Artificial Muscles: Dielectric Elastomers Responsive to Low Voltages

A large-strain and ultrahigh energy density dielectric elastomer for fast moving soft robot

Dielectric elastomer actuators (DEAs) with large actuation strain and high energy density are highly desirable for actuating soft robots. However, DEAs usually require high driving electric fields (>100 MV m-1) to achieve high performances due to the low dielectric constant and high stiffness of dielectric elastomers (DEs). Here, we introduce polar fluorinated groups and nanodomains aggregated by long alkyl side chains into DE design, simultaneously endowing DE with a high dielectric constant and desirable modulus. Our DE exhibits a maximum area strain of 253% at a low driving electric field of 46 MV m-1. Notably, it achieves an ultrahigh specific energy of 225 J kg-1 at only‍‌ ‌‌40‍‌ MV m-1, around 6 times higher than natural muscle and twice higher than the state-of-the-art DE. Using our DE, soft robots reach an ultrafast running speed of 20.6 BL s-1, 60 times higher than that of commercial VHB 4910, representing the fastest DEA-driven soft robots ever reported.

Synthesis of Vinyl-Containing Polydimethylsiloxane in An Active Medium

This research deals with the synthesis of copoly(methylvinyl)(dimethyl)siloxanes by the copolycondensation of dimethyldiethoxy- and methylvinyldimethoxysilane in an active medium, followed by thermal condensation in a vacuum. We achieved a range of copolymers exhibiting finely tuned molecular weights spanning between 1500 and 20,000 with regulated functional methylvinylsiloxane units. Analysis of the microstructure showed that the copolymerization predominantly formed products demonstrating a random distribution of units (R~1). However, an increase in the content of vinyl-containing monomers increases the R parameter, indicating an enhanced tendency towards alternating linkages within the copolymer matrix.

A Concise Guide to Silicone-Based Spring-Roll Actuator Assembly

A spring-roll actuator is a multilayer configuration of dielectric elastomer actuators that deforms in response to an electric field. To date, all spring-roll actuators are based on acrylate dielectric elastomers (DEs), and a few can reach deformations on a par with strains observed in natural muscles. Sensitivity to temperature and humidity, as well as the slow response times of acrylates, limit the commercialisation of these actuators. In this work, we developed a spring-roll actuator using commercial silicone DEs because they allow for a broader range of processing temperature and rapid response. Electrodes were deposited on a pre-strained DE film, coated with functional organosilicone polymer composite, and rolled around a metal spring. The coating enhanced the interfacial adhesion between DE and compliant electrodes, preserving the integrity and electro-mechanical properties of the fabricated spring-roll actuator. As to performance, the silicone-based spring-roll actuator could bear 200 times its own weight and displace it by 6% at the applied electric field of 90 V/μm.

Synthesis of polysiloxane elastomers modified with sulfonyl side groups and their electromechanical response

Dielectric elastomer transducers are elastic capacitors that respond to mechanical or electrical stress. They can be used in applications such as millimeter-sized soft robots and harvesters of the energy contained in ocean waves. The dielectric component of these capacitors is a thin elastic film, preferably made of a material having a high dielectric permittivity. When properly designed, these materials convert electrical energy into mechanical energy and vice versa, as well as thermal energy into electrical energy and vice versa. Whether a polymer can be used for one or the other application is determined by its glass transition temperature (T_g), which should be significantly below room temperature for the former and around room temperature for the latter function. Herein, we report a polysiloxane elastomer modified with polar sulfonyl side groups to contribute to this field with a powerful new material. This material has a dielectric permittivity as high as 18.4 at 10 kHz and 20 °C, a relatively low conductivity of 5 × 10^-10 S cm^-1, and a large actuation strain of 12% at an electric field of 11.4 V μm^-1 (0.25 Hz and 400 V). At 0.5 Hz and 400 V, the actuator showed a stable actuation of 9% over 1000 cycles. The material exhibited a T_g of -13.6 °C, which although is well below room temperature affected the material's response in actuators, which shows significant differences in the response at different frequencies and temperatures and in films with different thicknesses.

On-Demand Cross-Linkable Bottlebrush Polymers for Voltage-Driven Artificial Muscles

Dielectric elastomer actuators (DEAs) generate motion resembling natural muscles in reliability, adaptability, elongation, and frequency of operation. They are highly attractive in implantable soft robots or artificial organs. However, many applications of such devices are hindered by the high driving voltage required for operation, which exceeds the safety threshold for the human body. Although the driving voltage can be reduced by decreasing the thickness and the elastic modulus, soft materials are prone to electromechanical instability (EMI), which causes dielectric breakdown. The elastomers made by cross-linking bottlebrush polymers are promising for achieving DEAs that suppress EMI. In previous work, they were chemically cross-linked using an in situ free-radical UV-induced polymerization, which is oxygen-sensitive and does not allow the formation of thin films. Therefore, the respective actuators were operated at voltages above 4000 V. Herein, macromonomers that can be polymerized by ring-opening metathesis polymerization and subsequently cross-linked via a UV-induced thiol-ene click reaction are developed. They allow us to fast cross-link defect-free thin films with a thickness below 100 μm. The dielectric films give up to 12% lateral actuation at 1000 V and survive more than 10,000 cycles at frequencies up to 10 Hz. The easy and efficient preparation approach of the defect-free thin films under air provides easy accessibility to bottlebrush polymeric materials for future research. Additionally, the desired properties, actuation under low voltage, and long lifetime revealed the potential of the developed materials in soft robotic implantable devices. Furthermore, the C-C double bonds in the polymer backbone allow for chemical modification with polar groups and increase the materials' dielectric permittivity to a value of 5.5, which is the highest value of dielectric permittivity for a cross-linked bottlebrush polymer.

Effects of Electrode Materials and Compositions on the Resistance Behavior of Dielectric Elastomer Transducers

Dielectric elastomer (DE) transducers possess various advantages in comparison to alternative actuator technologies, such as, e.g., electromagnetic drive systems. DE can achieve large deformations, high driving frequencies, and are energy efficient. DEs consist of a dielectric membrane sandwiched between conductive electrodes. Electrodes are especially important for performance, as they must maintain high electrical conductivity while being subjected to large stretches. Low electrical resistances allow faster actuation frequencies. Additionally, a rate-independent, monotonic, and hysteresis-free resistance behavior over large elongations enables DEs to be used as resistive deformation sensors, in contrast to the conventional capacitive ones. This paper presents a systematic study on various electrode compositions consisting of different polydimethylsiloxane (PDMS) and nano-scaled carbon blacks (CB). The experiments show that the electrode resistance depends on the weight ratio of CB to PDMS, and the type of CB used. At low ratios, a high electrical resistance accompanied by a bimodal behavior in the resistance time evolution was observed, when stretching the electrodes cyclic in a triangular manner. This phenomenon decreases with increasing CB ratio. The type of PDMS also influences the resistance characteristics during elongation. Finally, a physical model of the observed phenomenon is presented.

Tuning the Ferroelectric Phase Transition of P(VDF-TrFE) through a Simple Approach of Modification by Introducing Double Bonds

Electroactive polymer (EAP) is a kind of intelligent material that, driven by external electric field, could produce changes in shape or volume. As an important class of EAP materials, poly(vinylidene fluoride) (PVDF) based relaxor ferroelectric polymers show remarkable potential for applications in sensors, actuator, and artificial muscles because of their excellent electrostrictive properties. However, the strain of PVDF-based relaxor ferroelectrics relies strongly on a high electric field, which seriously damages their reliability and limits their practical applications as wearable devices. To explore more suitable materials for actuator applications, in this present work, we report the influences of a double bond (DB) on the electroactive properties of P(VDF-TrFE) (TrFE: trifluoroethylene). The crystalline phase of P(VDF-TrFE) is partially destroyed after the DB is introduced, and the molecular chain flexibility of the product P(VDF-TrFE-DB) can be greatly improved. Therefore, P(VDF-TrFE-DB) has a larger electric displacement while having a lower dipole orientation electric field compared with that of P(VDF-TrFE). The result confirms that the DB could tune the ferroelectric properties and effectively reduce the driving electric field of the PVDF-based relaxor ferroelectric polymers. This work offers a strategy for the preparation of novel EAPs with low driving electric fields.

Crosslinking Methodology for Imidazole-Grafted Silicone Elastomers Allowing for Dielectric Elastomers Operated at Low Electrical Fields with High Strains

For improved actuation at low voltages of dielectric elastomers, a high dielectric permittivity has been targeted for several years but most successful methods then either increase the stiffness of the elastomer and/or introduce notable losses of both mechanical and dielectric nature. For polydimethylsiloxane (PDMS)-based elastomers, most high-permittivity moieties inhibit the sensitive platinum catalyst used in the addition curing scheme. In contrast to the classical addition curing pathway to prepare PDMS elastomers, here, an alternative strategy is reported to prepare PDMS elastomers via the crosslinking reaction between multifunctional imidazole-grafted PDMS with difunctional bis(1-ethylene-imidazole-3-ium) bromide ionic liquid (bis-IL). The prepared IL-elastomer entails uniformly dispersed IL and presents stable mechanical and dielectric properties due to the covalent nature of the crosslinking as opposed to previously reported physical mixing in of ILs. The relative permittivity was improved up to 200% by including the bis-IL in the elastomer, and Young's modulus was around 0.04 MPa. As a result of the excellent combination of properties, the dielectric actuator developed exhibits an area strain of 20% at 15 V/μm. The novel strategy to prepare PDMS elastomers provides a new paradigm for achieving high-performance dielectric elastomer actuators by a simple methodology.

Transient Elastomers with High Dielectric Permittivity for Actuators, Sensors, and Beyond

Dielectric elastomers (DEs) are key materials in actuators, sensors, energy harvesters, and stretchable electronics. These devices find applications in important emerging fields such as personalized medicine, renewable energy, and soft robotics. However, even after years of research, it is still a great challenge to achieve DEs with increased dielectric permittivity and fast recovery of initial shape when subjected to mechanical and electrical stress. Additionally, high dielectric permittivity elastomers that show reliable performance but disintegrate under normal environmental conditions are not known. Here, we show that polysiloxanes modified with amide groups give elastomers with a dielectric permittivity of 21, which is 7 times higher than regular silicone rubber, a strain at break that can reach 150%, and a mechanical loss factor tan δ below 0.05 at low frequencies. Actuators constructed from these elastomers respond to a low electric field of 6.2 V μm^-1, giving reliable lateral actuation of 4% for more than 30 000 cycles at 5 Hz. One survived 450 000 cycles at 10 Hz and 3.6 V μm^-1. The best actuator shows 10% lateral strain at 7.5 V μm^-1. Capacitive sensors offer a more than a 6-fold increase in sensitivity compared to standard silicone elastomers. The disintegrated material can be re-cross-linked when heated to elevated temperatures. In the future, our material could be used as dielectric in transient actuators, sensors, security devices, and disposable electronic patches for health monitoring.

Self-Healable, Self-Repairable, and Recyclable Electrically Responsive Artificial Muscles

Elastomers with high dielectric permittivity that self-heal after electric breakdown and mechanical damage are important in the emerging field of artificial muscles. Here, a one-step process toward self-healable, silicone-based elastomers with large and tunable permittivity is reported. Anionic ring-opening polymerization of cyanopropyl-substituted cyclic siloxanes yields elastomers with polar side chains. The equilibrated product is composed of networks, linear chains, and cyclic compounds. The ratio between the components varies with temperature and allows realizing materials with largely different properties. The silanolate end groups remain active, which is the key to self-healing. Elastomeric behavior is observed at room temperature, while viscous flow dominates at higher temperatures (typically 80 °C). The elasticity is essential for reversible actuation and the thermoreversible softening allows for self-healing and recycling. The dielectric permittivity can be increased to a maximum value of 18.1 by varying the polar group content. Single-layer actuators show 3.8% lateral actuation at 5.2 V µm-1 and self-repair after a breakdown, while damaged ones can be recycled integrally. Stack actuators reach an actuation strain of 5.4 ± 0.2% at electric fields as low as 3.2 V µm-1 and are therefore promising for applications as artificial muscles in soft robotics.

From passive to emerging smart silicones

Amassing remarkable properties, silicones are practically indispensable in our everyday life. In most classic applications, they play a passive role in that they cover, seal, insulate, lubricate, water-proof, weather-proof etc. However, silicone science and engineering are highly innovative, seeking to develop new compounds and materials that meet market demands. Thus, the unusual properties of silicones, coupled with chemical group functionalization, has allowed silicones to gradually evolve from passive materials to active ones, meeting the concept of “smart materials”, which are able to respond to external stimuli. In such cases, the intrinsic properties of polysiloxanes are augmented by various chemical modifications aiming to attach reactive or functional groups, and/or by engineering through proper cross-linking pattern or loading with suitable fillers (ceramic, magnetic, highly dielectric or electrically conductive materials, biologically active, etc.), to add new capabilities and develop high value materials. The literature and own data reflecting the state-of-the art in the field of smart silicones, such as thermoplasticity, self-healing ability, surface activity, electromechanical activity and magnetostriction, thermo-, photo-, and piezoresponsivity are reviewed.

Highly stretchable silicone elastomer applied in soft actuators

In this work, a highly stretchable silicone elastomer is incorporated into dielectric elastomer actuators (DEAs) in order to decrease operation voltages by applying high prestretches. Results show that the fabricated DEAs (5-mm-diameter circle active region) can be actuated to a lateral strain of 30% at 4.3 kV for a 122 μm-thick prestretched film, and to a lateral strain of 2.5% at only 250 V for a 6.9 μm-thick prestretched film. Due to the significant viscous component of the silicone elastomer, the DEAs respond more slowly (2-14 s to reach 90% of full strain) and show greater strain changes over time compared to conventional silicone-based DEAs. While this inherent viscosity is not universally favorable, it can be advantageous in applications where actuator damping is desirable. The studied DEAs' mean lifetimes under DC actuation range significantly-from 0.9 h to more than 123.0 h-depending mainly on initial electrical fields (17.8-36.3 V/μm). For instance, DEAs with a 150 μm initial thickness and a prestretch ratio of 3 show 1.4-2.6% lateral strains for the mean lifetime (123.0 h) at only 300 V. Given the strains achieved at low voltage, such DEAs show promise for applications that do not require fast response speeds. This article is protected by copyright. All rights reserved.

Systemic Overview of Microstrip Patch Antenna's for Different Biomedical Applications

Timely diagnosis is the most important parameter for the detection and hindrance with tissues (infected). Many conventional techniques are used for the determination of the chronic disease like MRI, X-ray, mammography, ultrasound and other diagnosing methods. Nevertheless, they have some limitations. We epitomize between 4 and 34 % of all carcinogenic tissues are lacking because of weak, in adequate malignant/benign cancer tissue on the contrary. So, an effective alternative method is the valid concern in the field of medical right now. Imaging with the help of patch antenna to detect chronic disease like breast cancer, oxidative stress syndrome etc. it has been proved to be a suitable potential method, and there are many works in this area. All materials have different conductivity and permittivity. With the help of these antennas, a 3D tissue structure which has different conductivity and permittivity is modelled in high-frequency structure simulator through finite element method which resolves electromagnetic field values and a microstrip patch antenna operation process. As compared with conventional antennas, micro strip patch antennas have enhanced benefits and better prospects. An integrated Antenna plays an important or crucial role for supporting many applications in biomedical, commercial and in military fields. The Antenna designed for these applications should be wideband, not sensitive to the human body. In this present review, the precise application of the Antenna in different biomedical aspects is considered. Furthermore, the author has also discussed the analytical results using simulation models and experimental results for some of the significantdisease.

Soft, tough, and fast polyacrylate dielectric elastomer for non-magnetic motor

Dielectric elastomer actuators (DEAs) with large electrically-actuated strain can build light-weight and flexible non-magnetic motors. However, dielectric elastomers commonly used in the field of soft actuation suffer from high stiffness, low strength, and high driving field, severely limiting the DEA’s actuating performance. Here we design a new polyacrylate dielectric elastomer with optimized crosslinking network by rationally employing the difunctional macromolecular crosslinking agent. The proposed elastomer simultaneously possesses desirable modulus (~0.073 MPa), high toughness (elongation ~2400%), low mechanical loss (tan δ_m = 0.21@1 Hz, 20 °C), and satisfactory dielectric properties (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\varepsilon }_{{{{{{\rm{r}}}}}}}$$\end{document}εr = 5.75, tan δ_e = 0.0019 @1 kHz), and accordingly, large actuation strain (118% @ 70 MV m⁻¹), high energy density (0.24 MJ m⁻³ @ 70 MV m⁻¹), and rapid response (bandwidth above 100 Hz). Compared with VHB^TM 4910, the non-magnetic motor made of our elastomer presents 15 times higher rotation speed. These findings offer a strategy to fabricate high-performance dielectric elastomers for soft actuators.

Dielectric elastomer actuators (DEAs) with large electrically actuated strain can be used in non-magnetic motors, but high stiffness, poor strength and slow response currently limit the application of DEAs. Here, the authors optimize the crosslinking network in a polyacrylate elastomer to enable a DEA with high toughness and actuation strain and use the polyacrylate to build a motor which can be driven under low electric field.

Enhanced Condensation on Liquid-Infused Nanoporous Surfaces by Vibration-Assisted Droplet Sweeping

Condensation is a universal phenomenon that occurs in nature and industry. Previous studies have used superhydrophobicity and liquid infusion to enable superior liquid repellency due to reduced contact angle hysteresis. However, small condensate droplets remain immobile on condensing surfaces until they grow to the departing size at which the body force can overcome the contact line pinning force. Hence, condensation heat transfer is limited by these remaining droplets that act as thermal barriers. To break these limitations, we introduce vibrational actuation to a slippery liquid-infused nanoporous surface (SLIPS) and show enhanced droplet mobility, controllable condensate repellency, and more efficient heat transfer compared to static SLIPSs. We demonstrate 39% smaller departing droplet size and 8× faster droplet departing speeds on the dynamic vibrating SLIPS compared to the nonactuated SLIPS. To understand the implications of these behaviors on heat transfer, we investigate the condensate area coverage and droplet distribution to verify enhanced dewetting on dynamic vibrating SLIPSs. Using well-validated heat transfer models, we demonstrate enhanced condensation heat transfer on dynamic SLIPSs due to the higher population of smaller condensate droplets (<100 μm). In addition to condensation heat transfer, we also show that vibrating SLIPSs can enhance droplet collection. This work utilizes the synergistic combination of surface chemistry and mechanical actuation to realize enhanced droplet mobility and heat transfer in an electrically controllable and switchable manner.

Electrically Driven Artificial Muscles Using Novel Polysiloxane Elastomers Modified with Nitroaniline Push-Pull Moieties

The synthesis of novel dielectric elastomers that show a muscle-like actuation when exposed to a low electric field represents a major challenge in materials science. Silicone elastomers modified with polar side groups are among the most attractive dielectrics for such a purpose because of their high polarizability over a wide temperature and frequency range. Nitroaniline (NA) has a strong dipole moment, and therefore, its incorporation into silicone networks should allow the formation of elastomers with increased dielectric permittivity. However, incorporation of a large amount of NA into silicone needed to increase the dielectric permittivity is still challenging. In this work, we present the synthesis of polysiloxane elastomers modified with a large fraction of the nitroaniline (NA) polar group, following two different synthetic strategies. Both approaches allowed the formation of homogenous elastomers at the molecular level. These yellowish materials have a dielectric permittivity three times higher as compared to the reported NA-modified silicones. Additionally, they have excellent mechanical properties with low viscoelastic losses and a strain at break reaching 300%. Furthermore, the mechanical properties of these elastomers can be easily tuned by the content of cross-linkers used. The developed elastomers are highly stable in electromechanical tests and show an actuation strain of 8% at unprecedentedly low electric fields of 7.5 V/μm. The combination of properties such as high dielectric permittivity, large strain at break, low viscoelastic losses, fast and reversible actuation, and actuation at low electric fields is crucial for the new generation of dielectric elastomer materials that will find their way in applications ranging from artificial muscles, soft robots, sensors, and haptic displays to electronic skin.

Anisotropic electroactive elastomer for highly maneuverable soft robotics

Dielectric elastomers (DEs) are promising electroactive artificial muscles for use in soft machines. However, achieving anisotropy and sub-kV actuation voltage remains a great challenge for DE actuators. Herein, we report a facile method to fabricate ultrathin anisotropic DE films of an amorphous triblock copolymer poly(styrene-b-butyl acrylate-b-styrene) (SBAS) for soft actuators. The modulus of anisotropic SBAS in one direction can be modulated from 0.3 MPa to 10.5 MPa, and the modulus in the orthogonal direction remains the same as that of the pristine film (0.3 MPa). The anisotropy endows soft DE actuators with the directional-preferred response to an applied electric field and programmable multiple actuation morphs. These anisotropic SBAS films allowed us to fabricate compact soft robotics with high maneuverability, including soft grippers for object manipulation and crawling robots with reversible moving ability under an actuation voltage around 800 V.

Enhanced Dielectric Properties of a Poly(dimethyl siloxane) Bimodal Network Percolative Composite with MXene

Excellent comprehensive dielectric properties (including dielectric constant and loss) are essential for electromechanical transducers. This work introduced a bimodal network composite with poly(dimethyl siloxane) (PDMS) and delaminated Ti₃C₂T_x sheets (d-Ti₃C₂T_x) modified with hyperbranched polysiloxane (HPSi) (referred to as HPSi-d-Ti₃C₂T_x). Before the final cross-linking, HPSi-d-Ti₃C₂T_x, trapped with short-chain PDMS (C_S-PDMS) and long-chain PDMS (C_L-PDMS), was pre-reacted, which formed a distinct bimodal network structure. d-Ti₃C₂T_x/PDMS and HPSi-d-Ti₃C₂T_x/PDMS composites with different filler loadings were prepared, and their percolation thresholds (f_c) were 1.32 and 1.43 vol %, respectively The dielectric constant of 1.40 vol % HPSi-d-Ti₃C₂T_x/PDMS is 23.7 at 10² Hz, which is 1.5 times that of 1.28 vol % d-Ti₃C₂T_x/PDMS and 8.5 times that of pure PDMS. Meanwhile, the dielectric loss of HPSi-d-Ti₃C₂T_x/PDMS composite is still relatively small (0.11 at 10³ Hz). The origin of dielectric property optimization of the composite is attributed to the boundary capacitor model, the accumulated charges at the interfaces between the conductive filler and the insulating polymer matrix of the composite, and the distinct bimodal network structure.

Self-Healing Dielectric Elastomers for Damage-Tolerant Actuation and Energy Harvesting

The actuation and energy-harvesting performance of dielectric elastomers are strongly related to their intrinsic electrical and mechanical properties. For future resilient smart transducers, a fast actuation response, efficient energy-harvesting performance, and mechanical robustness are key requirements. In this work, we demonstrate that poly(styrene-butadiene-styrene) (SBS) can be converted into a self-healing dielectric elastomer with high permittivity and low dielectric loss, which can be deformed to large mechanical strains; these are key requirements for actuation and energy-harvesting applications. Using a one-step click reaction at room temperature for 20 min, methyl-3-mercaptopropionate (M3M) was grafted to SBS and reached 95.2% of grafting ratios. The resultant M3M-SBS can be deformed to a high mechanical strain of 1000%, with a relative permittivity of ε_r = 7.5 and a low tan δ = 0.03. When used in a dielectric actuator, it can provide 9.2% strain at an electric field of 39.5 MV m^-1 and can also generate an energy density of 11 mJ g^-1 from energy harvesting. After being subjected to mechanical damage, the self-healed elastomer can recover 44% of its breakdown strength during energy harvesting. This work demonstrates a facile route to produce self-healing, high permittivity, and low dielectric loss elastomers for both actuation and energy harvesting, which is applicable to a wide range of diene elastomer systems.

Silicone dielectric elastomers optimized by crosslinking pattern – a simple approach to high-performance actuators

Chemical design of silicone elastomers for improving the electromechanical response of dielectric elastomer actuators.

A Focus on Soft Actuation

The present editorial paper analyzes the hundred recent research works on soft actuation to understand the current main research focus in the light of the grand challenges in the field. Two characteristic paper types were obtained: one focuses on soft actuator design, manufacturing and demonstration, while another includes in addition the development of functional materials. Although vast majority of the works showcased soft actuation, evaluation of its robustness by multi-cyclic actuation was reported in less than 50% of the works, while only 10% described successful actuation for more than 1000 cycles. It is suggested that broadening the research focus to include investigation of mechanisms underlying the degradation of soft functional material performance in real cyclic actuation conditions, along with application of artificial intelligence methods for prediction of muscle behavior, may allow overcoming the reliability issues and developing robust soft-material actuators. The outcomes of the present work might be applicable to the entire soft robotics domain.