Bioinspired Smart Moisture Actuators Based on Nanoscale Cellulose Materials and Porous, Hydrophilic EVOH Nanofibrous Membranes

A review on intelligence of cellulose based materials

Cellulose based materials are widely used in various fields such as papermaking, packaging, composite materials, textiles and clothing due to their diverse types, environmental friendliness, natural degradation, high specific strength, and low cost. The intelligence of cellulose based materials will further expand their application fields. This article first gives an in-depth analyzation on the intelligent structural design of these materials according to the two major categories of isotropic and anisotropic, then lists the main preparation methods of cellulose based intelligent materials. Subsequently, this article systematically summarizes the recent intelligent response methods and characteristics of cellulose based materials, and extensively elaborates on the intelligent application of these materials. Finally, the prospects for the intelligence of cellulose based materials are discussed.

A tough, reversible and highly sensitive humidity actuator based on cellulose nanofiber films by intercalation modulated plasticization

Cellulose nanofiber was an ideal candidate for humidity actuators based on its wide availability, biocompatibility and excellent hydrophilicity. However, conventional cellulose nanofiber-based actuators faced challenges like poor water resistance, flexibility, and sensitivity. Herein, water-resistant, flexible, and highly sensitive cross-linked cellulose nanofibers (CCNF) single-layer humidity actuators with remarkable reversible humidity responsiveness were prepared by combining the green click chemistry modification and intercalation modulated plasticization (IMP). The incorporation of phenyl ring and the crosslinked network structure in CCNF films contributed to its improved water resistance and mechanical properties (with a stress increased from 85.9 ± 3.1 MPa to 141.2 ± 21.5 MPa). SEM analysis confirmed enhanced interlaminar sliding properties facilitated by IMP. This resulted in increased flexibility and toughness of CCNF films, with a strain of 11.5 % and toughness of 9.9 MJ/m3. These improvements efficiently enhanced humidity sensitivity for cellulose nanofiber, with a 4.8-fold increase in bending curvature and a response time of only 3.4 ± 0.1 s. Finally, the good humidity sensitivity of modified CNF can be easily imparted to carbon nanotubes (CNTs) via simple self-assembly method, thus leading to a high-performance humidity-responsive actuator. The click chemistry modification and IMP offer a new avenue to fabricate tough, reversible and highly sensitive humidity actuator based on cellulose nanofiber.

Ultrafast Bi-Directional Bending Moisture-Responsive Soft Actuators through Superfine Silk Rod Modified Bio-Mimicking Hierarchical Layered Structure

Development of stimulus-responsive materials is crucial for novel soft actuators. Among these actuators, the moisture-responsive actuators are known for their accessibility, eco-friendliness, and robust regenerative attributes. A major challenge of moisture-responsive soft actuators (MRSAs) is achieving significant bending curvature within short response times. Many plants naturally perform large deformation through a layered hierarchical structure in response to moisture stimuli. Drawing inspiration from the bionic structure of Delosperma nakurense (D. nakurense) seed capsule, here the fabrication of an ultrafast bi-directional bending MRSAs is reported. Combining a superfine silk fibroin rod (SFR) modified graphene oxide (GO) moisture-responsive layer with a moisture-inert layer of reduced graphene oxide (RGO), this actuator demonstrated large bi-directional bending deformation (-4.06 ± 0.09 to 10.44 ± 0.00 cm-1) and ultrafast bending rates (7.06 cm-1 s-1). The high deformation rate is achieved by incorporating the SFR into the moisture-responsive layers, facilitating rapid water transmission within the interlayer structure. The complex yet predictable deformations of this actuator are demonstrated that can be utilized in smart switch, robotic arms, and walking device. The proposed SFR modification method is simple and versatile, enhancing the functionality of hierarchical layered actuators. It holds the potential to advance intelligent soft robots for application in confined environments.

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In this work, we develop a novel capacitive humidity sensor based on Al-Si acceptor-donor co-doped SnO2 for real-time monitoring of ambient humidity and human respiration. XRD measurements reveal that all samples exhibit a tetragonal rutile phase and the crystallite size of SnO2 decreases with increasing Al-Si content. The high intensity of the Raman peak at 762 cm-1 confirms the presence of bridging mode oxygen vacancies in (Al + Si)0.02Sn0.98O2. The EPR results show that the amount of singly ionized oxygen vacancies increases after the introduction of Al-Si. Both types and amounts of oxygen vacancy defects are particularly sensitive to the adsorption of water molecules. Moreover, according to DFT calculations, the contribution of the Si 3s orbital and Al 3s orbital to the band edge verifies the formation of acceptor-donor complexes in Al-Si co-doped SnO2. The humidity sensing results reveal that the (Al + Si)0.02Sn0.98O2 humidity sensor shows high sensitivity (S = 839), low hysteresis (1.94%) and fast response/recovery times (25 s/5 s). The respiratory intervals during shallow, medium and deep breathing states of (Al + Si)0.02Sn0.98O2 were measured at 2.8 s, 3.8 s and 4.5 s, respectively. The chemical mechanism for the enhancement of humidity sensing performance corresponding to the oxygen vacancy defects induced by Al-Si interplay is proposed.

A review of recent advances in biomedical applications of smart cellulose-based hydrogels

In biomedical engineering, smart materials act as media to communicate physiological signals inspired by environmentally responsive stimuli with outer indicators for timely scrutiny and precise therapy. Various physical and chemical processes are applied in the design of specific smart functions. Hydrogels are polymeric networks consisting of hydrophilic chains and chemical groups and they have contributed their unique features in biomedical application as one of the most used smart materials. Numerous raw materials can form hydrogels, in which cellulose and its derivatives have been extensively exploited in biomedicine due to their high hydrophilicity, availability, renewability, biodegradability, biocompatibility, and multifunctional reactivity. This review collates cellulose-based hydrogels and their extensive applications in the biomedical domain, specifically benefiting from the "SMART" concept in their design, synthesis and device assembly. The first section discusses the physical and chemical crosslinking and electrospinning techniques used in the fabrication of smart cellulose-based hydrogels. The second section describes the performance of these hydrogels, and the final section is a comprehensive discussion of their biomedical applications.

Programmable nanocomposites of cellulose nanocrystals and zwitterionic hydrogels for soft robotics

Stimuli-responsive hydrogels have garnered significant attention as a versatile class of soft actuators. Introducing anisotropic properties, and shape-change programmability to responsive hydrogels promises a host of opportunities in the development of soft robots. Herein we report the synthesis of pH-responsive hydrogel nanocomposites with predetermined microstructural anisotropy, shape-transformation, and self-healing. Our hydrogel nanocomposites are largely composed of zwitterionic monomers and asymmetric cellulose nanocrystals. While the zwitterionic nature of the network imparts both self-healing and cytocompatibility to our hydrogel nanocomposites, the shear-induced alignment of cellulose nanocrystals renders their anisotropic swelling and mechanical properties. Thanks to the self-healing properties, we utilized a cut-and-paste approach to program reversible, and complex deformation into our hydrogels. As a proof-of-concept, we demonstrated the transport of light cargo using tethered and untethered soft robots made from our hydrogels. We believe the proposed material system introduce a powerful toolbox for the development of future generations of biomedical soft robots.

Breathable Metal-Organic Framework Enhanced Humidity-Responsive Nanofiber Actuator with Autonomous Triboelectric Perceptivity

Autonomous object manipulation and perception with environmental factor-triggered and self-powered actuation is one of the most attractive directions for developing next-generation soft robotics with a smart human-machine-environment interface. Humidity, as a sustainable energy source ubiquitous in the surrounding environment, can be used for triggering smart grippers. In this work, it is proposed that by contacts between the gripper and objects upon humidity-induced actuation, real-time distinguishable triboelectric signals can be generated to realize the humidity-driven object manipulation and identification. Herein, a thermo-modified electrospun polyvinylpyrrolidone/poly(acrylic acid)/MIL-88A (T-PPM) nanofibrous film with micro-to-nano cross-scale porosity is developed, and a bilayer humidity-responsive actuator (T-HRA) was designed, mimicking the tamariskoid spikemoss to enhance the humidity-driven actuation. The breathing effect of MIL-88A and hierarchical porous structure of the T-PPM facilitate moisture diffusion and offer huge actuation (2.41 cm-1) with a fast response (0.084 cm-1 s-1). For autonomous object manipulation perception, T-PPM was verified as a tribo-positive material located between paper and silk. Accordingly, the T-HRA was demonstrated as a smart soft gripper that generates a different electric signal upon contact with objects of different material. This work proposes a concept of soft robots that are interactive with the environment for both autonomous object manipulation and information acquisition.

High Performance and Multifunction Moisture-Driven Yin-Yang-Interface Actuators Derived from Polyacrylamide Hydrogel

High actuation performance of a moisture actuator highly depends on the presence of a large property difference between the two layers, which may cause interfacial delamination. Improving interfacial adhesion strength while increasing the difference between the layers is a challenge. In this study, a moisture-driven tri-layer actuator with a Yin-Yang-interface (YYI) design is investigated in which a moisture-responsive polyacrylamide (PAM) hydrogel layer (Yang) is combined with a moisture-inert polyethylene terephthalate (PET) layer (Yin) using an interfacial poly(2-ethylhexyl acrylate) (PEA) adhesion layer. Fast and large reversible bending, oscillation, and programmable morphing motions in response to moisture are realized. The response time, bending curvature, and response speed normalized by thickness are among the best compared with those of previously reported moisture-driven actuators. The excellent actuation performance of the actuator has potential multifunctional applications in moisture-controlled switches, mechanical grippers, and crawling and jumping motions. The Yin-Yang-interface design proposed in this work provides a new design strategy for high-performance intelligent materials and devices.

Fast-Response Non-Contact Flexible Humidity Sensor Based on Direct-Writing Printing for Respiration Monitoring

Respiratory monitoring is crucial for evaluating health status and identifying potential respiratory diseases such as respiratory failure, bronchitis, and pneumonia. Humidity sensors play a significant role in this regard, and efforts are being made to improve their performance. However, achieving ideal sensor parameters such as sensitivity, detection range, and response speed is challenging. In this work, we propose a flexible preparation method for a double-layer humidity sensor using PDMS as a substrate and a GNP/MWCNT composite material as a sensor element. This sensor exhibits high sensitivity (1.4 RH-1), a wide detection range (20-90%), ultra-fast response (0.35 s) and recovery (2.5 s), high repetitiveness (500 cycles), good long-term stability, and excellent flexibility. Due to these advantages, this sensor has potential applications in real-time clinical and home medical care, such as accurate human respiratory monitoring and non-invasive skin humidity monitoring. Hence, this humidity sensor can be a powerful tool to monitor respiratory moisture levels for diagnosing and treating respiratory diseases effectively.

Bioinspired humidity-responsive liquid crystalline materials: from adaptive soft actuators to visualized sensors and detectors

Inspired by nature, humidity-responsive materials and devices have attracted significant interest from scientists in multiple disciplines, ranging from chemistry, physics and materials science to biomimetics. Owing to their superiorities, including harmless stimulus and untethered control, humidity-driven materials have been widely investigated for application in soft robots, smart sensors and detectors, biomimetic devices and anticounterfeiting labels. Especially, humidity-responsive liquid crystalline materials are particularly appealing due to the combination of programmable and adaptive liquid crystal matrix and humidity-controllability, enabling the fabrication of advanced self-adaptive robots and visualized sensors. In this review, we summarize the recent progress in humidity-driven liquid crystalline materials. First, a brief introduction of liquid crystal materials, including liquid crystalline polymers, cholesteric liquid crystals, blue-phase liquid crystals and cholesteric cellulose nanocrystals is provided. Subsequently, the mechanisms of humidity-responsiveness are presented, followed by the diverse strategies for the fabrication of humidity-responsive liquid crystalline materials. The applications of humidity-driven devices will be presented ranging from soft actuators to visualized sensors and detectors. Finally, we provide an outlook on the development of humidity-driven liquid crystalline materials.

Understanding Nanocellulose-Water Interactions: Turning a Detriment into an Asset

Modern technology has enabled the isolation of nanocellulose from plant-based fibers, and the current trend focuses on utilizing nanocellulose in a broad range of sustainable materials applications. Water is generally seen as a detrimental component when in contact with nanocellulose-based materials, just like it is harmful for traditional cellulosic materials such as paper or cardboard. However, water is an integral component in plants, and many applications of nanocellulose already accept the presence of water or make use of it. This review gives a comprehensive account of nanocellulose-water interactions and their repercussions in all key areas of contemporary research: fundamental physical chemistry, chemical modification of nanocellulose, materials applications, and analytical methods to map the water interactions and the effect of water on a nanocellulose matrix.

Plant biology: How the humble plant droops its leaves

The humble plant (Mimosa pudica) droops its leaves in response to touch. A new study explains how changes of turgor pressure exerted by protoplasts on surrounding cell walls translate into directional cell deformation that drives leaf movement.

Spontaneous and Continuous Actuators Driven by Fluctuations in Ambient Humidity for Energy-Harvesting Applications

Self-oscillating soft actuators that enable spontaneous and continuous motion under an external stimulus with no human intervention have attracted extensive attention due to the great value of the realization of more sustainable and low-power-consumption actuators. However, the achievement of such actuators that collect chemical energy from the fluctuations in ambient humidity is still a great challenge. Here, an actuator film based on spiropyran@agarose (SP@AG) that can spontaneously and continuously collect chemical energy from the fluctuations in ambient humidity is developed. It is noteworthy that the SP@AG film has excellent self-oscillation behavior and a high oscillation amplitude (184°) under the size (40 × 8 mm) or load of 116 mg (about 5.2 times of the film weight). Moreover, on the basis of the self-oscillating motion, an energy conversion device is constructed by integrating the soft actuator with a piezoelectric PVDF film, which can spontaneously and continuously generate an output voltage of about 30 mV. Finally, a proof of concept for an "intelligent light-controllable window" that can open under humidity stimulus and change color under light is proposed herein. Overall, the self-oscillating actuator driven by fluctuations in ambient humidity shows immense potential in response to the atmospheric humidity of day-night rhythm and humid-energy-harvesting devices.

Robust and Highly Sensitive Cellulose Nanofiber-Based Humidity Actuators

The design of humidity actuators with high response sensitivity (especially actuation time) while maintaining favorable mechanical properties is important for advanced intelligent manufacturing, like soft robotics and smart devices, but still remains a challenge. Here, we fabricate a robust and conductive composite film-based humidity actuator with synergetic benefits from one-dimensional cellulose nanofibers (CNFs) and carbon nanotubes (CNTs) as well as two-dimensional graphene oxide (GO) via an efficient vacuum-assisted self-assembly method. Owing to the excellent moisture sensitivity of CNF and GO, the hydrophobic CNT favoring rapid desorption of water molecules, and the unique porous structure with numerous nanochannels for accelerating the water exchange rate, this CNF/GO/CNT composite film delivers excellent actuation including an ultrafast response/recovery (0.8/2 s), large deformation, and sufficient cycle stability (no detectable degradation after 1000 cycles) in response to ambient gradient humidity. Intriguingly, the actuator could also achieve a superior flexibility, a good mechanical strength (201 MPa), a desirable toughness (6.6 MJ/m³), and stable electrical conductivity. Taking advantage of these benefits, the actuator is conceptually fabricated into various smart devices including mechanical grippers, crawling robotics, and humidity control switches, which is expected to hold great promise toward practical applications.

Digital printing of shape-morphing natural materials

We demonstrate how programmable shape evolution and deformation can be induced in plant-based natural materials through standard digital printing technologies. With nonallergenic pollen paper as the substrate material, we show how specific geometrical features and architectures can be custom designed through digital printing of patterns to modulate hygrophobicity, geometry, and complex shapes. These autonomously hygromorphing configurations can be "frozen" by postprocessing coatings to meet the needs of a wide spectrum of uses and applications. Through computational simulations involving the finite element method and accompanying experiments, we develop quantitative insights and a general framework for creating complex shapes in eco-friendly natural materials with potential sustainable applications for scalable manufacturing.

Graphene Oxide/Nanofiber-Based Actuation Films with Moisture and Photothermal Stimulation Response for Remote Intelligent Control Applications

The rapid development of intelligent technology and industry has induced higher requirements for multifunctional materials, especially intelligent materials with stimulus-responsive self-actuation behavior. In this study, a Cu@PVA-co-PE/GO composite actuation film, with an asymmetric sandwich structure, was prepared by attaching graphene oxide (GO) to the surface of a polyvinyl alcohol ethylene copolymer (PVA-co-PE) nanofiber composite film containing copper nanoparticles (Cu) through layer-on-layer adsorption. This unique structural design endowed the composite film with not only excellent structural stability but also different bending directions (in response to moisture and infrared light). The actuation performance shows that when the adsorption time was 4 h, the maximum bending angle of the Cu@PVA-co-PE/GO composite film was up to 90° within 5.99 s. Furthermore, the actuation behavior was stable after 100 cycles of reversible moisture stimulation. Additionally, the maximum actuation strain of the composite film was up to 1.35 MPa during the illumination time of 6.8 s and maintained an excellent stability for 400 s under continuous infrared stimulation of 0.53 W/cm². The rapid and sensitive stimulus response of the Cu@PVA-co-PE/GO composite film exhibited self-actuation behavior under the remote control of moisture and infrared light. This, in turn, suggests prospects for wide applications in emerging technologies, such as intelligent switches, artificial muscles, intelligent medical treatment, and flexible robots.

Left-Handed or Right-Handed? Determinants of the Chirality of Helically Deformable Soft Actuators

Helical curling and spiral structure are very common in nature, which inspire researchers to create various forms of helical configurations and actuators. The helically deformable actuators perform asymmetric deformations and show different chirality, which means that they can be left handed or right handed. However, the mechanism of helical curling and especially how the key factors influence the chirality of the actuator have not been systematically explained and well understood. In this study, we focus on the typical double-layer soft actuator composed of an active (expansion) layer and a passive (supporting) layer and investigate the effect of key factors (expansion coefficient, Young's modulus, relative thickness) on the chirality of the helical actuation or morphing by comprehensive finite element analyses. It was found that (i) the anisotropic expansion of the active layer or (ii) the anisotropic Young's modulus of the active or the passive layer is indispensable for helical curling. In Case (i), the actuator curls along the direction of greater expansion of the active layer. In Case (ii), the actuator curls along the direction of closer moduli match of the active and passive layers, and their relative thickness also affects the helical morphing of the actuator. In practice, the above two factors may cooperate or compete with each other, and the dominant one determines the chirality. This work gives the general rules for helical morphing forms and can provide guidance for the design and preparation of spiral actuators and soft robots in the future.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Rapid Moisture-Responsive Silk Fibroin Actuators

We report the unique actuation characteristics of moisture-driven, fully reversible soft biopolymer films fabricated from Bombyx mori silk. The instantaneous actuation is driven by the water vapor induced stress gradient generated across the thickness of the film, and it possesses subsecond response and actuation times. The excellent durability and consistent performance of the film without any noticeable fatigue are established by subjecting it to more than a thousand continuous actuation cycles. The weight-lifting capability of the film is fascinating, where a few tens of micrograms of water generate a colossal force required to lift hundreds of milligrams of weight. Several other potential uses of silk fibroin based soft actuators, such as an intelligent textile layer with the crescent-shaped windows that open on perspiring skin and an autonomous crawler, are also demonstrated. Interestingly, even moisture emanating from the human palm triggers the ultrafast actuation process. These silk films are fabricated using a simple facile solution-casting technique, which can be scaled up with relative ease.

Humidity- and Water-Responsive Torsional and Contractile Lotus Fiber Yarn Artificial Muscles

Materials that dynamically respond to their environment have diverse applications in artificial muscles, soft robotics, and smart textiles. Inspired by biological systems, humidity- and water-responsive actuators that bend, twist, and contract have been previously demonstrated. However, more powerful artificial muscles with large strokes and high work densities are needed, especially those that can be made cost-effectively from eco-friendly materials. We here derive such muscles from naturally abundant lotus fibers. A coiled lotus fiber yarn muscle provides a large, reversible tensile stroke of 38% and a work capacity during contraction of 450 J/kg, which is 56 times higher than that of natural skeletal muscles and higher than that for any other reported natural fiber muscles. In addition, highly twisted lotus fiber yarn muscles provide a fully reversible torsional stroke of 200°/mm of muscle length and a peak rotation speed of 200 rpm, with a generated specific torque of 488 mN·m/kg for a 2.5 cm long muscle. Potential applications of these lotus fiber yarn muscles are demonstrated for a weight-lifting artificial limb and a smart textile.

Nanofibrous Actuator with an Alignment Gradient for Millisecond-Responsive, Multidirectional, Multimodal, and Multidimensional Large Deformation

Although progress has been made in the construction of stimulus-responsive actuators, the performance of these smart materials is still unsatisfactory, owing to their slow response, small deformation amplitude, uncontrollable bending direction, and unidirectional (2D to 3D) transformation. Herein, we employ a structural bionic strategy to design and fabricate a novel water/moisture responsive nanofibrous actuator with an alignment degree gradient. Owing to its different contraction gradient amplitudes along the thickness direction and the unique physical property of the nanofibrous material, the prepared actuator exhibits excellent shape deformation performance, including superfast response (less than 150 ms), controllable deformation directions, multiple actuation models, multiple dimensional deformation (0D-3D, 1D-3D, 2D-3D, and 3D-3D), large bending curvature (25.3 cm^-1), and a repeatability rate of at least 1000. The actuation performance of the nanofibrous actuator is superior to the currently reported actuators. The nanofibers are integrated into layer-by-layer and side-by-side structures to achieve competitive and independent actuation, respectively. The outstanding shape-changing properties of the nanofibrous actuator result in the construction of practical intelligent devices for applications such as amphibious movement, intelligent protection, and cargo transportation. The nanofibrous actuator designed herein exhibits tremendous potential in soft robotics, sensors, and biomedicine.

Actuation and locomotion driven by moisture in paper made with natural pollen

Much progress has been made in developing bioinspired sensors and actuators based on engineered synthetic materials, although there remains a critical need to incorporate cost-effective and eco-friendly materials. Here naturally abundant pollen grains are used as a material template to produce paper that sensitively and reversibly responds as an actuator to variations in environmental humidity. The actuating properties of the all-natural paper are readily tuned by material characteristics, such as sheet thickness and surface roughness. We demonstrate self-actuation of the pollen-based paper by mimicking flower blooming. The results presented here point to pathways for the creation of self-propelled robots, flexible electronics, and multifunctional devices. They also offer the potential for digital printing and fabrication of complex and programmable natural actuators.

Here we describe the development of a humidity-responsive sheet of paper that is derived solely from natural pollen. Adaptive soft material components of the paper exhibit diverse and well-integrated responses to humidity that promote shape reconfiguration, actuation, and locomotion. This mechanically versatile and nonallergenic paper can generate a cyclically high contractile stress upon water absorption and desorption, and the rapid exchange of water drives locomotion due to hydrodynamic effects. Such dynamic behavior can be finely tuned by adjusting the structure and properties of the paper, including thickness, surface roughness, and processing conditions, analogous to those of classical soapmaking. We demonstrate that humidity-responsive paper-like actuators can mimic the blooming of the Michelia flower and perform self-propelled motion. Harnessing the material properties of bioinspired systems such as pollen paper opens the door to a wide range of sustainable, eco-friendly, and biocompatible material innovation platforms for applications in sensing, actuation, and locomotion.

Intelligent Cellulose Nanofibers with Excellent Biocompatibility Enable Sustained Antibacterial and Drug Release via a pH-Responsive Mechanism

Novel nanosized biomass-based pH-responsive cellulose nanofibers (CNF-PEI) with excellent biocompatibility were tailored by grafting polyethylenimine (PEI) onto carboxylated cellulose nanofibers (CNF-COOH); the active site (-COOH, 0.96 mmol/g) was anchored on cellulose nanofibers (CNFs) to introduce PEI with a high density (10.57 mmol/g) of amino groups. The as-prepared CNF-PEI not only maintained the good properties of CNFs but also possessed excellent biocompatibility and pH-responsive properties, offering interesting possibilities for pH-induced sustained drug release and medical dressing. The CNF-PEI showed rapid wettability conversion from hydrophilic, underwater superoleophobic (WCA = 20.7°, OCA = 159.3°) to hydrophobic, superoleophilic (WCA = 129.6°, OCA = 29.7°) in response to pH change from acidic conditions to alkaline conditions. The antibacterial activity of CNF-PEI toward Escherichia coli and Listeria monocytogenes was 100% and 94.6% under acidic conditions, respectively. Furthermore, the pH-responsive mechanism of CNF-PEI was revealed by XPS, ¹³C NMR, ¹H NMR, and AFM analyses.

Unravelling humidity-gated, temperature responsive bilayer actuators

By spraying liquid crystal mixtures onto stretched polyamide 6 (PA6) substrates, dual-responsive heat/humidity bilayer actuators are generated. The oriented PA6 guides the self-organization of the liquid crystal monomers into well-aligned, anisotropic liquid crystal networks. The bilayer responds to changes in the environmental relative humidity, resulting in bending of the actuator with the liquid crystal network inside the curvature. In contrast, in conditions of constant high humidity (80%RH), increasing the temperature triggers the liquid crystal network coating to bend the bilayer in the opposing direction. The dual-responsivity to changes in environmental humidity and temperature is examined in detail and discussed theoretically to elucidate the humidity-gated, temperature responsive properties revealing guidelines for fabricating anisotropic bilayer actuators.

Water transport facilitated by carbon nanotubes enables a hygroresponsive actuator with negative hydrotaxis

Hygroresponsive actuators harness minor fluctuations in the ambient humidity to realize energy harvesting and conversion, thus they are of profound significance in the development of more energy-saving and sustainable systems. However, most of the existing hygroresponsive actuators are only adaptive to wet environments with limited moving directions and shape morphing modes. Therefore, it is highly imperative to develop a hygroresponsive actuator that works in both wet and dry environments. In this work, we present a bidirectional actuator responsive to both wet and dry stimuli. Our strategy relies on the introduction of carbon nanotubes to provide transport channels for water molecules. The actuation is enabled by the rapid transport of water in and out of the system driven by the moist/dry surroundings owing to the transport channels. The resultant actuator demonstrates reconfiguration and locomotion with turnover frequency F = 30 min-1, coupled with the capability of lifting objects 6 times heavier and transporting cargos 63 times heavier than itself. Oscillations (24°) driven by dry air flow in a cantilever display a high frequency (2 Hz) and large amplitude. Furthermore, a touchless electronic device was constructed to output varying signals in response to humid and dry environments. Our work provides valuable guidance and implications for designing and constructing hygroresponsive actuators, and paves the way for next-generation robust autonomous devices to exploit energy from natural resources.

β-Sheet Nanocrystals Dictate Water Responsiveness of Bombyx Mori Silk

Water-responsive (WR) materials that strongly swell and shrink in response to changes in relative humidity (RH) have shown a great potential to serve as high-energy actuators for soft robotics and new energy-harvesting systems. However, the design criteria governing the scalable and high-efficiency WR actuation remain unclear, and thus inhibit further development of WR materials for practical applications. Nature has provided excellent examples of WR materials that contain stiff nanocrystalline structures that can be crucial to understand the fundamentals of WR behavior. This work reports that regenerated Bombyx (B.) mori silk can be processed to increase β-sheet crystallinity, which dramatically increases the WR energy density to 1.6 MJ m^-3 , surpassing that of all known natural muscles, including mammalian muscles and insect muscles. Interestingly, the maximum water sorption decreases from 80.4% to 19.2% as the silk's β-sheet crystallinity increases from 19.7% to 57.6%, but the silk's WR energy density shows an eightfold increase with higher fractions of β-sheets. The findings of this study suggest that high crystallinity of silk reduces energy dissipation and translates the chemical potential of water-induced pressure to external loads more efficiently during the hydration/dehydration processes. Moreover, the availability of B. mori silk opens up possibilities for simple and scalable modification and production of powerful WR actuators.

Spirally deformable soft actuators and their designable helical actuations based on a highly oriented carbon nanotube film

Spiral configurations and helical curlings of plant tendrils and seed pods are very common in nature. Many researchers have tried to develop spirally deformable actuators to mimic these natural spirals through several approaches, such as preforming helical shapes, processing diagonal stripes and employing anisotropic organic layers. However, these methods are usually complex and time-consuming. Here, we used an efficient method to produce a highly oriented carbon nanotube (CNT) film and develop a series of spirally deformable soft actuators which perform various controllable helical actuations. The actuator consists of a CNT layer with strong anisotropy and a silicone layer. By simply adjusting the orientations of the aligned CNTs, the prepared actuators can accomplish left- or right-handed spiral deformations with different helical forms when driven by electricity. Finite element analyses and simulations were conducted to investigate the mechanism. It is confirmed that it is the anisotropic moduli of the CNT film that regulate the internal stress distributions of the actuators and lead to helical actuations. Moreover, complex actuator designs and functional applications were also carried out. A V-shaped actuator can simultaneously achieve left- and right-handed curling with large angles (630°), which vividly imitates the spiral winding of a tendril. A Y-shaped actuator performed three-dimensional movements, which can manipulate lightweight objects deftly. By virtue of easy preparation and flexible function design, the spirally deformable actuators based on the oriented CNT film will be very promising in artificial muscles and bionic soft robots.