Photoresponsive Graphene Composite Bilayer Actuator for Soft Robots

Multi-Functional Actuators Made with Biomass-Based Graphene-Polymer Films for Intelligent Gesture Recognition and Multi-Mode Self-Powered Sensing

Multi-functional actuation systems involve the mechanical integration of multiple actuation and sensor devices with external energy sources. The intricate combination makes it difficult to meet the requirements of lightweight. Hence, polypyrrole@graphene-bacterial cellulose (PPy@G-BC) films are proposed to construct multi-responsive and bilayer actuators integrated with multi-mode self-powered sensing function. The PPy@G-BC film not only exhibits good photo-thermoelectric (PTE) properties but also possesses good hydrophilicity and high Young's modulus. Thus, the PPy@G-BC films are used as active layers in multi-responsive bilayer actuators integrated with self-powered sensing functions. Here, two types of multi-functional actuators integrated with self-powered sensing functions is designed. One is a light-driven actuator that realizes the self-powered temperature sensing function through the PTE effect. Assisted by a machine learning algorithm, the self-powered bionic hand can realize intelligent gesture recognition with an accuracy rate of 96.8%. The other is humidity-driven actuators integrated a zinc-air battery, which can realize self-powered humidity sensing. Based on the above advantages, these two multi-functional actuators are ingeniously integrated into a single device, which can simultaneously perform self-powered temperature/humidity sensing while grasping objects. The highly integrated design enables the efficient utilization of environmental energy sources and complementary synergistic monitoring of multiple physical properties without increasing system complexity.

Bioinspired Soft Electrostatic Accordion-Fold Actuators

Increasing interests have been directed toward the exploitation of origami techniques in developing biomimetic soft robots. There is a need for effective design solutions to exploit the properties of origami structure with simplified assembly and improved robotic mobility. In this study, inspired by human long-standing jumps, we present a soft electrostatically driven legged accordion fold actuator made by turning a flat paper into hollow polyhedron structure with a spring like rear and capable of electrostatic pad-assisted steering and carrying loads. Without the need for integration of external actuators, the actuator is composed of the electrostatic origami actuator itself supported by a single-fold leg with fast response, easy fabrication process, and low cost. Initiated by periodic deformation around the folding hinges caused by alternating current voltage and ground reaction forces, the actuators exhibit a unique jump-slide movement outperforming other existing soft electrostatic actuators/robots in terms of relative speed. We examined the effect of different geometric and external factors on the relative speed and highlighted the significance of body scale and short-edge panels as the elastic elements, as well as operating at resonance frequency in producing effective performances. Theoretical locomotion models and finite element analysis were carried out to interpret the working principle and validate experimental results.

Microgel-Crosslinked Thermo-Responsive Hydrogel Actuators with High Mechanical Properties and Rapid Response

Smart hydrogels responsive to external stimuli are promising for various applications such as soft robotics and smart devices. High mechanical strength and fast response rate are particularly important for the construction of hydrogel actuators. Herein, tough hydrogels with rapid response rates are synthesized using vinyl-functionalized poly(N-isopropylacrylamide) (PNIPAM) microgels as macro-crosslinkers and N-isopropylacrylamide as monomers. The compression strength of the obtained PNIPAM hydrogels is up to 7.13 MPa. The response rate of the microgel-crosslinked hydrogels is significantly enhanced compared with conventional chemically crosslinked PNIPAM hydrogels. The mechanical strength and response rate of hydrogels can be adjusted by varying the proportion of monomers and crosslinkers. The lower critical solution temperature (LCST) of the PNIPAM hydrogels could be tuned by copolymerizing with ionic monomer sodium methacrylate. Thermo-responsive bilayer hydrogels are fabricated using PINPAM hydrogels with different LCSTs via a layer-by-layer method. The thermo-responsive fast swelling and shrinking properties of the two layers endow the bilayer hydrogel with anisotropic structures and asymmetric response characteristics, allowing the hydrogel to respond rapidly. The bilayer hydrogels are fabricated into clamps to grab small objects and flowers that mimicked the closure of petals, and it shows great application prospects in the field of actuators.

Height-renderable morphable tactile display enabled by programmable modulation of local stiffness in photothermally active polymer

Reconfigurable tactile displays are being used to provide refreshable Braille information; however, the delivered information is currently limited to an alternative of Braille because of difficulties in controlling the deformation height. Herein, we present a photothermally activated polymer-bilayer-based morphable tactile display that can programmably generate tangible three-dimensional topologies with varying textures on a thin film surface. The morphable tactile display was composed of a heterogeneous polymer structure that integrated a stiffness-tunable polymer into a light-absorbing elastomer, near-infra-red light-emitting diode (NIR-LED) array, and small pneumatic chamber. Topological expression was enabled by producing localized out-of-plane deformation that was reversible, height-adjustable, and latchable in response to light-triggered stiffness modulation at each target area under switching of stationary pneumatic pressure. Notably, the tactile display could express a spatial softness map of the latched topology upon re-exposing the target areas to modulated light from the NIR-LED array. We expect the developed tactile display to open a pathway for generating high-dimensional tactile information on electronic devices and enable realistic interaction in augmented and virtual environments.

Functional PDMS Elastomers: Bulk Composites, Surface Engineering, and Precision Fabrication

Polydimethylsiloxane (PDMS)-the simplest and most common silicone compound-exemplifies the central characteristics of its class and has attracted tremendous research attention. The development of PDMS-based materials is a vivid reflection of the modern industry. In recent years, PDMS has stood out as the material of choice for various emerging technologies. The rapid improvement in bulk modification strategies and multifunctional surfaces has enabled a whole new generation of PDMS-based materials and devices, facilitating, and even transforming enormous applications, including flexible electronics, superwetting surfaces, soft actuators, wearable and implantable sensors, biomedicals, and autonomous robotics. This paper reviews the latest advances in the field of PDMS-based functional materials, with a focus on the added functionality and their use as programmable materials for smart devices. Recent breakthroughs regarding instant crosslinking and additive manufacturing are featured, and exciting opportunities for future research are highlighted. This review provides a quick entrance to this rapidly evolving field and will help guide the rational design of next-generation soft materials and devices.

Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator

Predictable bending deformation, high cycle stability, and multimode complex motion have always been the goals pursued in the field of flexible robots. In this study, inspired by the delicate structure and humidity response characteristics of Selaginella lepidophylla, a new multilevel assisted assembly strategy was developed to construct MXene-CoFe2O4 (MXCFO) flexible actuators with different concentration gradients, to achieve predictable bending deformation and multi-stimulus cooperative control of the actuators, revealing the intrinsic link between the gradient change and the bending deformation ability of the actuator. The thickness of the actuator shows uniformity compared with the common layer-by-layer assembly strategy. And, the bionic gradient structured actuator shows high cycle stability, and it maintains excellent interlayer bonding after bending 100 times. The flexible robots designed based on the predictable bending deformation and the multi-stimulus cooperative response characteristics of the actuator initially realize conceptual models of humidity monitoring, climbing, grasping, cargo transportation, and drug delivery. The designed bionic gradient structure and unbound multi-stimulus cooperative control strategy may show great potential in the design and development of robots in the future.

Photoresponsive hydrogel-based soft robot: A review

Soft robots have received a lot of attention because of their great human-robot interaction and environmental adaptability. Most soft robots are currently limited in their applications due to wired drives. Photoresponsive soft robotics is one of the most effective ways to promote wireless soft drives. Among the many soft robotics materials, photoresponsive hydrogels have received a lot of attention due to their good biocompatibility, ductility, and excellent photoresponse properties. This paper visualizes and analyzes the research hotspots in the field of hydrogels using the literature analysis tool Citespace, demonstrating that photoresponsive hydrogel technology is currently a key research direction. Therefore, this paper summarizes the current state of research on photoresponsive hydrogels in terms of photochemical and photothermal response mechanisms. The progress of the application of photoresponsive hydrogels in soft robots is highlighted based on bilayer, gradient, orientation, and patterned structures. Finally, the main factors influencing its application at this stage are discussed, including the development directions and insights. Advancement in photoresponsive hydrogel technology is crucial for its application in the field of soft robotics. The advantages and disadvantages of different preparation methods and structures should be considered in different application scenarios to select the best design scheme.

Applications of Graphene in Five Senses, Nervous System, and Artificial Muscles

Graphene remains of great interest in biomedical applications because of biocompatibility. Diseases relating to human senses interfere with life satisfaction and happiness. Therefore, the restoration by artificial organs or sensory devices may bring a bright future by the recovery of senses in patients. In this review, we update the most recent progress in graphene based sensors for mimicking human senses such as artificial retina for image sensors, artificial eardrums, gas sensors, chemical sensors, and tactile sensors. The brain-like processors are discussed based on conventional transistors as well as memristor related neuromorphic computing. The brain-machine interface is introduced for providing a single pathway. Besides, the artificial muscles based on graphene are summarized in the means of actuators in order to react to the physical world. Future opportunities remain for elevating the performances of human-like sensors and their clinical applications.

A multi-stimulus-responsive bionic fish microrobot for remote intelligent control applications

In nature, all creatures have their unique characteristics that allow them to adapt to the complex and changeable living environments. In recent years, bionic fish has received increased attention from the research community, and many fish-like microrobots driven by the Marangoni effect have been developed. They are generally characterized by easy operation and rapid driving. However, traditional fish-like microrobots can only be driven by a single stimulus and move on two-dimensional (2D) gas-liquid interfaces, which greatly limits their ability in obstacle avoidance and transportation. In this article, we propose a multi-stimulus-responsive bionic fish microrobot, which is made of temperature-responsive hydrogel poly(N-isopropylacrylamide) (pNIPAM). This microrobot is impregnated with carbon nanotubes (CNTs) and Fe₃O₄ and therefore has magnetic and photothermal conversion properties. Under the action of optical, magnetic or ethanol molecules, the microrobot can perform complex programmable translational motion on 2D surfaces and controllable rising and sinking, while realizing motion simulation and obstacle avoidance. The microrobot is expected to be used for a wide range of applications in intelligent control systems.

Advances in artificial muscles: A brief literature and patent review

Background: Artificial muscles are an active research area now. Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles' scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics. Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field. Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.

Engineering the Nonmorphing Point of Actuation for Controlled Drug Release by Hydrogel Bilayer across the pH Spectrum

Hydrogel-based pH-responsive bilayer actuators exhibit bidirectional actuation due to the differences in the concentration gradient developed across the thickness, the volume expansion due to swelling, and the mechanical stiffness of the layers involved. At a pH value (point), where the sum of these factors generates moments of equal magnitudes, the moments cancel each other and result in no net actuation. This pH point is termed here as a "nonmorphing point". In this work, we present a bilayer of chitosan (CS) and carboxymethyl cellulose (CMC) cross-linked with citric acid (CA) with tunable nonmorphing points across the pH spectrum by modulating the concentration and cross-linking density of the layers involved. The standard CS/CMC bilayer films took about 40 s to completely fold (clockwise) in 0.1 M HCl and 78 s to completely fold (anticlockwise) in 0.1 M NaOH. Generally, pH-responsive actuators are designed for targeted drug delivery to a specific site inside the body as they show bidirectional (clockwise/anticlockwise) actuation around a single nonmorphing point. The same pH-responsive system cannot be applied for drug release at another site with a different functioning pH. Thus, having a pH-responsive system with multiple nonmorphing points is highly desirable. Drug release experiments were performed with FITC and EtBr as model drugs loaded in CS and CMC layers. Moreover, the clockwise/anticlockwise actuation of the bilayer around the nonmorphing point can facilitate or inhibit the release of a drug. The clockwise actuation resulted in 55% FITC release and inhibited EtBr release to 4%; anticlockwise actuation resulted in 50% EtBr release and inhibited FITC release to 5%. We demonstrated morphing induced drug release by hydrogel bilayer films with tunable nonmorphing points across the pH spectrum.

Meniscus-Climbing System Inspired 3D Printed Fully Soft Robotics with Highly Flexible Three-Dimensional Locomotion at the Liquid-Air Interface

Soft robotics locomotion at the liquid-air interface has become more and more important for an intelligent society. However, existing locomotion of soft robotics is limited to two dimensions. It remains a formidable challenge to realize three-dimensional locomotion (X, Y, and Z axes) at the liquid-air two-phase interface due to the unbalanced mechanical environment. Inspired by meniscus-climbing beetle larva Pyrrhalta, the mechanism of a three-phase (liquid-solid-air) contact line is here proposed to address the aforementioned challenge. A corresponding 3D printed fully soft robotics (named larvobot) based on photoresponsive liquid crystal elastomer/carbon nanotubes composites endowed repeatable programmable deformation and high degree-of-freedom locomotion. Three-dimensional locomotion at the liquid-air interface including twisting and rolling-up has been developed. The equation of motion is established by analyzing the mechanics along the solid-water surface of the larvobot. Meanwhile, ANSYS is used to calculate the stress distribution, which coincides with the speculation. Moreover, soft robotics is remotely driven by light in a precise spatiotemporal control, which provides a great advantage for applications. As an example, we demonstrate the controllable locomotion of the soft robotics inside closed tubes, which could be used for drug delivery and intelligent transportation.

A wireless "Janus" soft gripper with multiple tactile sensors

Biomimetic properties allow soft robots to complexly interact with the environment. As the bridge between the robot and the operating object, the gripping hand is an important organ for its connection with the outside world, which requires the ability to provide feedback from the grasped object, similar to the human sensory and nervous system. In this work, to cope with the difficulty of integrating complex sensing and communication systems into flexible soft grippers, we propose a GO/PI composite bilayer film-based gripper with two types of tactile sensors and a LC passive wireless transmission module to obtain the grip information and transmit it to the processor. The bilayer film structure demonstrates good photothermal driving performance. Pressure and material sensors are located at the tips of the gripper's fingers to acquire tactile information which is wirelessly transmitted to the processor for analysis via the LC circuit. The grasping and feedback of the gripper are presented through an intelligent display system, realizing the wireless interconnection between the robot terminal and processing system, exhibiting broad application potential.

Unravelling the Influence of Surface Modification on the Ultimate Performance of Carbon Fiber/Epoxy Composites

The overall performance of polymer composites depends on not only the intrinsic properties of the polymer matrix and inorganic filler but also the quality of interfacial adhesion. Although many reported approaches have been focused on the chemical treatment for improving interfacial adhesion, the examination of ultimate mechanical performance and long-term properties of polymer composites has been rarely investigated. Herein, we report carbon fiber (CF)/epoxy composites with improved interfacial adhesion by covalent bonding between CFs and the epoxy matrix. This leads to the improved ultimate mechanical properties and enhanced thermal aging performance. Raman mapping demonstrates the formation of an interphase region derived from the covalent bonding between CFs and the epoxy matrix, which enables the uniform fiber distribution and eliminates phase separation during thermal cycling. The covalent attachment of the CF to the epoxy matrix suppresses its migration during temperature fluctuations, preserving the mechanical performance of resulting composites under the thermal aging process. Furthermore, the finite elemental analysis reveals the effectiveness of the chemical treatment of CFs in improving the interfacial strength and toughness of silane-treated CF/epoxy composites. The insight into the mechanical improvement of CF/epoxy composites suggests the high potential of surface modification of inorganic fillers toward polymer composites with tunable properties for different applications.

A versatile “3M” methodology to obtain superhydrophobic PDMS-based materials for antifouling applications

Fouling, including inorganic, organic, bio-, and composite fouling seriously affects our daily life. To reduce these effects, antifouling strategies including fouling resistance, release, and degrading, have been proposed. Superhydrophobicity, the most widely used characteristic for antifouling that relies on surface wettability, can provide surfaces with antifouling abilities owing to its fouling resistance and/or release effects. PDMS shows valuable and wide applications in many fields, and due to the inherent hydrophobicity, superhydrophobicity can be achieved simply by roughening the surface of pure PDMS or its composites. In this review, we propose a versatile “3M” methodology (materials, methods, and morphologies) to guide the fabrication of superhydrophobic PDMS-based materials for antifouling applications. Regarding materials, pure PDMS, PDMS with nanoparticles, and PDMS with other materials were introduced. The available methods are discussed based on the different materials. Materials based on PDMS with nanoparticles (zero-, one-, two-, and three-dimensional nanoparticles) are discussed systematically as typical examples with different morphologies. Carefully selected materials, methods, and morphologies were reviewed in this paper, which is expected to be a helpful reference for future research on superhydrophobic PDMS-based materials for antifouling applications.

Ratchetlike motion of helical bilayers induced by boundary constraints

We show that application of boundary constraints generates unusual folding behaviors in responsive (swellable) helical bilayer strips. Unlike the smooth folding trajectories typical of free helical bilayers, the boundary-constrained bilayers exhibit intermittent folding behaviors characterized by rapid, steplike movements. We experimentally study bilayer strips as they swell and fold, and we propose a simple model to explain the emergence of ratchetlike behavior. Experiments and model predictions are then compared to simulations, which enable calculation of elastic energy during swelling. We investigate the dependence of this steplike behavior as a function of elastic boundary condition strength, strip length, and strip shape; interestingly, "V-shape" strips with the same boundary conditions fold smoothly.

Ultrafast Response and Programmable Locomotion of Liquid/Vapor/Light-Driven Soft Multifunctional Actuators

External-stimuli-driven soft actuators overcome several limitations inherent in traditional mechanical-driven technology considering the coming age of flexible robots, which might face harsh working conditions and rigorous multifunctional requirements. However, how to achieve multi-external-stimuli response, fast speed, and precise control of the position and angle of the actuator, especially working in a toxic liquid or vapor environment, still requires long-term efforts. Here, we report a multi-external-stimuli-driven sandwich actuator with aligned carbon nanotubes as the constructive subject, which can respond to various types of liquids (organic solvents), vapor, and solar light. The actuator has an ultrafast response speed (<10 ms) and can accurately adjust the bending angle range from 0° to 180°. Through manipulating the stimuli positions, actuators can be wound into varied turns when simulating a flexible robotic arm. Hence, liquid/vapor/light-driven actuators are able to support diverse programmable motions, such as periodic blooming, gesture variations, caterpillar crawling, toxic surface evading, and bionic phototaxis. We believe that this multifunctional actuator is promising in supporting a complex scenario to complete a variety of tasks in the fields of healthcare, bioengineering, chip technology, and mobile sensors.

A Review on the Applications of Graphene in Mechanical Transduction

A pressing need to develop low-cost, environmentally friendly, and sensitive sensors has arisen with the advent of the always-connected paradigm of the internet-of-things (IoT). In particular, mechanical sensors have been widely studied in recent years for applications ranging from health monitoring, through mechanical biosignals, to structure integrity analysis. On the other hand, innovative ways to implement mechanical actuation have also been the focus of intense research in an attempt to close the circle of human-machine interaction, and move toward applications in flexible electronics. Due to its potential scalability, disposability, and outstanding properties, graphene has been thoroughly studied in the field of mechanical transduction. The applications of graphene in mechanical transduction are reviewed here. An overview of sensor and actuator applications is provided, covering different transduction mechanisms such as piezoresistivity, capacitive sensing, optically interrogated displacement, piezoelectricity, triboelectricity, electrostatic actuation, chemomechanical and thermomechanical actuation, as well as thermoacoustic emission. A critical review of the main approaches is presented within the scope of a wider discussion on the future of this so-called wonder material in the field of mechanical transduction.

Microfluidics and materials for smart water monitoring: A review

Water quality monitoring of drinking, waste, fresh and seawaters is of great importance to ensure safety and wellbeing for humans, fauna and flora. Researchers are developing robust water monitoring microfluidic devices but, the delivery of a cost-effective, commercially available platform has not yet been achieved. Conventional water monitoring is mainly based on laboratory instruments or sophisticated and expensive handheld probes for on-site analysis, both requiring trained personnel and being time-consuming. As an alternative, microfluidics has emerged as a powerful tool with the capacity to replace conventional analytical systems. Nevertheless, microfluidic devices largely use conventional pumps and valves for operation and electronics for sensing, that increment the dimensions and cost of the final platforms, reducing their commercialization perspectives. In this review, we critically analyze the characteristics of conventional microfluidic devices for water monitoring, focusing on different water sources (drinking, waste, fresh and seawaters), and their application in commercial products. Moreover, we introduce the revolutionary concept of using functional materials such as hydrogels, poly(ionic liquid) hydrogels and ionogels as alternatives to conventional fluidic handling and sensing tools, for water monitoring in microfluidic devices.

Light-Responsive Soft Actuators: Mechanism, Materials, Fabrication, and Applications

Soft robots are those that can move like living organisms and adapt to the surrounding environment. Compared with traditional rigid robots, the advantages of soft robots, in terms of material flexibility, human–computer interaction, and biological adaptability, have received extensive attention. Flexible actuators based on light response are one of the most promising ways to promote the field of cordless soft robots, and they have attracted the attention of scientists in bionic design, actuation implementation, and application. First, the three working principles and the commonly used light-responsive materials for light-responsive actuators are introduced. Then, the characteristics of light-responsive soft actuators are sequentially presented, emphasizing the structure strategy, actuation performance, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research frontier.

Strain-Induced Nonlinear Frictional Behavior of Graphene Nanowall Films

Graphene nanowall (GNW) films, a representation of three-dimensional (3D) carbon nanomaterial films, are emerging as promising candidates for applications in electric devices and composites, on account of their 3D structures and exceptional properties of graphene sheets. However, the frictional responses of GNW films, which exhibit significant influence on their performances, have seldom been reported. Herein, we reported a growth process of a GNW film by the chemical vapor deposition method and studied the frictional behavior of the GNW film for the first time. The results demonstrated the nonlinearity between the frictional force of the GNW film and normal load. Based on the structural evolution of the GNW film with normal load and frictional tests on precompressed GNW films, the influence of the strain property of the GNW film, namely, the strengthening effect, could be confirmed. The results of molecular dynamics simulations show that the bending force of GNWs in front of the tip plays a determinate role in the frictional force of the GNW film. Furthermore, the bending force is proportional to the bending contact area, which increases nonlinearly with the normal load due to the strengthening effect of the GNW film. The result suggests that the nonlinear increase of the bending contact area induced by the strengthening effect of the GNW film is the key factor that leads to its nonlinear frictional force. This study provides a novel insight into the frictional responses of GNW films, which would be beneficial for the design and application of electric devices and composites made of GNW and other 3D carbon nanomaterial films.

Curved Film Microstructure Arrays Fabricated via Mechanical Stretching

We report on curved film microstructure arrays fabricated through polydimethylsiloxane (PDMS) film buckling induced by mechanical stretching. In the process of the microstructure preparation, a PDMA film is glued on a bidirectionally prestretched PDMS sheet that has a square distributed hole array on its surface. After releasing the prestrain, the film microstructure array is created spontaneously. The fabricated microstructures possess a spherical surface and demonstrate very good uniformity. The film microstructure arrays can serve as microlens arrays with a focal length of 1010 μm. The microstructure formation mechanism is investigated via theoretical analysis and numerical simulation. The simulation results agree well with the experimental results. The prestrain applied by mechanical stretching during the fabrication has an important effect on the shape of the resulting film microstructures. The microstructure geometry can be easily tuned through controlling the applied prestrain.

Light Stimuli-Responsive Superhydrophobic Films for Electric Switches and Water-Droplet Manipulation

Fabrication of superhydrophobic films with large and sensitive deformed actuations driven by light stimuli for the emerging application fields such as biomimetic devices, artificial muscles, soft robotics, electric switches, and water-droplet manipulation remains challenging. Herein, a facile strategy is proposed to fabricate a light stimuli-responsive superhydrophobic film (LSSF) by integrating a bottom carbon nanotube/poly(vinylidene fluoride) (CNT/PVDF) layer, a middle chitosan (CS) layer, and a top superhydrophobic fumed silica-chitosan (SiO₂/CS) layer modified with 1H,1H,2H,2H-heptafluorodecyltrimethoxysilane (FAS). Under near-infrared (NIR) light irradiation, the LSSF quickly bent toward the CS layer with a large bending angle (>200°), high sensitivity (∼7 °C change), and great repeatability (>1000 cycles), which was attributed to the significant difference in the coefficient of thermal expansion (CTE) between CS and PVDF and the water desorption-induced volume shrinking in the CS layer. Furthermore, the LSSF also exhibited superhydrophobicity with a high water contact angle of 165° and a low water sliding angle of 2.8°. Importantly, owing to the high light absorption of CNTs, the LSSF-based biomimetic flower was able to not only bloom under NIR light exposure but also normally work when applying sunlight irradiation. Thanks to the electric conductivity and excellent water repellency, the LSSF was capable of being designed as an electric switch to remotely turn on/off the circuit even under a watery environment, and the LSSF was further successfully applied in water-droplet manipulation. The findings conceivably provided a new strategy to fabricate light stimuli-responsive superhydrophobic films for versatile applications.

A multi-functional light-driven actuator with an integrated temperature-sensing function based on a carbon nanotube composite

Actuators play an important role in the fields of intelligent robots and wearable electronics. Temperature has a great impact on the performances of many actuators. However, most of the traditional actuators only have an actuating function, failing to monitor and send real-time feedback of the temperature of the actuator. To solve the existing problem and break the single-function limit of traditional actuators, we propose a multi-functional light-driven actuator integrated with a temperature-sensing function, which is based on a carbon nanotube (CNT) and methylcellulose (MC) composite. When the CNT-MC film is assembled with biaxially oriented polypropylene (BOPP) to form a bilayer structure, the CNT-MC/BOPP actuator can be driven by near-infrared (NIR) light. Its morphing is based on thermal expansion differences between two layers and shrinkage of MC induced by water loss. The maximal bending curvature is up to 1.03 cm^-1. Meanwhile, the resistance of the actuator can change by about 10%, which realizes real-time temperature monitoring and feedback. Furthermore, we demonstrate two practical applications. First, the CNT-MC film can work as a temperature sensor, as its resistance changes with the temperature in real time. Second, we design an intelligent gripper, which can monitor the temperature during the entire working process. This multi-functional CNT-based device is expected to have a broad application prospect in artificial muscles, soft robotics and wearable electronics.

Light-driven bimorph soft actuators: design, fabrication, and properties

Soft robots that can move like living organisms and adapt to their surroundings are currently in the limelight from fundamental studies to technological applications, due to their advances in material flexibility, human-friendly interaction, and biological adaptation that surpass conventional rigid machines. Light-fueled smart actuators based on responsive soft materials are considered to be one of the most promising candidates to promote the field of untethered soft robotics, thereby attracting considerable attention amongst materials scientists and microroboticists to investigate photomechanics, photoswitch, bioinspired design, and actuation realization. In this review, we discuss the recent state-of-the-art advances in light-driven bimorph soft actuators, with the focus on bilayer strategy, i.e., integration between photoactive and passive layers within a single material system. Bilayer structures can endow soft actuators with unprecedented features such as ultrasensitivity, programmability, superior compatibility, robustness, and sophistication in controllability. We begin with an explanation about the working principle of bimorph soft actuators and introduction of a synthesis pathway toward light-responsive materials for soft robotics. Then, photothermal and photochemical bimorph soft actuators are sequentially introduced, with an emphasis on the design strategy, actuation performance, underlying mechanism, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research Frontier.

Light-Responsive Nanofibrous Motor with Simultaneously Precise Locomotion and Reversible Deformation

Light-powered micromotors have drawn enormous attention because of their potential applications in cargo delivery, environmental monitoring, and noninvasive surgery. However, the existing micromotors still suffer from some challenges, including slow speed, poor controllability, single locomotion mode, and no deformation during movement. Herein, we employ a combined electrospinning with brushing of Chinese ink to simply fabricate a light-responsive gradient-structured poly(vinyl alcohol)/carbon (PVA/carbon) composite motor. Because of the surface deposition and ultrahigh loading amount of carbon nanoparticles (ca. 43%), the motor exhibits rapid (39 mm/s), direction-controlled, and multimodal locomotion (vertical movement, horizontal motion, rotation) under light irradiation. Simultaneously, gradient alignment structure of the PVA nanofibrous matrix endows the motor with controllable and reversible deformation during locomotion. We finally demonstrate the potential applications of the motors in leakage monitoring, object salvage, smart access, and intelligent assembly. The present work will inspire the design of novel photosensitive motors for applications in various fields, such as microrobots, environmental monitoring, and biomedicine.

An Untethered Soft Robot Based on Liquid Crystal Elastomers

An untethered, soft robot using liquid crystal elastomer (LCE) actuators, onboard power, and wireless Bluetooth control was developed. LCE actuators were thermally triggered using Joule heating and demonstrated an ∼5 N force pull capacity per LCE. A >20% repeatable strain was demonstrated over >100 cycles with minimal loss of strain at high cycle numbers. The LCE actuators were horizontally oriented to maximize conversion of LCE contraction to overall robot movement. A battery and control board were integrated into the body of the robot, which allowed for Bluetooth control of the LCE on/off cycle. System level programming and design were implemented to offset the slow recovery associated with LCE actuators. The multiple LCE actuator legs were programmed to allow individual control of on/off cycles for each leg. LCE leg actuation was alternated between inner and outer legs to provide horizontal movement with minimized loss of motion during the LCE recovery cycle by actuating one set of legs during the recovery cycle of the other set for a maximum movement speed of 1.27 cm/min. Path control was also demonstrated by turning the robot by actuating two LCE legs on one side of the robot. The robot was able to pull up to 1400 g in ideal frictional conditions, allowing the possibility of payload transport, additional battery storage, or onboard sensors. Additional design considerations are discussed to further improve overall robot speed in the future by combining system and material level design considerations.

Dual pH-Responsive Hydrogel Actuator for Lipophilic Drug Delivery

As one of the most promising drug delivery carriers, hydrogels have received considerable attention in recent years. Many previous efforts have focused on diffusion-controlled release, which allows hydrogels to load and release drugs in vitro and/or in vivo. However, it hardly applies to lipophilic drug delivery due to their poor compatibility with hydrogels. Herein, we propose a novel method for lipophilic drug release based on a dual pH-responsive hydrogel actuator. Specifically, the drug is encapsulated and can be released by a dual pH-controlled capsule switch. Inspired by the deformation mechanism of Drosera leaves, we fabricate the capsule switch with a double-layer structure that is made of two kinds of pH-responsive hydrogels. Two layers are covalently bonded together through silane coupling agents. They can bend collaboratively in a basic or acidic environment to achieve the "turn on" motion of the capsule switch. By incorporating an array of parallel elastomer stripes on one side of the hydrogel bilayer, various motions (e.g., bending, twisting, and rolling) of the hydrogel bilayer actuator were achieved. We conducted an in vitro lipophilic drug release test. The feasibility of this new drug release method is verified. We believe this dual pH-responsive actuator-controlled drug release method may shed light on the possibilities of various drug delivery systems.

The Application of Stimuli-Sensitive Actuators Based on Graphene Materials

Graphene-based materials that can spontaneously response to external stimulations have triggered rapidly increasing research interest for developing smart devices due to their excellent electrical, mechanical and thermal properties. The specific behaviors as bending, curling, and swing are benefit for designing and fabricating the smart actuation system. In this minireview, we overview and summarize some of the recent advancements of stimuli-responsive actuators based on graphene materials. The external stimulus usually is as electrical, electrochemical, humid, photonic, and thermal. The advancement and industrialization of graphene preparation technology would push forward the rapid progress of graphene-based actuators and broaden their application including smart sensors, robots, artificial muscles, intelligent switch, and so on.

Tunable-Deformed Graphene Layers for Actuation

Benefiting from unique planar structure, high flexibility, splendid thermal, and electric properties; graphene as a crucial component has been widely applied into smart materials and multi-stimulus responsive actuators. Moreover, graphene with easy processing and modification features can be decorated with various functional groups through covalent or non-covalent bonds, which is promising in the conversion of environmental energy from single and/or multi-stimuli, to mechanical energy. In this review, we present the actuating behaviors of graphene, regulated by chemical bonds or intermolecular forces under multi-stimuli and summarize the recent advances on account of the unique nanostructures in various actuation circumstances such as thermal, humidity, electrochemical, electro-/photo-thermal, and other stimuli.