide a promising materials platform to develop soft actuators or artificial muscles. To date, PEDOT-based actuators are available in the field of bionics, biomedicine, smart textiles, microactuators, and other functional applications. Compared to other conducting polymers, PEDOT provides higher conductivity and chemical stability, lower density and operating voltages, and the dispersion of PEDOT with PSS further enriches performances in solubility, hydrophility, processability, and flexibility, making them advantageous in actuator-based applications. However, the actuators fabricated by PEDOT-based materials are still in their infancy, with many unknowns and challenges that require more comprehensive understanding for their current and future development. This review is aimed at providing a comprehensive understanding of the actuation mechanisms, performance evaluation criteria, processing technologies and configurations, and the most recent progress of materials development and applications. Lastly, we also elaborate on future opportunities for improving and exploiting PEDOT-based actuators.

Free-Standing Faradaic Motors Based on Biocompatible Nanoperforated Poly(lactic Acid) Layers and Electropolymerized Poly(3,4-ethylenedioxythiophene)

The electro-chemo-mechanical response of robust and flexible free-standing films made of three nanoperforated poly(lactic acid) (pPLA) layers separated by two anodically polymerized poly(3,4-ethylenedioxythiophene) (PEDOT) layers has been demonstrated. The mechanical and electrochemical properties of these films, which are provided by pPLA and PEDOT, respectively, have been studied by nanoindentation, cyclic voltammetry, and galvanostatic charge-discharge assays. The unprecedented combination of properties obtained for this system is appropriated for its utilization as a Faradaic motor, also named artificial muscle. Application of square potential waves has shown important bending movements in the films, which can be repeated for more than 500 cycles without damaging its mechanical integrity. Furthermore, the actuator is able to push a huge amount of mass, as it has been proved by increasing the mass of the passive pPLA up to 328% while keeping the mass of electroactive PEDOT unaltered.

Conjugated Polymer Actuators and Devices: Progress and Opportunities

Conjugated polymers (CPs), as exemplified by polypyrrole, are intrinsically conducting polymers with potential for development as soft actuators or "artificial muscles" for numerous applications. Significant progress has been made in the understanding of these materials and the actuation mechanisms, aided by the development of physical and electrochemical models. Current research is focused on developing applications utilizing the advantages that CP actuators have (e.g., low driving potential and easy to miniaturize) over other actuating materials and on developing ways of overcoming their inherent limitations. CP actuators are available as films, filaments/yarns, and textiles, operating in liquids as well as in air, ready for use by engineers. Here, the milestones made in understanding these unique materials and their development as actuators are highlighted. The primary focus is on the recent progress, developments, applications, and future opportunities for improvement and exploitation of these materials, which possess a wealth of multifunctional properties.

3D structured polypyrrole/reduced graphene oxide (PPy/rGO)-based electrode ionic soft actuators with improved actuation performance

We report a facile approach to fabricate 3D polypyrrole/reduced graphene oxide (PPy/rGO)-based electrodes for Nafion-based ionic soft actuators.

Electrochemical and electromechanical behavior of Nafion-based soft actuators with PPy/CB/MWCNT nanocomposite electrodes

In this work, as an alternative to precious platinum electrodes in IPMC actuators, PPy/CB/MWCNT electrode actuators were successfully fabricated by electropolymerization of PPy on both sides of the CB/MWCNT-coated Nafion membranes.

Electrospun rubber fibre mats with electrochemically controllable pore sizes

Electroactive, elastomeric, microfiber mats that show controllable pore size variation upon electrochemical stimulation are produced from semi-interpenetrating polymer networks (s-IPNs).

Effect of the electrolyte concentration and substrate on conducting polymer actuators

The effect of the electrolyte concentration (NaCl aqueous electrolyte) on the dimensional variations of films of polypyrrole doped with dodecylbenzenesulfonate PPy(DBS) on Pt and Au wires was studied. Any parallel reaction that occurs during the redox polymeric reaction that drives the mechanical actuation, as detected from the coulovoltammetric responses, was avoided by using Pt wires as substrate and controlling the potential limits, thus significantly increasing the actuator lifetime. The NaCl concentration of the electrolyte, when studied by cyclic voltammetry or chronoamperometry, has a strong effect on the performance as well. A maximum expansion was achieved in 0.3 M aqueous solution. The consumed oxidation and reduction charges control the fully reversible dimensional variations: PPy(DBS) films are faradaic polymeric motors. Parallel to the faradaic exchange of the cations, osmotic, electrophoretic, and structural changes play an important role for the water exchange and volume change of PPy(DBS).

Sensing and tactile artificial muscles from reactive materials

Films of conducting polymers can be oxidized and reduced in a reversible way. Any intermediate oxidation state determines an electrochemical equilibrium. Chemical or physical variables acting on the film may modify the equilibrium potential, so that the film acts as a sensor of the variable. The working potential of polypyrrole/DBSA (Dodecylbenzenesulfonic acid) films, oxidized or reduced under constant currents, changes as a function of the working conditions: electrolyte concentration, temperature or mechanical stress. During oxidation, the reactive material is a sensor of the ambient, the consumed electrical energy being the sensing magnitude. Devices based on any of the electrochemical properties of conducting polymers must act simultaneously as sensors of the working conditions. Artificial muscles, as electrochemical actuators constituted by reactive materials, respond to the ambient conditions during actuation. In this way, they can be used as actuators, sensing the surrounding conditions during actuation. Actuating and sensing signals are simultaneously included by the same two connecting wires.