Magnetic Liquid Metals Manipulated in the Three-Dimensional Free Space

Gallium-based liquid metals as smart responsive materials: Morphological forms and stimuli characterization

Gallium-based liquid metals (GaLMs) have garnered monumental attention from the scientific community due to their diverse actuation characteristics. These metals possess remarkable characteristics, including high surface tension, excellent electrical and thermal conductivity, phase transformation behaviour, minimal viscosity and vapour pressure, lack of toxicity, and biocompatibility. In addition, GaLMs have melting points that are either lower or near room temperature, making them incredibly beneficial when compared to solid metals since they can be easily deformed. Thus, there has been significant progress in developing multifunctional devices using GaLMs, including bio-devices, flexible and self-healing circuits, and actuators. Despite numerous reports on these liquid metals (LMs), there is an urgent need for consolidated and coherent literature regarding their actuation principles linked to the targeted application. This will ensure that the reader gets the flavour of physics behind the actuation mechanism and how it can be utilized in diverse fields. Moreover, the actuation mechanism has been scattered in the literature, and thus, the primary motive of this review is to provide a one-stop solution for the actuation mechanism and the associated dynamics while directing the readers to specialized literature. Thus, addressing this issue, we thoroughly examine and present a detailed account of the actuation mechanisms of GaLMs while highlighting the science behind them. We also discuss the various morphologies of GaLMs and their crucial physical characteristics which decide their targeted application. Furthermore, we also delve into commonly held beliefs about GaLMs in the literature, such as their toxicity and antibacterial properties, to offer readers a more accurate understanding. Finally, we have explored several key unanswered aspects of the LM that should be explored in future research. The core strength of this review lies in its simplistic approach in offering a starting point for researchers venturing this innovative field, while we make use of existing literature to develop a comprehensive understanding.

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.

Liquid Metal as Energy Conversion Sensitizers: Materials and Applications

Energy can exist in nature in a wide range of forms. Energy conversion refers to the process in which energy is converted from one form to another, and this process will be greatly enhanced by energy conversion sensitizers. Recently, an emerging class of new materials, namely liquid metals (LMs), shows excellent prospects as highly versatile materials. Notably, in terms of energy delivery and conversion, LMs functional materials are chemical responsive, heat-responsive, photo-responsive, magnetic-responsive, microwave-responsive, and medical imaging responsive. All these intrinsic virtues enabled promising applications in energy conversion, which means LMs can act as energy sensitizers for enhancing energy conversion and transport. Herein, first the unique properties of the light, heat, magnetic and microwave converting capacity of gallium-based LMs materials are summarized. Then platforms and applications of LM-based energy conversion sensitizers are highlighted. Finally, some of the potential applications and opportunities of LMs are prospected as energy conversion sensitizers in the future, as well as unresolved challenges. Collectively, it is believed that this review provides a clear perspective for LMs mediated energy conversion, and this topic will help deepen knowledge of the physical chemistry properties of LMs functional materials.

Principles and methods of liquid metal actuators

As a promising material, liquid metals (LMs) have gained considerable interest in the field of soft robotics due to their ability to move as designed routines or change their shape dramatically under external stimuli. Inspired by the science fiction film Terminator, tremendous efforts have been devoted to liquid robots with high compliance and intelligence. How to manipulate LM droplets is crucial to achieving this goal. Accordingly, this review is dedicated to presenting the principles driving LMs and summarizing the potential methods to develop LM actuators of high maneuverability. Moreover, the recent progress of LM robots based on these methods is overviewed. The challenges and prospects of implementing autonomous robots have been proposed.

Liquid Metal Combinatorics toward Materials Discovery

Liquid metals and their derivatives provide several opportunities for fundamental and practical exploration worldwide. However, the increasing number of studies and shortage of desirable materials to fulfill different needs also pose serious challenges. Herein, to address this issue, a generalized theoretical frame that is termed as "Liquid Metal Combinatorics" (LMC) is systematically presented, and summarizes promising candidate technical routes toward new generation material discovery. The major categories of LMC are defined, and eight representative methods for manufacturing advanced materials are outlined. It is illustrated that abundant targeted materials can be efficiently designed and fabricated via LMC through deep physical combinations, chemical reactions, or both among the main bodies of liquid metals, surface chemicals, precipitated ions, and other materials. This represents a large class of powerful, reliable, and modular methods for innovating general materials. The achieved combinatorial materials not only maintained the typical characteristics of liquid metals but also displayed distinct tenability. Furthermore, the fabrication strategies, wide extensibility, and pivotal applications of LMC are classified. Finally, by interpreting the developmental trends in the area, a perspective on the LMC is provided, which warrants its promising future for society.

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

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

Combined three dimensional locomotion and deformation of functional ferrofluidic robots

Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.

Millirobot Based on a Phase-Transformable Magnetorheological Liquid Metal

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

Amoeba-Inspired Magnetic Venom Microrobots

Nature provides a successful evolutionary direction for single-celled organisms to solve complex problems and complete survival tasks - pseudopodium. Amoeba, a unicellular protozoan, can produce temporary pseudopods in any direction by controlling the directional flow of protoplasm to perform important life activities such as environmental sensing, motility, predation, and excretion. However, creating robotic systems with pseudopodia to emulate environmental adaptability and tasking capabilities of natural amoeba or amoeboid cells remains challenging. Here, this work presents a strategy that uses alternating magnetic fields to reconfigure magnetic droplet into Amoeba-like microrobot, and the mechanisms of pseudopodia generation and locomotion are analyzed. By simply adjusting the field direction, microrobots switch in monopodia, bipodia, and locomotion modes, performing all pseudopod operations such as active contraction, extension, bending, and amoeboid movement. The pseudopodia endow droplet robots with excellent maneuverability to adapt to environmental variations, including spanning 3D terrains and swimming in bulk liquids. Inspired by the "Venom," the phagocytosis and parasitic behaviors have also been investigated. Parasitic droplets inherit all the capabilities of amoeboid robot, expanding their applicable scenarios such as reagent analysis, microchemical reactions, calculi removal, and drug-mediated thrombolysis. This microrobot may provide fundamental understanding of single-celled livings, and potential applications in biotechnology and biomedicine.

High-Performance Magnetic and Electric Control of Liquid Metal Droplets

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

Gallium-Based Liquid Metal Materials for Antimicrobial Applications

The hazards caused by drug-resistant bacteria are rocketing along with the indiscriminate use of antibiotics. The development of new non-antibiotic antibacterial drugs is urgent. The excellent biocompatibility and diverse multifunctionalities of liquid metal have stimulated the studies of antibacterial application. Several gallium-based antimicrobial agents have been developed based on the mechanism that gallium (a type of liquid metal) ions disorder the normal metabolism of iron ions. Other emerging strategies, such as physical sterilization by directly using LM microparticles to destroy the biofilm of bacteria or thermal destruction via infrared laser irradiation, are gaining increasing attention. Different from traditional antibacterial agents of gallium compounds, the pronounced property of gallium-based liquid metal materials would bring innovation to the antibacterial field. Here, LM-based antimicrobial mechanisms, including iron metabolism disorder, production of reactive oxygen species, thermal injury, and mechanical destruction, are highlighted. Antimicrobial applications of LM-based materials are summarized and divided into five categories, including liquid metal motors, antibacterial fabrics, magnetic field-responsive microparticles, liquid metal films, and liquid metal polymer composites. In addition, future opportunities and challenges towards the development and application of LM-based antimicrobial materials are presented.

Magnetic liquid metal scaffold with dynamically tunable stiffness for bone tissue engineering

The stiffness of most biomaterials used in bone tissue engineering is static at present, and does not provide an ideal biomimetic dynamical mechanical microenvironment for bone regeneration. To simulate the dynamic stiffness better during bone repair, the preparation of dynamic materials, especially hydrogels, has aroused researchers' interest. However, there are still many problems limiting the development of hydrogels such as small-scale stiffness changes and unstable mechanical properties. Here, magnetic liquid metal (MLM) was introduced into bone tissue engineering for the first time. A MLM scaffold was obtained by adding magnetic silicon dioxide particles (Fe@SiO₂) into galinstan. Furthermore, a porous MLM (PMLM) scaffold was obtained by adding polyethylene glycol as a template to the MLM scaffold. Both scaffolds can respond to external magnetic fields, so changing the magnetic field intensity can achieve a large-scale of dynamic stiffness change. The results showed that the MLM scaffold has good biocompatibility and can promote the osteogenic differentiation of mesenchymal stem cells (MSCs). The PMLM scaffold with dynamic stiffness can promote new bone regeneration and osseointegration in vivo. Our research will open up a new field for the application of liquid metal and bring new ideas for the development of bone tissue engineering materials.

Solid-Liquid State Transformable Magnetorheological Millirobot

Magnetically actuated soft millirobots (magneto-robot) capable of accomplishing on-demand tasks in a remote-control manner using noninvasive magnetic fields are of great interest in biomedical settings. However, the solid magneto-robots are usually restricted by the limited deformability due to the predesigned shape, while the liquid magneto-robots are capable of in situ shape reconfiguration but limited by the low stiffness and geometric instability due to the fluidity. Herein, we propose a magneto-active solid-liquid state transformable millirobot (named MRF-Robot) made from a magnetorheological fluid (MRF). The MRF-Robot can transform freely and rapidly between the Newtonian fluid in the liquid state upon a weak magnetic field (∼0 mT) and the Bingham plasticity in the solid state upon a strong magnetic field (∼100 mT). The MRF-Robot in the liquid state can realize diverse behaviors of large deformation, smooth navigation, in situ splitting, merging, and gradient pulling actuated by a weak magnetic field with a high gradient. The MRF-Robot in the solid state is distinguished for the controllable locomotion with reconfigured shapes and versatile object manipulations (including pull, push, and rotate the objects) driven by a strong magnetic field with a high gradient. Moreover, the MRF-Robot could continuously maneuver to accomplish diverse tasks in the comprehensive scenes and achieve liquid-drug delivery, thrombus clearance, and fluid-flow blockage in the phantom vascular model under magnetic actuation.

Responsive Liquid Metal Droplets: From Bulk to Nano

Droplets exist widely in nature and play an extremely important role in a broad variety of industrial processes. Typical droplets, including water and oil droplets, have received extensive attention and research, however their single properties still cannot meet diverse needs. Fortunately, liquid metal droplets emerging in recent years possess outstanding properties, including large surface tension, excellent electrical and thermal conductivity, convenient chemical processing, easy transition between liquid and solid phase state, and large-scale deformability, etc. More interestingly, liquid metal droplets with unique features can respond to external factors, including the electronic field, magnetic field, acoustic field, chemical field, temperature, and light, exhibiting extraordinary intelligent response characteristics. Their development over the past decade has brought substantial breakthroughs and progress. To better promote the advancement of this field, the present article is devoted to systematically summarizing and analyzing the recent fundamental progress of responsive liquid metal droplets, not only involving droplet characteristics and preparation methods, but also focusing on their diverse response behaviors and mechanisms. On this basis, the challenges and prospects related to the following development of liquid metal droplets are also proposed. In the future, responsive liquid metal droplets with a rapid development trend are expected to play a key role in soft robots, biomedicine, smart matter, and a variety of other fields.

Superelongation of Liquid Metal

The ability to control interfacial tension electrochemically is uniquely available for liquid metals (LMs), in particular gallium-based LM alloys. This imparts them with excellent locomotion and deformation capabilities and enables diverse applications. However, electrochemical oxidation of LM is a highly dynamic process, which often induces Marangoni instabilities that make it almost impossible to elongate LM and manipulate its morphology directly and precisely on a 2D plane without the assistance of other patterning methods. To overcome these limitations, this study investigates the use of an LM-iron (Fe) particle mixture that is capable of suppressing instabilities during the electrochemical oxidation process, thereby allowing for superelongation of the LM core of the mixture to form a thin wire that is tens of times of its original length. More importantly, the elongated LM core can be manipulated freely on a 2D plane to form complex patterns. Eliminating Marangoni instabilities also allows for the effective spreading and filling of the LM-Fe mixture into molds with complex structures and small features. Harnessing these excellent abilities, a channel-less patterning method for fabricating elastomeric wearable sensors is demonstrated to detect motions. This study shows the potential for developing functional and flexible structures of LM with superior performance.

Stretchable and Recyclable Liquid Metal Droplets Embedded Elastomer Composite with High Mechanically Sensitive Conductivity

Liquid metal (LM)-based elastomers have received growing interest for a wide range of applications such as soft robotics and flexible electronics. This work reports a stretchable and bendable liquid metal droplets embedded elastomer (LMDE) composite, which consists of liquid metal droplets (LMDs) filler and carbonyl iron particles (CIPs)/polydimethylsiloxane (PDMS) hybrid matrix. The reversible switching of the composite from an insulator to a conductor can be realized through the contact and noncontact process between the LMDs. The mechanism of constructing the controllable conductive path between the droplets under external deformations has been systematically studied, and this result also provides a basis model for analyzing the conductive networks in traditional LM-based flexible composites. The composites exhibit stable mechanical and electrical performance under different tensile strains and bending angles. Moreover, the fluidic nature of LM endows the composite with good electrically healing capability. The valuable LM can be easily recycled at a high recovery rate of 98%. Finally, the composite can be developed as a sensor for the detection of both compressive force and magnetic field, demonstrating a broad promising in flexible electronics, actuators, and wearable devices.

Desktop-level small automatic guided vehicle driven by a liquid metal droplet

Gallium-based liquid metals (LMs) are a new type of intelligent material, and their ability to move under the action of an electric field provides new opportunities for the design of small flexible vehicles. However, due to the extremely high fluidity of LMs and the poor automatic control ability of LM vehicles, it's still a huge challenge to control the movement of LMs flexibly and accurately. Therefore, in this paper, a small traction vehicle is designed by putting the flexible LM in rigid armor to make the movement more controllable. Moreover, a desktop-level small automatic guided vehicle (sAGV) system is built by using an external control circuit to follow a predetermined trajectory. Firstly, the basic characteristics of the vehicles driven by a LM droplet are simulated and analyzed. Then the effects of different factors on the movement velocity of the vehicles are measured by experiment. Finally, as a preliminary application test, the sAGV system is used to control the vehicles following a specific trajectory and realize the targeted transportation of cargos. The sAGV system designed in this paper can realize the automatic and precise control of the movement of the small vehicle. The current findings will inspire the further construction of complex small operating systems and the realization of accurate control.

Lightweight, Thermally Conductive Liquid Metal Elastomer Composite with Independently Controllable Thermal Conductivity and Density

Lightweight and elastically deformable soft materials that are thermally conductive are critical for emerging applications in wearable computing, soft robotics, and thermoregulatory garments. To overcome the fundamental heat transport limitations in soft materials, room temperature liquid metal (LM) has been dispersed in elastomer that results in soft and deformable materials with unprecedented thermal conductivity. However, the high density of LMs (>6 g cm^-3 ) and the typically high loading (⩾85 wt%) required to achieve the desired properties contribute to the high density of these elastomer composites, which can be problematic for large-area, weight-sensitive applications. Here, the relationship between the properties of the LM filler and elastomer composite is systematically studied. Experiments reveal that a multiphase LM inclusion with a low-density phase can achieve independent control of the density and thermal conductivity of the elastomer composite. Quantitative design maps of composite density and thermal conductivity are constructed to rationally guide the selection of filler properties and material composition. This new multiphase material architecture provides a method to fine-tune material composition to independently control material and functional properties of soft materials for large-area and weight-sensitive applications.

Gallium oxide-stabilized oil in liquid metal emulsions

Gallium based liquid metals (LM) have prospective biomedical, stretchable electronics, soft robotics, and energy storage applications, and are being widely adopted as thermal interface materials. The danger of gallium corroding most metals used in microelectronics requires the cumbersome addition of "barrier" layers or LM break-up into droplets within an inert matrix such as silicone oil. Such LM-in-oil emulsions are stabilized by native oxide on the droplets but have decreased thermal performance. Here we show that mixing of the silicone oil into an LM-air foam yields emulsions with inverted phases. We investigate the stability of these oil-in-LM emulsions through a range of processing times and oil viscosities, and characterize the impact of these parameters on the materials' structure and thermal property relationships. We demonstrate that the emulsion with 40 vol% of 10 cSt silicone oil provides a unique thermal management material with a 10 W m^-1 K^-1 thermal conductivity and an exterior lubricant thin film that completely prevents corrosion of contacting aluminum.

A new hydrodynamic interpretation of liquid metal droplet motion induced by an electrocapillary phenomenon

The Marangoni effect, induced by the surface tension gradient resulting from the gradient of temperature, concentration, or electric potential gradient along a surface, is commonly utilized to manipulate a droplet. It is also the reason for unique behaviors of liquid metal such as moving, breathing, and large-scale deformation under an electric field, which have aroused tremendous interest in academics. However, liquid metal droplets are usually treated as solid marbles, which neglect their fluidic features and can hardly explain some unusual phenomena, such as a droplet under a stationary electric field that moves in the opposite direction in different solutions. To better clarify these discrepancies, this study reveals that the movement of liquid metal is directly driven by viscous forces of solution rather than interfacial tension. This mechanism was determined by analyzing flow characteristics on a liquid metal surface. Additionally, experiments with liquid metal free falling in solution, liquid metal droplet movement experiments on substrates with different roughness, and liquid metal droplet movement experiments under high current density were additionally conducted to verify the theoretical interpretation. This research is instrumental for a greater understanding of the movement of liquid metal under an electric field and lays the foundation for the applications of liquid metal droplets in pumping, fluid mixing, and many other microfluidic fields.

Ga Based Particles, Alloys and Composites: Fabrication and Applications

Liquid metal (LM) materials, including pure gallium (Ga) LM, eutectic alloys and their composites with organic polymers and inorganic nanoparticles, are cutting-edge functional materials owing to their outstanding electrical conductivity, thermal conductivity, extraordinary mechanical compliance, deformability and excellent biocompatibility. The unique properties of LM-based materials at room temperatures can overcome the drawbacks of the conventional electronic devices, particularly high thermal, electrical conductivities and their fluidic property, which would open tremendous opportunities for the fundamental research and practical applications of stretchable and wearable electronic devices. Therefore, research interest has been increasingly devoted to the fabrication methodologies of LM nanoparticles and their functional composites. In this review, we intend to present an overview of the state-of-art protocols for the synthesis of Ga-based materials, to introduce their potential applications in the fields ranging from wearable electronics, energy storage batteries and energy harvesting devices to bio-applications, and to discuss challenges and opportunities in future studies.

Hydrochromic Visualization of a Keggin-Type Structure Triggered by Metallic Fluids for Liquid Displays, Reversible Writing, and Acidic Environment Detection

Hydrochromic visualization of a liquid interface shows vital potential applications in liquid displays, reversible writing, and acidic environmental detection, which offers a platform for detection and forewarning due to its intuitive and visual characteristics. Herein, we report a hydrochromic display due to the interfacial effect of liquid metal (LM)-triggered ammonium metatungstate (AMT) with instant dual-mode color switching. The double-electron-transfer reaction of the AMT on the surface of gallium-based LM caused the formation of heteropoly blue in the presence of acidic surroundings, resulting in a reversible color switching from being colorless to blue or blue to colorless. This visual interfacial discoloration phenomenon can be applied to the liquid display on diverse patterns of the LM surface. Furthermore, papers with a functional display were prepared, which can be used for writing up to eight times with dual-mode color switching. In addition, the reactive activity of acid triggering make it a potential candidate for use in visualizing an acidic environment with a detection range of pH = 1 to 0 (0.1-1.5 M). Briefly, this interfacial discoloration phenomenon enriches the interfacial engineering of LM and provides a unique prospective and wide-range platform for the application of LM.

An Ultrastretchable Electrical Switch Fiber with a Magnetic Liquid Metal Core for Remote Magnetic Actuation

In this work we describe a soft and ultrastretchable fiber with a magnetic liquid metal (MLM) core for electrical switches used in remote magnetic actuation. MLM was prepared by removing the oxide layer on the liquid metal and subsequent mixing with magnetic iron particles. We used SEBS (poly[styrene-b-(ethylene-co-butylene)-b-styrene]) and silicone to prepare stretchable elastic fibers. Once hollow elastic fibers form, MLM was injected into the core of the fiber at ambient pressure. The fibers are soft (Young's modulus of 1.6~4.4 MPa) and ultrastretchable (elongation at break of 600~5000%) while maintaining electrical conductivity and magnetic property due to the fluidic nature of the core. Magnetic strength of the fibers was characterized by measuring the maximum effective distance between the magnet and the fiber as a function of iron particle concentration in the MLM core and the polymeric shell. The MLM core facilitates the use of the fiber in electrical switches for remote magnetic actuation. This ultrastretchable and elastic fiber with MLM core can be used in soft robotics, and wearable and conformal electronics.

Small universal mechanical module driven by a liquid metal droplet

Gallium-based liquid metal droplets (LMDs) from micro-electromechanical systems (MEMS) have gained much attention due to their precise and sensitive controllability under an electric field. Considerable research progress has been made in the field of actuators by taking advantage of the continuous electrowetting (CEW) present within the solution. However, the motion generated is confined within the specific liquid environment and is lacking a way to transmit its motion outwardly, which undoubtedly serves as the greatest obstacle restricting any further development. Therefore, a driving module is proposed to generate rotational motion outside the solution for universality. Its performance can be easily tuned by adjusting the applied voltage. As an example of further application, the module is designed in the form of a pump that realizes the continuous/intermittent propulsion to mimic the veins/arteries of the human body without the problem in the previous LMD-based pumps. The feasibility of this pump in the on-chip in vitro analysis is proved by preparing a dynamic cell culture to simulate the movement of biofluids within human bodies. This study proposes an optional solution with an LMD-based motor for generating rotational motion and to expand current research on soft materials in actuators.

Progress and Roadmap for Intelligent Self-Healing Materials in Autonomous Robotics

Robots are increasingly assisting humans in performing various tasks. Like special agents with elite skills, they can venture to distant locations and adverse environments, such as the deep sea and outer space. Micro/nanobots can also act as intrabody agents for healthcare applications. Self-healing materials that can autonomously perform repair functions are useful to address the unpredictability of the environment and the increasing drive toward the autonomous operation. Having self-healable robotic materials can potentially reduce costs, electronic wastes, and improve a robot endowed with such materials longevity. This review aims to serve as a roadmap driven by past advances and inspire future cross-disciplinary research in robotic materials and electronics. By first charting the history of self-healing materials, new avenues are provided to classify the various self-healing materials proposed over several decades. The materials and strategies for self-healing in robotics and stretchable electronics are also reviewed and discussed. It is believed that this article encourages further innovation in this exciting and emerging branch in robotics interfacing with material science and electronics.

Mini/Micro/Nano Scale Liquid Metal Motors

Swimming motors navigating in complex fluidic environments have received tremendous attention over the last decade. In particular, liquid metal (LM) as a new emerging material has shown considerable potential in furthering the development of swimming motors, due to their unique features such as fluidity, softness, reconfigurability, stimuli responsiveness, and good biocompatibility. LM motors can not only achieve directional motion but also deformation due to their liquid nature, thus providing new and unique capabilities to the field of swimming motors. This review aims to provide an overview of the recent advances of LM motors and compare the difference in LM macro and micromotors from fabrication, propulsion, and application. Here, LM motors below 1 cm, named mini/micro/nano scale liquid metal motors (MLMTs) will be discussed. This work will present physicochemical characteristics of LMs and summarize the state-of-the-art progress in MLMTs. Finally, future outlooks including both opportunities and challenges of mini/micro/nano scale liquid metal motors are also provided.

Liquid metal-based nanocomposite materials: fabrication technology and applications

Research on liquid metals has been steadily garnering more interest in recent times, especially in flexible electronics applications because of their properties like possessing high conductivity and being liquid state at room temperature. The unique properties afforded by such materials at low temperatures can compensate for the limitations of stretchable electronic devices, particularly robustness and their fluidic property, which can enhance the flexibility and deformation of these devices. Therefore, interest in liquid-metal nanoparticles and liquid metals with nanocomposites has enabled research into their fabrication technologies as well as utilisation in fields such as chemistry, polymer engineering, computational modelling, and nanotechnology. In particular, in flexible and stretchable electronic device applications, the research attention is focused on the fabrication methodologies of liquid-metal nanoparticles and liquid metals containing nanocomposites. This review attempts to summarise the available stretchable and flexible electronics applications that use liquid-metal nanoparticles as well as liquid metals with nanomaterial additives.

Mussel-Inspired Multifunctional Integrated Liquid Metal-Based Magnetic Suspensions with Rheological, Magnetic, Electrical, and Thermal Reinforcement

Magnetic liquid metal is regarded as a promising material due to its integration of fluidic, metallic, and magnetic properties simultaneously. Previously, few methods of fabricating magnetic liquid metal have been proposed. However, either the alloying reaction inside the matrix or the poor performance in electrical and thermal conduction is troublesome in practical applications. Here, inspired by the mussel in nature, polydopamine is introduced to in situ reduce and immobilize silver shells on the surface of iron particles, and then the modified particles mix with liquid metal to prepare liquid metal-based magnetic suspensions (LMMSs). The silver shells can prevent iron particles from alloying with liquid metal and enhance the electrical and thermal conductivities of the LMMS concurrently. Besides, the LMMS thus obtained can keep its magnetism intact for a long period, at least during the 60 days of the test. Compared to directly mixing bare iron particles with liquid metal, the maximum electrical conductivities increase by at least 13.69% and the thermal conductivities increase by almost 4 times in the LMMS. The LMMS also exhibits potential applications in patterning and magnetic manipulation. This work puts forward a new strategy for preparing a LMMS with appealing properties and its broad applications are expected in the future.

Pervasive liquid metal printed electronics: From concept incubation to industry

Electronic devices play vital role in modern civilization. Compared to conventional electronic manufacturing, the recently emerging liquid metal printed electronics (LMPE) is opening many extraordinary opportunities, such as large-area printing, pervasive adaptability, flexibility for personal use, low cost, high performance, and environmental friendliness. More uniquely, liquid metal printing allows customize electronic products on demand to fabricate electronics spanning from 2D plane surface to 3D structure and on any desired substrates. This deems it to reshape modern electronics and integrated circuits field. So far, a variety of technological breakthroughs in this new generation electronic engineering area have been made in the process of developing various liquid metal functional inks, printing machines and applications, which significantly stimulate the quick incubation and formation of a new electronic industry. Clearly, sorting out the major R&D directions and clarifying future challenges is crucial for the large scale industrialization of LMPE. This perspective article is dedicated to briefly outline the representative principles and key technologies lying behind, and illustrate the milestone products and equipment thus invented for the coming LMPE industry. In addition, we evaluate the corresponding industrialization trends and promising roadmap and interpret future prospects for the new era of pervasive electronics when anyone can freely use such a tool to print out himself functional electronic device to fulfill various purposes at anywhere and anytime.

Broad-spectrum treatment of bacterial biofilms using magneto-responsive liquid metal particles

The formation and proliferation of bacterial biofilms on surfaces, particularly those on biomedical devices, is a significant issue that results in substantial economic losses, presenting severe health risks to patients. Furthermore, heterogeneous biofilms consisting of different bacterial species can induce the increase in pathogenicity, and the resistance to antimicrobial agents due to the synergistic interactions between the different species. Heterogeneous bacterial biofilms are notoriously difficult to treat due to the presence of extracellular polymeric substances (EPS) and, in conjunction with the rapid rise of multi-drug resistant pathogens, this means that new solutions for anti-biofilm treatment are required. In this study, we investigate the application of magneto-responsive gallium-based liquid metal (GLM-Fe) nanomaterials against a broad range of Gram-positive and Gram-negative bacterial mono-species and multi-species biofilms. The GLM-Fe particles exhibit a magneto-responsive characteristic, causing spherical particles to undergo a shape transformation to high-aspect-ratio nanoparticles with sharp asperities in the presence of a rotating magnetic field. These shape-transformed particles are capable of physically removing bacterial biofilms and rupturing individual cells. Following treatment, both mono-species and multi-species biofilms demonstrated significant reductions in their biomass and overall cell viability, demonstrating the broad-spectrum application of this antibacterial technology. Furthermore, the loss of integrity of the bacterial cell wall and membranes was visualized using a range of microscopy techniques, and the leakage of intracellular components (such as nucleic acids and protein) was observed. Insights gained from this study will impact the design of future liquid metal-based biofilm treatments, particularly those that rely on magneto-responsive properties.

Liquid Metal-Based Magnetorheological Fluid with a Large Magnetocaloric Effect

Herein, liquid metal and Mn_0.6Fe_0.4NiGe_0.54Si_0.46 particles with a large magnetocaloric effect are adopted to prepare a novel magnetocaloric suspension named liquid metal-based magnetorheological fluid (LM²RF), which can well solve the problems of brittleness, low thermal conductivity, and poor machinability in classical magnetocaloric materials. The low melting point and high boiling point of liquid metal could significantly widen the operating temperature range of such a fluid. As a carrier, the high thermal conductivity, low viscosity, and large density of liquid metal display advantageous to heat transfer. The maximum loading fraction is 19.5 wt %, while LM²RF features the liquid state. A series of tests are conducted to investigate the alloying behavior in LM²RF. It is found that galinstan will react with Mn_0.6Fe_0.4NiGe_0.54Si_0.46 particles and form MnGa alloy. However, the reaction rate is very slow and the generated MnGa alloy is passivating. Consequently, the quantity of MnGa alloy is too sparse to affect the magnetocaloric performance of LM²RF. Overall, the LM²RF exhibits a large MCE at around room temperature with a lower magnetic hysteresis loss, and the transition temperature (T_m) remains constant in 60 days. This work demonstrates the outstanding performance of LM²RF and provides a promising alternative to MCE materials for practical magnetic refrigeration.

Low-Temperature Triggered Shape Transformation of Liquid Metal Microdroplets

Shape transformable materials that can respond to external environments have attracted widespread interest over the fields of soft robotics, flexible electronics, and tissue engineering. Among stimuli-responsive materials, liquid metals exhibit rather unique characteristics of versatile morphological changes upon diverse stimuli, including chemicals, electrical field, and mechanical force, etc. Herein, a superfast (few milliseconds), large-scaled (13.8% deformation increase), and fierce (cracks formation) transformation of liquid metal microdroplets (LMMs) with strong impulse expanded force due to liquid-solid phase transition in a dual fluid system composed of LMMs and aqueous solution is reported. When subject to low-temperature stimulus, LMM would transform from ellipsoidal shape to amorphous shape induced by thermal stress, driving the shape morphing. Furthermore, the phase changes of LMMs as well as the formation of surrounding ice crystals are proven to be responsible for this phenomenal behavior. The densification of ice crystals is demonstrated to play a significant role in the transformable behavior. In particular, these nonconductive LMMs in aqueous solutions are discovered to turn into conducive materials with an impedance change of about 10⁵ times. The present discovery is of fundamental and practical significance, and would open new venues in fields such as fluid mechanics, thermal science, flexible electronics, biomedicine, and so forth.

Programmable Digital Liquid Metal Droplets in Reconfigurable Magnetic Fields

Gallium-based liquid metals exhibit excellent locomotion and deformation capabilities under external stimuli and has potential in developing intelligent robots. Programing the locomotion and morphology of the Liquid metal (LM) to endow it with functionalities and intelligence as robots is charming but remains challenging. In this study, we develop a programmable digital LM (PDLM) control platform that can realize versatile locomotion and morphological manipulation of magnetic LM (MLM) droplets using arrays of electromagnets. We demonstrate on-demand transportation, deformation, breakup, and merging of multiple MLM droplets simultaneously and precisely. We find that the intriguing behaviors of MLM under a magnetic field are due to the interplay of surface tension and magnetic forces. Furthermore, we present a functional cooperative droplet robot by equipping the MLM droplets with three-dimensionally printed microtool modules. We show that both the position and orientation of a rod-shaped object can be precisely manipulated by the cooperation of the MLM droplet robots. More interestingly, we explore the capability of the MLM droplet robots for cooperatively handling a copper wire to connect and disconnect electronic circuits. Finally, we demonstrate that the PDLM control platform is capable of programing a group of MLM droplets to accomplish a digital display task. We believe that the PDLM control system presents a promising potential in developing LM-based reconfigurable circuits, digital display systems, and biomimetic soft robotic systems with high controllability, multifunctionalities, and intelligence.

Ferromagnetic Liquid Metal Putty-Like Material with Transformed Shape and Reconfigurable Polarity

It is remarkably desirable and challenging to design reconfigurable ferromagnetic materials with high electrical conductivity. This has attracted great attention due to promising applications in many fields such as emerging flexible electronics and soft robotics. However, the shape and magnetic polarity of existing ferromagnetic materials with low conductivity are both hard to be reconfigured, and the magnetization of insulative ferrofluids is easily lost once the external magnetic field is removed. A novel reconfigurable ferromagnetic liquid metal (LM) putty-like material (FM-LMP) with high electrical conductivity and transformed shape, which is prepared through homogenously mixing neodymium-iron-boron microparticles into the gallium-based LM matrix, and turning this liquid-like suspension into the solid-like putty-like material by magnetization, is reported to achieve this. The induction magnetic field of FM-LMP is mainly attributed to the magnetic alignment of the dispersed ferromagnetic microparticles, which can be conveniently demagnetized by mechanical disordering and reversibly reconfigured through microparticle realignment by applying a weak magnetic field. FM-LMP with a low fraction of microparticles can be used as printable conductive ink for paper electronics, which are further exploited for applications including magnetic switching, flexible erasable magnetic recording paper, and self-sensing paper-based soft robotics using magnetic actuation.

Liquid Metal-Based Soft Microfluidics

Motivated by the increasing demand of wearable and soft electronics, liquid metal (LM)-based microfluidics has been subjected to tremendous development in the past decade, especially in electronics, robotics, and related fields, due to the unique advantages of LMs that combines the conductivity and deformability all-in-one. LMs can be integrated as the core component into microfluidic systems in the form of either droplets/marbles or composites embedded by polymer materials with isotropic and anisotropic distribution. The LM microfluidic systems are found to have broad applications in deformable antennas, soft diodes, biomedical sensing chips, transient circuits, mechanically adaptive materials, etc. Herein, the recent progress in the development of LM-based microfluidics and their potential applications are summarized. The current challenges toward industrial applications and future research orientation of this field are also summarized and discussed.

Electromagnetic three dimensional liquid metal manipulation

In this paper, we report three-dimensional (3-D) liquid metal manipulation using electromagnets, which can be applied to electrical switching applications. The liquid metal droplet was coated with iron (Fe) particles by chemical reaction with hydrochloric acid (HCl), and thus it became responsive to the magnetic field, becoming a magnetic liquid metal marble. Using electromagnets, the magnetic field was turned on and off on-demand. We investigated an average velocity and the maximum working distance of the horizontal and vertical electromagnetic field-driven manipulation of the magnetic liquid metal marble. Linear (1-D) and plane (2-D) manipulation of the marble was successfully demonstrated and 3-D manipulation was verified for electrical switching.

Semiliquid Metal Enabled Highly Conductive Wearable Electronics for Smart Fabrics

Wearable electronics incorporating electronic components into commonly used fabrics can serve as new-generation personalized health-care systems for applications ranging from health-care monitoring to disease treatment. Conventional rigid materials including gold, silver, and copper generally require a complicated fabrication process to be sewn into clothes. At the same time, other high-stretchable nonmetal materials such as conductive polymers generally have a limitation of low electroconductivity, restricting their further applications. Recently, gallium-based liquid metals have exhibited superior advantages in flexible electronics and have presented valuable potential in creative printing technologies. Here, we proposed a novel wearable electronics prepared through roller printing technology based on the adhesion difference of semiliquid metal (Cu-EGaIn, eutectic gallium-indium mixed with copper microparticles) on cotton fabrics and polyvinyl acetate (PVAC) glue. Results have shown that the surface topography and chemical interaction of fabrics and PVAC glue determine the adhesion effect with the Cu-EGaIn mixture. The electric experiments have demonstrated the electromechanical stability of the fabricated lines on fabrics. Further, a series of smart fabrics were developed including an interactive circuit, stretchable light-emitting diode array, and thermal management device with advantages of easy operation, low cost, and large-area fabrication to show practical applications in the method. This strategy may play an important role in the design and fabrication of smart fabrics, contributing to the development of customized health-care systems.