Highly Flexible Multilayered e-Skins for Thermal-Magnetic-Mechanical Triple Sensors and Intelligent Grippers

An Adaptive Elastic Support Seat-Based Magnetorheological Elastomer for Human Body Vibration Reduction

This paper introduces an electromagnetic structure utilizing the controllable mechanical properties of magnetorheological elastomer (MRE) materials through magnetic flux. An adaptive elastic foundation composed of these materials is explored for vibration reduction and frequency modulation. This study investigates these effects using both a single-mass model and a coupled human-seat model. For objects supported by the adaptive elastic foundation, increasing the magnetic flux enhances the stiffness and damping, thereby significantly reducing the peak response while slightly increasing the resonance frequency. Strategies such as increasing the magnetic flux, reducing the object mass, and minimizing the system's degrees of freedom and internal damping contribute to enhancing the vibration reduction and frequency modulation in the adaptive elastic foundation. The simulation results indicate that for a seated human (weighing between 72.4 kg and 88.4 kg), the adaptive elastic foundation reduces the head peak response by approximately 15.7% and increases the resonance frequency by approximately 3.4% at a magnetic flux of 138 mT.

Flexible Multimodal Magnetoresistive Sensors Based on Alginate/Poly(vinyl alcohol) Foam with Stimulus Discriminability for Soft Electronics Using Machine Learning

Flexible foam-based sensors have attracted substantial interest due to their high specific surface area, light weight, superior deformability, and ease of manufacture. However, it is still a challenge to integrate multimodal stimuli-responsiveness, high sensitivity, reliable stability, and good biocompatibility into a single foam sensor. To achieve this, a magnetoresistive foam sensor was fabricated by an in situ freezing-polymerization strategy based on the interpenetrating networks of sodium alginate, poly(vinyl alcohol) in conjunction with glycerol, and physical reinforcement of core-shell bidisperse magnetic particles. The assembled sensor exhibited preferable magnetic/strain-sensing capability (GF ≈ 0.41 T-1 for magnetic field, 4.305 for tension, -0.735 for bending, and -1.345 for pressing), quick response time, and reliable durability up to 6000 cycles under external stimuli. Importantly, a machine learning algorithm was developed to identify the encryption information, enabling high recognition accuracies of 99.22% and 99.34%. Moreover, they could be employed as health systems to detect human physiological motion and integrated as smart sensor arrays to perceive external pressure/magnetic field distributions. This work provides a simple and ecofriendly strategy to fabricate biocompatible foam-based multimodal sensors with potential applications in next-generation soft electronics.

Multifunctional cross-sensitive magnetic alginate-chitosan-polyethylene oxide nanofiber sensor for human-machine interaction

Flexible nanofiber membranes are compelling materials for the development of functional multi-mode sensors; however, their essential features such as high cross-sensitivity, reliable stability and signal discrimination capability have rarely been realized simultaneously in one sensor. Here, a novel multi-mode sensor with a nanofiber membrane structure based on multiple interpenetrating networks of bidisperse magnetic particles, sodium alginate (SA), chitosan (CHI) in conjunction with polyethylene oxide hydrogels was prepared in a controllable electrospinning technology. Specifically, the morphology distributions of nanofibers could be regulated by the crosslinking degree of the interpenetrating networks and the spinning process parameters. The incorporation of SA and CHI endowed the sensor with desirable flexibility, ideal biocompatibility and skin-friendly property. Besides, the assembled sensors not only displayed preferable magnetic sensitivity of 0.34 T-1 and reliable stability, but also exhibited favorable cross-sensitivity, quick response time, and long-term durability for over 5000 cycles under various mechanical stimuli. Importantly, the multi-mode stimuli could be discriminated via producing opposite electrical signals. Furthermore, based on the signal distinguishability of the sensor, a wearable Morse code translation system assisted by the machine learning algorithm was demonstrated, enabling a high recognizing accuracy (>99.1 %) for input letters and numbers information. Due to the excellent multifunctional sensing characteristics, we believe that the sensor will have a high potential in wearable soft electronics and human-machine interactions.

Ductile adhesive elastomers with force-triggered ultra-high adhesion strength

Elastomers play a vital role in many forthcoming advanced technologies in which their adhesive properties determine materials' interface performance. Despite great success in improving the adhesive properties of elastomers, permanent adhesives tend to stick to the surfaces prematurely or result in poor contact depending on the installation method. Thus, elastomers with on-demand adhesion that is not limited to being triggered by UV light or heat, which may not be practical for scenarios that do not allow an additional external source, provide a solution to various challenges in conventional adhesive elastomers. Herein, we report a novel, ready-to-use, ultra high-strength, ductile adhesive elastomer with an on-demand adhesion feature that can be easily triggered by a compression force. The precursor is mainly composed of a capsule-separated, two-component curing system. After a force-trigger and curing process, the ductile adhesive elastomer exhibits a peel strength and a lap shear strength of 1.2 × 104 N m-1 and 7.8 × 103 kPa, respectively, which exceed the reported values for advanced ductile adhesive elastomers. The ultra-high adhesion force is attributed to the excellent surface contact of the liquid-like precursor and to the high elastic modulus of the cured elastomer that is reinforced by a two-phase design. Incorporation of such on-demand adhesion into an elastomer enables a controlled delay between installation and curing so that these can take place under their individual ideal conditions, effectively reducing the energy cost, preventing failures, and improving installation processes.

Functional magnetic alginate/gelatin sponge-based flexible sensor with multi-mode response and discrimination detection properties for human motion monitoring

The functional flexible sensors that can simultaneously detect multiple external excitations have exhibited great potential in the human-machine interaction and wearable electronics. However, it is still a primary challenge to develop a multi-mode sensor that can achieve sensitivity equilibrium towards different stimuli, and effectively recognize external stimulus while in a facile and cost-effective material and methodology. This study presented a functional flexible sensor based on natural polymer sodium alginate and gelatin sponge electrode which could detect both external mechanical and magnetic stimuli with superiorities of outstanding sensing capability and stability. With the optimal multilayered structure, it possessed high magnetic responsive sensitivity of 0.45 T-1, excellent stability and recoverability. Its electrical property variations also displayed high sensitivity and durability under cyclic stretching, bending and compressing stimuli for 1000 cycles. More importantly, the sensor could not only respond to magnetic field and compression stimuli with contrary electrical responses, but also recognize the respective input signals to decouple different stimuli in real time. Furthermore, it was developed as electronic skins and smart sensor arrays for human physiological signals and mechanical-magnetic detection. Based on excellent multifunctional response characteristics, the sensor showed significant potential in next-generation intelligent multifunctional electronic system and artificial intelligence.

Ultracompact single-nanowire-morphed grippers driven by vectorial Lorentz forces for dexterous robotic manipulations

Ultracompact and soft pairwise grippers, capable of swift large-amplitude multi-dimensional maneuvering, are widely needed for high-precision manipulation, assembly and treatment of microscale objects. In this work, we demonstrate the simplest construction of such robotic structures, shaped via a single-nanowire-morphing and powered by geometry-tailored Lorentz vectorial forces. This has been accomplished via a designable folding growth of ultralong and ultrathin silicon NWs into single and nested omega-ring structures, which can then be suspended upon electrode frames and coated with silver metal layer to carry a passing current along geometry-tailored pathway. Within a magnetic field, the grippers can be driven by the Lorentz forces to demonstrate swift large-amplitude maneuvers of grasping, flapping and twisting of microscale objects, as well as high-frequency or even resonant vibrations to overcome sticky van de Waals forces in microscale for a reliable releasing of carried payloads. More sophisticated and functional teamwork of mutual alignment, precise passing and selective light-emitting-diode unit testing and installation were also successfully accomplished via pairwise gripper collaborations. This single-nanowire-morphing strategy provides an ideal platform to rapidly design, construct and prototype a wide range of advanced ultracompact nanorobotic, mechanical sensing and biological manipulation functionalities.

A Breathable, Passive-Cooling, Non-Inflammatory, and Biodegradable Aerogel Electronic Skin for Wearable Physical-Electrophysiological-Chemical Analysis

Real-time monitoring of human health can be significantly improved by designing novel electronic skin (E-skin) platforms that mimic the characteristics and sensitivity of human skin. A high-quality E-skin platform that can simultaneously monitor multiple physiological and metabolic biomarkers without introducing skin discomfort or irritation is an unmet medical need. Conventional E-skins are either monofunctional or made from elastomeric films that do not include key synergistic features of natural skin, such as multi-sensing, breathability, and thermal management capabilities in a single patch. Herein, a biocompatible and biodegradable E-skin patch based on flexible gelatin methacryloyl aerogel (FGA) for non-invasive and continuous monitoring of multiple biomarkers of interest is engineered and demonstrated. Taking advantage of cryogenic temperature treatment and slow polymerization, FGA is fabricated with a highly interconnected porous structure that displays good flexibility, passive-cooling capabilities, and ultra-lightweight properties that make it comfortable to wear for long periods of time. It also provides numerous permeable capillary channels for thermal-moisture transfer, ensuring its excellent breathability. Therefore, the engineered FGA-based E-skin can simultaneously monitor body temperature, hydration, and biopotentials via electrophysiological sensors and detect glucose, lactate, and alcohol levels via electrochemical sensors. This work offers a previously unexplored materials strategy for next-generation E-skin platforms with superior practicality.

Robot-Based Calibration Procedure for Graphene Electronic Skin

The paper describes the semi-automatised calibration procedure of an electronic skin comprising screen-printed graphene-based sensors intended to be used for robotic applications. The variability of sensitivity and load characteristics among sensors makes the practical use of the e-skin extremely difficult. As the number of active elements forming the e-skin increases, this problem becomes more significant. The article describes the calibration procedure of multiple e-skin array sensors whose parameters are not homogeneous. We describe how an industrial robot equipped with a reference force sensor can be used to automatise the e-skin calibration procedure. The proposed methodology facilitates, speeds up, and increases the repeatability of the e-skin calibration. Finally, for the chosen example of a nonhomogeneous sensor matrix, we provide details of the data preprocessing, the sensor modelling process, and a discussion of the obtained results.

Investigation into a Lightweight Polymeric Porous Sponge with High Magnetic Field and Strain Sensitivity

Recently, flexible sensors have gained significant attention due to their potential applications in soft robotics and biomimetic intelligent devices. However, the successful production of favorable flexible sensors integrated with high flexibility, sensitivity and excellent environment adaptability toward multiple external stimuli is still an enormous challenge. Herein, a lightweight polymeric porous sponge capable of detecting an external magnetic field and strain excitations is proposed by assembling a sodium alginate/chitosan (SA/CHI) porous sponge with micron carbonyl iron and nanoscale Fe3O4 magnetic particles (MPs). Based on the double network structure, the SA/CHI sponge possesses preferable mechanical strength and hydrophilicity, demonstrating its high flexibility and deformability. More importantly, the electrical response of the SA/CHI sponge sensors can display remarkable variation under external magnetic and mechanical stimuli due to their superior magnetic characteristics and electrical conductivity. Meanwhile, their sensing properties can maintain relatively stable recoverability and repeatability towards the periodic excitations and releases. Additionally, a potential mechanism is provided to investigate their stimuli-sensitive behavior. It is highly dependent on the microstructure variations in MPs and conductive multi-walled carbon nanotube (MWCNTs) networks. Due to its exceptional magnetic controllability and appropriate electrical sensitivity, the proposed sensor shows high potential in wearable multi-sensing electronics and intelligent transport devices.

High-Performance Liquid Metal/Polyborosiloxane Elastomer toward Thermally Conductive Applications

With the combination of high flexibility and thermal property, thermally conductive elastomers have played an important role in daily life. However, traditional thermally conductive elastomers display limited stretchability and toughness, seriously restricting their further development in practical applications. Herein, a high-performance composite is fabricated by dispersing room-temperature liquid metal microdroplets (LM) into a polyborosiloxane elastomer (PBSE). Due to the unique solid-liquid coupling mechanism, the LM can deform with the PBSE matrix, achieving higher fracture strain (401%) and fracture toughness (2164 J/m²). Meanwhile, the existence of LM microdroplets improves the thermal conductivity of the composite. Interestingly, the LM/PBSE also exhibits remarkable anti-impact, adhesion capacities under complex loading environments. As a novel stretchable elastomer with enhanced mechanical and thermal behavior, the LM/PBSE shows good application prospects in the fields of thermal camouflages, stretchable heat-dissipation matrixes, and multifunctional shells for electronic devices.

Flexible pressure sensors via engineering microstructures for wearable human-machine interaction and health monitoring applications

Flexible pressure sensors capable of transducing pressure stimuli into electrical signals have drawn extensive attention owing to their potential applications for human-machine interaction and healthcare monitoring. To meet these application demands, engineering microstructures in the pressure sensors are an efficient way to improve key sensing performances, such as sensitivity, linear sensing range, response time, hysteresis, and durability. In this review, we provide an overview of the recent advances in the fabrication and application of high-performance flexible pressure sensors via engineering microstructures. The implementation mechanisms and fabrication strategies of microstructures including micropatterned, porous, fiber-network, and multiple microstructures are systematically summarized. The applications of flexible pressure sensors with microstructures in the fields of wearable human-machine interaction, and ex vivo and in vivo healthcare monitoring are comprehensively discussed. Finally, the outlook and challenges in the future improvement of flexible pressure sensors toward practical applications are presented.

Trilayer Composite System Based on SiO2, Thiol-Ene, and PEDOT:PSS. Focus on Stability after Thermal Treatment and Solar Irradiance

The trilayer composite was fabricated by combining functional layers of fumed SiO₂, thiol-ene, and poly(3,4-ethylenedioxythiophene) poly(styrenesulfonate) (PEDOT-PSS). Optical, scratch-healing, non-wetting, and electrical stability was investigated at different instances of time after thermal and solar irradiance treatment. The trilayer composite was found to be optically stable and highly transparent for visible light after thermal and irradiance treatment for 25 h. Both treatment processes had a minor effect on the shape-memory assisted scratch-healing performance of the trilayer composite. Thermal treatment and solar irradiance did not affect the superhydrophobic properties (contact angle 170 ± 1°) of the trilayer composite. The sheet resistance increased from 90 ± 3 Ω/square (initial) to 109 ± 3 Ω/square (thermal) and 149 ± 3 Ω/square (irradiance) after 25 h of treatment, which was considered as not significant change.

Gripper Control Design and Simulation for OpenROV Submarine Robot

In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

Review: Sensors for Biosignal/Health Monitoring in Electronic Skin

Skin is the largest sensory organ and receives information from external stimuli. Human body signals have been monitored using wearable devices, which are gradually being replaced by electronic skin (E-skin). We assessed the basic technologies from two points of view: sensing mechanism and material. Firstly, E-skins were fabricated using a tactile sensor. Secondly, E-skin sensors were composed of an active component performing actual functions and a flexible component that served as a substrate. Based on the above fabrication processes, the technologies that need more development were introduced. All of these techniques, which achieve high performance in different ways, are covered briefly in this paper. We expect that patients' quality of life can be improved by the application of E-skin devices, which represent an applied advanced technology for real-time bio- and health signal monitoring. The advanced E-skins are convenient and suitable to be applied in the fields of medicine, military and environmental monitoring.

Al2O3 Dispersion-Induced Micropapillae in an Epoxy Composite Coating and Implications in Thermal Conductivity

Al₂O₃ particles with different sizes were dispersed into an epoxy precursor to improve the thermal conductivity (TC) of the epoxy coating. Al₂O₃ particles tend to aggregate in epoxy, and the aggregation becomes more apparent (formation of micropapillae when the particle size is larger than 1 μm) with the increase of particle size. The calculated fast aggregation rates of various-size Al₂O₃ particles in epoxy showed that the fast aggregation rate increased to a maximum rate of 6.37 × 10^-20 m³·s^-1 at a particle size of 200 nm and then decreased to a plateau value with the increase of particle size. The high fast aggregation rate caused the aggregation and the formation of nano- and micropapillae, causing the heterogeneous distribution of Al₂O₃ particles. These micropapillae were separated by epoxy, which made formation of continuous pathways fail, causing the reduction of TC and heterogeneous heat distribution. The highest thermal conductivity of 2.52 W/m·K and uniform heat distribution were observed at the optimum filler size of 30 nm. The research findings provide the knowledge of optimizing particle size on constructing a thermally conductive polymer composite.

Multimode Visualization of Electronic Skin from Bioinspired Colorimetric Sensor

Bioskins possess a great ability to detect and deliver external mechanical or temperature stimuli into identifiable signals such as color changes. However, the integration of visualization with simultaneous detection of multiple complex external stimuli in a single biosensor device remains a challenge. Here we propose an all-solution-processed bioinspired stretchable electronic skin with interactive color changes and four-mode sensing properties. The fabricated biosensor demonstrates sensitive responses to various stimuli including pressure, strain, voltage, and temperature. Sensing visualization is realized by color changes of the e-skin from brown to green and finally bright yellow as a response to intensified external stimuli, suggesting great application potential in military defense, healthcare monitoring, and smart bionic skin.

Experimental Investigation on the Effect of Graphene Oxide Additive on the Steady-State and Dynamic Shear Properties of PDMS-Based Magnetorheological Elastomer

Isotropic polydimethylsiloxane (PDMS)-based magnetorheological elastomers (MREs) filled with various contents of graphene oxide (GO) additive were fabricated by the solution blending-casting method in this work. The morphologies of the produced MREs were characterized, and the results indicate that the uniform distribution of GO sheets and carbonyl iron particles (CIPs) becomes difficult with the increase of GO content. The steady-state and dynamic shear properties of the MREs under different magnetic field strengths were evaluated using parallel plate rheometer. It was found that the physical stiffness effect of GO sheets leads to the increase of the zero-field shear modulus with increasing GO content under both the steady-state and dynamic shear loads. The chemical crosslinking density of PDMS matrix decreases with the GO content due to the strong physical crosslinking between GO and the PDMS matrix. Thus, the MREs filled with higher GO content exhibit more fluid-like behavior. Under the dynamic shear load, the absolute MR effect increases with the GO content due to the increased flexibility of the PDMS matrix and the dynamic self-stiffening effect occurring in the physical crosslinking interfaces around GO sheets. The highest relative MR effect was achieved by the MREs filled with 0.1 wt.% GO sheets. Then, the relative MR effect decreases with the further increase of GO content due to the improved zero-field modulus and the increased agglomerations of GO and CIPs. This study shows that the addition of GO sheets is a possible way to prepare new MREs with high MR effect, while simultaneously possessing high zero-field stiffness and load bearing capability.

Magnetism-Responsive Anisotropic Film with Self-Sensing and Multifunctional Shape Manipulation

At small scales, shape-programmable magnetic materials and self-sensing conductive materials have an enticing potential for realizing the functionalities that are unattainable by traditional machines. This work reports a facile preparation method of aself-sensing magnetism-responsive anisotropic films (SMAF) in which magnetic materials and conductive materials can be predesigned, oriented, and patterned without requiring an external magnetic field generator or other expensive devices. A variety of shaped magnetoactive films with complex chain-orientation structures that can achieve advanced actuation functions have been developed, such as magnetically driven flowers, windmills, and leaves. It is also verified that the as-prepared samples coated with the sensing layer can distinguish different actuation modes, such as inward bending, outward bending, twisting, and combined deformation, which would be conducive to further exploration and development of directionally responsive applications in the smart actuating system and soft robotics.