Fast-Response Bioinspired Near-Infrared Light-Driven Soft Robot Based on Two-Stage Deformation

Minimally designed thermo-magnetic dual responsive soft robots for complex applications

The fabrication of thermo-magnetic dual-responsive soft robots often requires intricate designs to implement complex locomotion patterns and utilize the implemented responsive behaviors. This work demonstrates a minimally designed soft robot based on poly-N-isopropylacrylamide (pNIPAM) and ferromagnetic particles, showcasing excellent control over both thermo- and magnetic responses. Free radical polymerization enables the magnetic particles to be entrapped homogeneously within the polymeric network. The integration of magnetic shape programming and temperature response allows the robot to perform various tasks including shaping, locomotion, pick-and-place, and release maneuvers of objects using independent triggers. The robot can be immobilized in a gripping state through magnetic actuation, and a subsequent increase in temperature transitions the robot from a swollen to a collapsed state. The temperature switch enables the robot to maintain a secured configuration while executing other movements via magnetic actuation. This approach offers a straightforward yet effective solution for achieving full control over both stimuli in dual-responsive soft robotics.

Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators

As thermally driven smart materials capable of large reversible deformations, liquid crystal elastomers (LCEs) have great potential for applications in bionic soft robots, artificial muscles, controllable actuators, and flexible sensors due to their ability to program controllable motion into materials. In this article, we introduce conductive LCE actuators using a liquid metal electrothermal layer and a polyethylene terephthalate substrate. Our LCE actuators can be stimulated at low currents from 2 to 4 A and produce a maximum work density of 9.4 k J ∕ m 3 . We illustrate the potential applications of this system by designing a palm-activated artificial muscle gripper, which can be used to grasp soft objects ranging from 5 to 55 mm in size, and even ring-shaped workpieces with precise external or internal support. Furthermore, inspired by the movement of fruit fly larvae, we designed a new soft robot capable of bioinspired crawling and turning by inducing anisotropic friction with an asymmetric design. Finally, we illustrate advanced motional control by designing an autonomously rotating wheel based on the asymmetric contraction of its spokes. To assist in the production of autonomously moving robots, we provide a thorough characterization of its motion dynamics.

Biodegradable photo-crosslinked polycaprolactone/polydopamine elastomers with excellent light driven programmable shape memory and chemical degradation properties

Fabrication of biodegradable shape memory polymer with remotely controllable shape actuation is of great significance in the biomedical field but remains challenging. Herein, we present a simple strategy to fabricate a monolayer-based stretchable and mechanically robust polycaprolactone/polydopamine elastomer via efficient thiol-ene click chemistry. The resultant elastomers exhibit desirable photothermal transfer efficiency and can enable rapid temperature increase over the melting temperature of polymeric matrix, and quantitative results demonstrate that the crosslinked film exhibited excellent shape memory properties with shape fixity (Rf) and shape recovery ratios (Rr) approaching 92.3 % and 95.6 %, respectively. Combined with photo stimuli, anisotropic polymer chain relaxation of the prestretched film can generate asymmetric contractions and eventually give rise to ut out-of-plane bending actuations upon photo stimulation, meanwhile, numerical simulation reveals the interaction mechanism of light with film. Beyond this, we further demonstrate that the bending angle is correlated with the parameters of prestretch strain, film thickness as well as irradiation time, and the maximum value can reach 158° with prestretch strain of 200 % and film thickness of 0.3 mm. In particular, the bent structures could be reversibly deformed into plane state via photo-directed corresponding opposite surfaces. Remarkably, the in vitro degradation properties of the elastomers on PBS-T buffer solutions demonstrated that the degradation was composed of induction stage and acceleration stage. This work will pave way for designing biodegradable light-induced shape memory materials toward biomedical device fields and so on.

An antagonistic variable-stiffness pneumatic flexible joint

This paper develops an antagonistic variable-stiffness pneumatic flexible joint in which two groups of artificial muscles are symmetrically distributed on both sides of the elastic thin plate. The elastic thin plate restricts the axial movement of the joint. Therefore, the joint can achieve single-dimensional and bidirectional bending by controlling the air pressure value of the pneumatic artificial muscle. Two variable stiffness elastic dampers are also symmetrically installed on both sides of the elastic thin plate, using a positive-pressure driving method to achieve real-time posture maintenance function of the joint based on particle-blockage, wedge structure, and antagonistic effect. The mathematical models for the bending angle and stiffness of flexible joints were established, and relevant experiments were conducted. When the air pressure of the pneumatic artificial muscle is 0.32 MPa, the joint bending angle reaches 62.7°. When the bending angle is 60° and the air pressure of the variable-stiffness elastic damper is 0.5 MPa, the stiffness in the bending direction of the flexible joint with the variable-stiffness elastic damper is 6.9 times that of the flexible joint without the variable-stiffness elastic damper, and the stiffness in the reverse bending direction is 10.3 times that of the flexible joint without the variable-stiffness elastic damper under the same conditions.

Carbon-Based Nanomaterials Electrodes of Ionic Soft Actuators: From Initial 1D Structure to 3D Composite Structure for Flexible Intelligent Devices

With the rapid development of autonomous and intelligent devices driven by soft actuators, ion soft actuators in flexible intelligent devices have several advantages over other actuators, including their light weight, low voltage drive, large strain, good flexibility, fast response, etc. Traditional ionic polymer metal composites have received a lot of attention over the past decades, but they suffer from poor driving performance and short service lives since the precious metal electrodes are not only expensive, heavy, and labor-intensive, but also prone to cracking with repeated actuation. As excellent candidates for the electrode materials of ionic soft actuators, carbon-based nanomaterials have received a lot of interest because of their plentiful reserves, low cost, and excellent mechanical, electrical, and electrochemical properties. This research reviewed carbon-based nanomaterial electrodes of ion soft actuators for flexible smart devices from a fresh perspective from 1D to 3D combinations. The design of the electrode structure is introduced after the driving mechanism of ionic soft actuators. The details of ionic soft actuator electrodes made of carbon-based nanomaterials are then provided. Additionally, a summary of applications for flexible intelligent devices is provided. Finally, suggestions for challenges and prospects are made to offer direction and inspiration for further development.

The Factor beyond Schmidt's Criteria Impacting the Photo-Induced [2+2] Cycloaddition Reactivity and Photoactuation of Molecular Crystals Based on Cyclic Chalcone Analogues

Generally, the potential reactive "olefin pairs" in the molecular crystals satisfying Schmidt's criteria could undergo topological [2+2] cycloaddition. In this study, another factor that affects the photodimerization reactivity of chalcone analogues was found. The cyclic chalcone analogues of (E)-2-(2,4-dichlorobenzylidene)-2,3-dihydro-1H-inden-1-one (BIO), (E)-2-(naphthalen-2-ylmethylene)-2,3-dihydro-1H-inden-1-one (NIO), (Z)-2-(2,4-dichlorobenzylidene)benzofuran-3(2H)-one (BFO), and (Z)-2-(2,4-dichlorobenzylidene)benzo[b]thiophen-3(2H)-one (BTO) have been synthesized. While the geometrical parameters for the molecular packing of the above four compounds did not exceed Schmidt's criteria, [2+2] cycloaddition did not occur in the crystals of BIO and BTO. The single crystal structures and Hirshfeld surface analyses revealed that interactions of C=O⋅⋅⋅H (CH2 ) existed between adjacent molecules in the crystal of BIO. Therefore, the carbonyl and methylene groups linked with one carbon atom in carbon-carbon double bond were tightly confined in the lattice, acting as a tweezer to inhibit free movement of the double bond and suppressing [2+2] cycloaddition. In the crystal of BTO, similar interactions of Cl⋅⋅⋅S and C=O⋅⋅⋅H (C6 H4 ) prevented free movement of the double bond. In contrast, the intermolecular interaction of C=O⋅⋅⋅H only exists around the carbonyl group in the crystals of BFO and NIO, leaving the C=C double bonds to move freely and allowing the occurrence of [2+2] cycloaddition. Driven by photodimerization, the needle-like crystals of BFO and NIO displayed evident photo-induced bending behavior. This work demonstrates that the intermolecular interactions around carbon-carbon double bond affect the [2+2] cycloaddition reactivity except for Schmidt's criteria. These findings provide valuable insights into the design of photomechanical molecular crystalline materials.

Role of MXenes in advancing soft robotics

MXenes with their unique electronic, optical, chemical, and mechanical properties have shown great promise in soft robotics. MXene-based soft actuators have been designed to display ultrafast actuations and recovery speeds as well as angle-independent structural colors in response to vapor. Several studies have developed soft actuators by combining MXenes with other materials to mimic the movement of natural organisms. Thus, MXene-based soft actuators have the potential to revolutionize the field of soft robotics and flexible electronics (e.g., wearable devices and artificial muscles). MXene-based artificial muscles have been explored for use in kinetic soft robotics as actuators in microsystems requiring exceptional compliance. MXene-based sensors and actuators have already been developed for human-like sensors and photodetection. However, there are still challenges that need to be addressed in such applications, such as the design of stretchable and compliant robotic skins with a high-level functional integration for soft robotics. The integration of various devices, such as power sources, sensors, and actuators, into soft robotics is another crucial challenge. Despite the excellent stretchability and tensile strength of MXene-based composites, there is a vital need to develop their mechanical and electrochemical features and grant them multi-functionalities. Herein, recent developments pertaining to the applications of MXenes and their composites in soft robotics are discussed with a focus on the important challenges and future perspectives.

Programmable Complex Shape Changing of Polysiloxane Main-Chain Liquid Crystalline Elastomers

Liquid crystal elastomers (LCEs) are shape-morphing materials whose large and reversible shape transformations are caused by the coupling between the mobile anisotropic properties of liquid crystal (LC) units and the rubber elastic of polymer networks. Their shape-changing behaviors under certain stimuli are largely directed by the LC orientation; therefore, various strategies have been developed to spatially modulate the LC alignments. However, most of these methods are limited as they require complex fabrication technologies or have intrinsic limitations in applicability. To address this issue, programmable complex shape changes in some LCE types, such as polysiloxane side-chain LCEs, thiol-acrylate main-chain LCEs, etc., were achieved by using a mechanical alignment programming process coupled with two-step crosslinking. Here, we report a polysiloxane main-chain LCE with programmable 2- and 3D shape-changing abilities that were created by mechanically programming the polydomain LCE with two crosslinking steps. The resulting LCEs exhibited a reversible thermal-induced shape transformation between the initial and programmed shapes due to the two-way memory between the first and second network structures. Our findings expand on the applications of LCE materials in actuators, soft robotics, and smart structures where arbitrary and easily programmed shape morphing is needed.

Optical wavelength selective actuation of dye doped liquid crystalline elastomers by quasi-daylight

We explore obtaining different photo responses of liquid crystalline elastomer (LCE) materials through modulating the optical wavelengths in order to promote the development of precise photocontrol on LCE actuators, and thus study the effect of light-absorbing dyes with different absorption bands on the selective actuation of LCE materials. The dye-doped LCEs were prepared by incorporating special visible absorber dyes into thiol-acrylate main chain LCE (MC-LCE) matrices. The dyes showed photo actuation performance to LCEs due to the photothermal effects. But, every dye-doped LCE could be effectively actuated by light irradiation whose wavelength was inside its absorption band, but could not be effectively actuated by the light whose wavelength was beyond its absorption band. Wavelength selective actuation effects, no matter actuating deformation or actuating force, could be remarkably demonstrated by these dye-doped LCEs through filtering the same quasi-daylight source to be different wavelength bands. Our work opens up a significant way for the precise and convenient photo actuation of LCE actuators, while expanding the utilization potential of quasi-daylight, and further natural sunlight.

Manta Ray Inspired Soft Robot Fish with Tough Hydrogels as Structural Elements

The design of soft robots capable of navigation underwater has received tremendous research interest due to the robots' versatile applications in marine explorations. Inspired by marine animals such as jellyfish, scientists have developed various soft robotic fishes by using elastomers as the major material. However, elastomers have a hydrophobic network without embedded water, which is different from the gel-state body of the prototypes and results in high contrast to the surrounding environment and thus poor acoustic stealth. Here, we demonstrate a manta ray-inspired soft robot fish with tailored swimming motions by using tough and stiff hydrogels as the structural elements, as well as a dielectric elastomer as the actuating unit. The switching between actuated and relaxed states of this unit under wired power leads to the flapping of the pectoral fins and swimming of the gel fish. This robot fish has good stability and swims with a fast speed (∼10 cm/s) in freshwater and seawater over a wide temperature range (4-50 °C). The high water content (i.e., ∼70 wt %) of the robot fish affords good optical and acoustic stealth properties under water. The excellent mechanical properties of the gels also enable easy integration of other functional units/systems with the robot fish. As proof-of-concept examples, a temperature sensing system and a soft gripper are assembled, allowing the robot fish to monitor the local temperature, raise warning signals by lighting, and grab and transport an object on demand. Such a robot fish should find applications in environmental detection and execution tasks under water. This work should also be informative for the design of other soft actuators and robots with tough hydrogels as the building blocks.

Photothermal-Driven Liquid Crystal Elastomers: Materials, Alignment and Applications

Liquid crystal elastomers (LCEs) are programmable deformable materials that can respond to physical fields such as light, heat, and electricity. Photothermal-driven LCE has the advantages of accuracy and remote control and avoids the requirement of high photon energy for photochemistry. In this review, we discuss recent advances in photothermal LCE materials and investigate methods for mechanical alignment, external field alignment, and surface-induced alignment. Advances in the synthesis and orientation of LCEs have enabled liquid crystal elastomers to meet applications in optics, robotics, and more. The review concludes with a discussion of current challenges and research opportunities.