Large-Deformation Curling Actuators Based on Carbon Nanotube Composite: Advanced-Structure Design and Biomimetic Application

Stimuli-Responsive Polymer Actuator for Soft Robotics

Polymer actuators are promising, as they are widely used in various fields, such as sensors and soft robotics, for their unique properties, such as their ability to form high-quality films, sensitivity, and flexibility. In recent years, advances in structural and fabrication processes have significantly improved the reliability of polymer sensing-based actuators. Polymer actuators have attracted considerable attention for use in artificial or biohybrid systems, as they have the potential to operate under diverse conditions with high durability. This review briefly describes different types of polymer actuators and provides an understanding of their working mechanisms. It focuses on actuation modes controlled by diverse or multiple stimuli. Furthermore, it discusses the fabrication processes of polymer actuators; the fabrication process is an important consideration in the development of high-quality actuators with sensing properties for a wide range of applications in soft robotics. Additionally, the high potential of polymer actuators for use in sensing technology is examined, and the latest developments in the field of polymer actuators, such as the development of biohybrid polymers and the use of polymer actuators in 4D printing, are briefly described.

Fast Photoactuation and Environmental Response of Humidity-Sensitive pDAP-Silicon Nanocantilevers

Multi-responsive nanomembranes are a new class of advanced materials that can be harnessed in complex architectures for micro and nano-manipulators, artificial muscles, energy harvesting, soft robotics, and sensors. The design and fabrication of responsive membranes must meet such challenges as trade-offs between responsiveness and mechanical durability, volumetric low-cost production ensuring low environmental impact, and compatibility with standard technologies or biological systems This work demonstrates the fabrication of multi-responsive, mechanically robust poly(1,3-diaminopropane) (pDAP) nanomembranes and their application in fast photoactuators. The pDAP films are developed using a plasma-assisted polymerization technique that offers large-scale production and versatility of potential industrial relevance. The pDAP layers exhibit high elasticity with the Young's modulus of ≈7 GPa and remarkable mechanical durability across 20-80 °C temperatures. Notably, pDAP membranes reveal immediate and reversible contraction triggered by light, rising temperature, or reducing relative humidity underpinned by a reversible water sorption mechanism. These features enable the fabrication of photoactuators composed of pDAP-coated Si nanocantilevers, demonstrating ms timescale response to light, tens of µm deflections, and robust performance up to kHz frequencies. These results advance fundamental research on multi-responsive nanomembranes and hold the potential to boost versatile applications in light-to-motion conversion and sensing toward the industrial level.

Mimosa-Inspired Stimuli-Responsive Curling Bioadhesive Tape Promotes Peripheral Nerve Regeneration

Trauma often results in peripheral nerve injuries (PNIs). These injuries are particularly challenging therapeutically because of variable nerve diameters, slow axonal regeneration, infection of severed ends, fragility of the nerve tissue, and the intricacy of surgical intervention. Surgical suturing is likely to cause additional damage to peripheral nerves. Therefore, an ideal nerve scaffold should possess good biocompatibility, diameter adaptability, and a stable biological interface for seamless biointegration with tissues. Inspired by the curl of Mimosa pudica, this study aimed to design and develop a diameter-adaptable, suture-free, stimulated curling bioadhesive tape (SCT) hydrogel for repairing PNI. The hydrogel is fabricated from chitosan and acrylic acid-N-hydroxysuccinimide lipid via gradient crosslinking using glutaraldehyde. It closely matches the nerves of different individuals and regions, thereby providing a bionic scaffold for axonal regeneration. In addition, this hydrogel rapidly absorbs tissue fluid from the nerve surface achieving durable wet-interface adhesion. Furthermore, the chitosan-based SCT hydrogel loaded with insulin-like growth factor-I effectively promotes peripheral nerve regeneration with excellent bioactivity. This procedure for peripheral nerve injury repair using the SCT hydrogel is simple and reduces the difficulty and duration of surgery, thereby advancing adaptive biointerfaces and reliable materials for nerve repair.

Pencil-Drawn Generator Built-in Actuator for Integrated Self-Powered/Visual Dual-Mode Sensing Functions and Rewritable Display

Multifunctionality is important to the development of next-generation actuators and intelligent robots. However, current multi-functional actuating systems are achieved based on the integration of diverse functional units with complex design, especially lacking in multi-mode sensing and displaying functions. Herein, a light-driven actuator integrated with self-powered/visual dual-mode sensing functions and rewritable display function is proposed. The actuator demonstrates a bending curvature of 0.93 cm-1 under near-infrared light irradiation. Meanwhile, by embedding a pencil-drawn graphite generator and thermochromic materials, the actuator also provides two independent sensing functions. First, owing to the photo-thermoelectric effect of graphite, the actuator spontaneously outputs a self-powered voltage (Seebeck coefficient: 23 µV K-1 ), which can reflect the deformation trend of actuator. Second, color changes occur on the actuator during deformation, which provide a visual sensing due to the thermochromic property. Furthermore, the actuator can be utilized as a rewritable display, owing to the integrated color-memorizing component. Intelligent robots, switches, and smart homes are further demonstrated as applications. All of them can spontaneously provide self-powered and visual sensing signals to demonstrate the working states of actuating systems, accompanied by rewritable displays on the actuators. This study will open a new direction for self-powered devices, multi-functional actuators, and intelligent robots.

Highly Thermally Conductive Bimorph Structures for Low-Grade Heat Energy Harvester and Energy-Efficient Actuators

Low-power electronics are urgently needed for various emerging technologies, e.g., actuators as signal transducers and executors. Collecting energy from ubiquitous low-grade heat sources (T < 100 °C) as an uninterrupted power supply for low-power electronics is highly desirable. However, the majority of energy-harvesting systems are not capable of collecting low-grade heat energy in an efficient and constant manner. Limited by materials and driving mode, fabrications of low-power and energy-efficient actuators are still challenging. Here, highly thermally conductive bimorph structures based on graphene/poly(dimethylsiloxane) (PDMS) structures have been fabricated as low-grade heat energy harvesters and energy-efficient actuators. Regular temperature fluctuations on bimorph structures can be controlled by nonequilibrium heat transfer, leading to stable and self-sustained thermomechanical cycles. By coupling ferroelectric poly(vinylidene fluoride) with bimorph structures, uninterrupted thermomechanoelectrical energy conversion has been achieved from the low-grade heat source. Utilizing the rapid thermal transport capability, multifinger soft grippers are assembled with bimorph actuators, demonstrating fast response, large displacement, and adaptive grip when driven by low-temperature heaters.

Multiresponsive Ti3C2Tx MXene-Based Actuators Enabled by Dual-Mechanism Synergism for Soft Robotics

Multiresponsive and high-performance flexible actuators with a simple configuration, high mechanical strength, and low-power consumption are highly desirable for soft robotics. Here, a novel mechanically robust and multiresponsive Ti₃C₂T_x MXene-based actuator with high actuation performance via dual-mechanism synergistic effect driven by the hygroexpansion of bacterial cellulose (BC) layer and the thermal expansion of biaxially oriented polypropylene (BOPP) layer is developed. The actuator is flexible and shows an ultrahigh tensile strength of 195 MPa. Unlike the conventional bimorph-structured actuators based on a single-mechanism, the actuator developed provides a favorable architecture for dual-mechanism synergism, resulting in exceptionally reversible actuation performance under electricity and near-infrared (NIR) light stimuli. Typically, the developed actuator can produce the largest bending angle (∼400°) at the lowest voltage (≤4 V) compared with that reported previously for single mechanism soft actuators. Furthermore, the actuator also can be driven by a NIR light at a 2 m distance, displaying an excellent long-distance photoresponsive property. Finally, various intriguing applications are demonstrated to show the great potential of the actuator for soft robotics.

Soft Actuators Based On Carbon Nanomaterials

Inspired by the sophisticated design of biological systems, interest in soft intelligent actuators has increased significantly in recent years, providing attractive strategies for the design of elaborate soft mechanical systems. For the construction of those soft actuators, carbon nanomaterials were extensively and successfully explored for the properties of highly conductive, electrothermal, and photothermal conversion. This review aims to trace the recent achievements for the material and structural design as well as the general mechanisms of the soft actuators, paying particular attention to the contribution of carbon nanomaterials resulted from their diversified interplaying properties, which realized the flexible and dexterous deformation responding to various environmental stimuli, including light, electricity and humidity. The properties and mechanisms of soft actuators are summarized and the potential for future applications and research are presented.

Electro-Active and Photo-Active Vanadium Oxide Nanowire Thermo-Hygroscopic Actuators for Kirigami Pop-up

Emerging technologies such as soft robotics, active biomedical devices, wearable electronics, haptic feedback systems, and healthcare systems require high-fidelity soft actuators showing reliable responses under multi-stimuli. In this study, the authors report an electro-active and photo-active soft actuator based on a vanadium oxide nanowire (VONW) hybrid film with greatly improved actuation performances. The VONWs directly grown on a cellulose fiber network increase the surface area up to 30-fold and boost the hydrophilicity owing to the presence of oxygen-rich functional groups in the nanowire surfaces. Taking advantage of the high surface area and hydrophilicity of VONWs, a soft thermo-hygroscopic VONW actuator capable of being controlled by both light and electric sources shows greatly enhanced actuation deformation by almost 70% and increased actuation speed over 3 times during natural convection cooling. Most importantly, the proposed VONW actuator exhibits a remarkably improved blocking force of up to 200% compared with a bare paper actuator under light stimulation, allowing them to realize a complex kirigami pop-up and to accomplish repeatable shape transformation from a 2D planar surface to a 3D configuration.

Monolithic processing of a layered flexible robotic actuator film for kinetic electronics

Low-invasive soft robotic techniques can potentially be used for developing next-generation body-machine interfaces. Most soft robots require complicated fabrication processes involving 3D printing and bonding/assembling. In this letter, we describe a monolithic soft microrobot fabrication process for the mass production of soft film robots with a complex structure by simple 2D processing of a robotic actuator film. The 45 µg/mm² lightweight film robot can be driven at a voltage of CMOS compatible 5 V with 0.15 mm^-1 large curvature changes; it can generate a force 5.7 times greater than its self-weight. In a durability test, actuation could be carried out over 8000 times without degradation. To further demonstrate this technique, three types of film robots with multiple degrees of freedom and a moving illuminator robot were fabricated. This technique can easily integrate various electrical circuits developed in the past to robotic systems and can be used for developing advanced wearable sensing devices; it can be called "Kinetic electronics".

Nanomaterials and their applications on bio-inspired wearable electronics

Wearable electronics featuring conformal attachment, sensitive perception and intellectual signal processing have made significant progress in recent years. However, when compared with living organisms, artificial sensory devices showed undeniable bulky shape, poor adaptability, and large energy consumption. To make up for the deficiencies, biological examples provide inspirations of novel designs and practical applications. In the field of biomimetics, nanomaterials from nanoparticles to layered two-dimensional materials are actively involved due to their outstanding physicochemical properties and nanoscale configurability. This review focuses on nanomaterials related to wearable electronics through bioinspired approaches on three different levels, interfacial packaging, sensory structure, and signal processing, which comprehensively guided recent progress of wearable devices in leveraging both nanomaterial superiorities and biorealistic functionalities. In addition, opinions on potential development trend are proposed aiming at implementing bioinspired electronics in multifunctional portable sensors, health monitoring, and intelligent prosthetics.

Programmable and Self-Healing Light-Driven Actuators through Synergetic Use of Water-Shaping and -Welding Methods

Shape programming is critical for the fabrication of a light-driven actuator with complex shape morphing, which demonstrates potential applications in remote-controlled light-driven soft robots. However, it remains a huge challenge to obtain light-driven actuators having advantages of complex shape morphing, self-healing function, and facile fabrication simultaneously. Here, we report a facile strategy to obtain programmable and self-healing light-driven actuators with complex shape morphing. Various initial shapes of actuators can be programmed by synergetic use of water-shaping and -welding methods, which provides unlimited opportunities for fabricating actuators with predesigned shapes and subsequently demonstrating complex shape morphing. A template transfer method is used to prepare a single-layer graphene oxide (GO) film with asymmetric surface structures, which acts as the basic actuator and has the self-healing function based on the hydrophilic property of GO. It shows bending morphing under near-infrared (NIR) light irradiation due to the photothermal effect and asymmetric morphology on the opposite surfaces. Four more types of actuators are programmed from the basic actuator through the water-shaping method, which exhibits bending, unbending, twisting, and untwisting, respectively, under NIR light illumination. In addition, an S-shape actuator and a flower-shape actuator are programmed from the basic actuators through the water-welding method. By simply turning over the S-shape actuator, it can perform a bidirectional crawling motion. Finally, two intricate bionic light-driven actuators (tendril-shape and octopus-shape) are constructed, which are unattainable from conventional fabrication methods of actuators. We believe that this study will unlock a new way to programmable, self-healing, and light-driven soft robots with tunable and complex shape morphing.

Repeatable and Reprogrammable Shape Morphing from Photoresponsive Gold Nanorod/Liquid Crystal Elastomers

Liquid crystal elastomers (LCEs) are of interest for applications such as soft robotics and shape-morphing devices. Among the different actuation mechanisms, light offers advantages such as spatial and local control of actuation via the photothermal effect. However, the unwanted aggregation of the light-absorbing nanoparticles in the LCE matrix will limit the photothermal response speed, actuation performance, and repeatability. Herein, a near-infrared-responsive LCE composite consisting of up to 0.20 wt% poly(ethylene glycol)-modified gold nanorods (AuNRs) without apparent aggregation is demonstrated. The high Young's modulus, 20.3 MPa, and excellent photothermal performance render repeated and fast actuation of the films (actuation within 5 s and recovery in 2 s) when exposed to 800 nm light at an average output power of ≈1.0 W cm^-2 , while maintaining a large actuation strain (56%). Further, it is shown that the same sheet of AuNR/LCE film (100 µm thick) can be morphed into different shapes simply by varying the motifs of the photomasks.

Asymmetric elastoplasticity of stacked graphene assembly actualizes programmable untethered soft robotics

There is ever-increasing interest yet grand challenge in developing programmable untethered soft robotics. Here we address this challenge by applying the asymmetric elastoplasticity of stacked graphene assembly (SGA) under tension and compression. We transfer the SGA onto a polyethylene (PE) film, the resulting SGA/PE bilayer exhibits swift morphing behavior in response to the variation of the surrounding temperature. With the applications of patterned SGA and/or localized tempering pretreatment, the initial configurations of such thermal-induced morphing systems can also be programmed as needed, resulting in diverse actuation systems with sophisticated three-dimensional structures. More importantly, unlike the normal bilayer actuators, our SGA/PE bilayer, after a constrained tempering process, will spontaneously curl into a roll, which can achieve rolling locomotion under infrared lighting, yielding an untethered light-driven motor. The asymmetric elastoplasticity of SGA endows the SGA-based bi-materials with great application promise in developing untethered soft robotics with high configurational programmability.

Recent Progress of Soft Electrothermal Actuators

Developing soft electrothermal actuators (ETAs) has drawn extensive concern in recent years. This article presents a comprehensive review on recent progress of soft ETAs through five sections: device design on structure and materials, property, fabrication methods, applications, and prospects. It's found that the fabrication process can be divided into standard surface complementary metal oxide semiconductor technology, novel laser scribing, and inkjet printing method. Moreover, current applications involve three aspects: mechanical applications, optical applications, and biomimetic applications. It will develop in the direction of increasing electrothermal efficiency and response speed emphatically. This review encourages achievement of its higher performance and broad applications in the future.

Deterministic Role of Carbon Nanotube-Substrate Coupling for Ultrahigh Actuation in Bilayer Electrothermal Actuators

Here, the actuation response of an architectured electrothermal actuator comprising a single layer of carbon nanotube (CNT) film and a relatively thicker film of silk, cellulose, or polydimethylsiloxane is studied. An electric current is passed through the CNT film, which generates heat responsible for electrothermal actuation, in all samples, affixed as per doubly clamped beam configuration. All samples, including pure CNT film, show remarkable actuation such that actuation monotonically increases with the applied voltage. Cyclic pulsed electrical loading shows a lag in the electric current stimulus and the actuation. Remarkably, an ultrahigh actuation of ∼2.8%, which was 72 times more than that shown by pure CNT film, is measured in the CNT-cellulose film, that is, the architectured actuator with the natural polymer having the functional property of hygroexpansion and the structural hierarchy of the CNT film, however, at a significantly larger length scale. Overall, the synergetic contribution of the individual layers in these bilayered actuators enabled achieving ultrahigh electrothermal actuation compared to the homogeneous, synthetic polymer-based devices. A detailed discussion, which also includes examination of the role of the hierarchical substructure and the functional properties of the substrate and numerical analysis using the finite element method, is presented to highlight the actuation mechanism in the fabricated actuators.

Vertically-Aligned Multi-Walled Carbon Nano Tube Pillars with Various Diameters under Compression: Pristine and NbTiN Coated

In this paper, the compressive stress of pristine and coated vertically-aligned (VA) multi-walled (MW) carbon nanotube (CNT) pillars were investigated using flat-punch nano-indentation. VA-MWCNT pillars of various diameters (30-150 µm) grown by low-pressure chemical vapor deposition on silicon wafer. A conformal brittle coating of niobium-titanium-nitride with high superconductivity temperature was deposited on the VA-MWCNT pillars using atomic layer deposition. The coating together with the pillars could form a superconductive vertical interconnect. The indentation tests showed foam-like behavior of pristine CNTs and ceramic-like fracture of conformal coated CNTs. The compressive strength and the elastic modulus for pristine CNTs could be divided into three regimes of linear elastic, oscillatory plateau, and exponential densification. The elastic modulus of pristine CNTs increased for a smaller pillar diameter. The response of the coated VA-MWCNTs depended on the diffusion depth of the coating in the pillar and their elastic modulus increased with pillar diameter due to the higher sidewall area. Tuning the material properties by conformal coating on various diameter pillars enhanced the mechanical performance and the vertical interconnect access (via) reliability. The results could be useful for quantum computing applications that require high-density superconducting vertical interconnects and reliable operation at reduced temperatures.

Exploring the Interfacial Phase and π-π Stacking in Aligned Carbon Nanotube/Polyimide Nanocomposites

To characterize the interfacial microstructure and interaction at a nanoscale has a significant meaning for the interface improvement of the nanocomposites. In this study, the interfacial microstructure and features of aligned multiwalled carbon nanotube (MWNT) and conjugated polymer polyimide (PI) with three molecular structures were investigated using small-angle X-ray scattering (SAXS), wide-angle x-ray diffraction (WAXD), and fluorescence emission spectroscopy. It was found that aligned MWNT/PI nanocomposites had a nonideal two-phase system with the interfaces belonging to long period stacking ordered structure. Attributed to the π-π stacking effect, MWNT/BTDA-MPD presented the most regular arrangement verified by fractal dimension. By adopting a one-dimension correlation function, each phase dimension in aligned MWNT/PI nanocomposites was calculated and verified by high resolution transmission electron microscopy (HRTEM) and X-ray diffraction (XRD). The π-π stacking was demonstrated to be an important interaction between MWNT and PI via WAXD and fluorescence emission spectroscopy, and it was influenced by the linkage bond between benzene rings in PIs. This work is of significance to reveal the interfacial features between conjugated polymer and carbon nanotubes (CNTs), which is favorable for the interface design of CNT-based high performance nanocomposites.

Three-Layered Design of Electrothermal Actuators for Minimal Voltage Operation

By designing an actuator composed of thin layers with different coefficients of thermal expansion (CTE) together with an electrically conductive layer, the CTE mismatch can be utilized to produce soft electrothermal actuators (ETAs). These actuators have been typically implemented using only two layers, commonly relying on Timoshenko's analytic model that correlates the temperature to the actuator's curvature. In this study, we extend the analytic model to include the thermoelectric relation present in ETAs, that is, the conductive layer's properties with respect to the operation temperature. By applying the thermoelectric relation, a minimal voltage optimization can be applied to the analytic model. Using dimensionless analysis, we optimize the ETAs performance for both bi- and tri-layer ETAs with and without the thermal modeling. The bi-layer optimization not only predicts the maximal value for the bi-layer performance but also provides the optimal thickness of each layer for any couple of materials. We validate the tri-layer analytic model experimentally by measuring the curvature for different third layer thicknesses. Finally, we optimize the tri-layer design based on the analytic model, which can achieve an improvement in curvature per voltage of >3000% over the optimal bi-layer ETA.

Transparent actuator made by highly-oriented carbon nanotube film for bio-inspired optical systems

Transparent actuators can be used in variable-focus lens, tactical displays and so on. However, previous transparent actuators made with dielectric elastomer mostly required high driving voltages (>1000 V) for actuation. In this work, we propose a new kind of low-voltage-driven transparent actuator, which is made with polymer and single-layer highly-oriented carbon nanotube (HOCNT) film composites, fully utilizing the favorable conductivity and high transparency of HOCNT film. The HOCNT-based transparent actuator shows a transmittance as high as 70%. When applying a voltage of 100 V, the transparent actuator bends visibly with a displacement of 14 mm. The actuation mechanism is a large volume change between polymers when they are Joule-heated by the electrical current. In addition, a solid-state lens based on the transparent actuator is fabricated, which demonstrates an obvious magnification effect with electrical-driven actuation. Finally, a bio-inspired optical system based on the solid-state lens is also constructed, which can mimic the focusing behavior of the human eyeball. The transparent actuator proposed in this work would have potential applications in optical devices, artificial muscles and soft robotics.

Versatile high-performance inkjet-printed paper photo-actuators based on 2D materials

In this paper, we present high-performance and versatile inkjet-printed paper photo-actuators based on two-dimensional (2D) nanomaterials. As a rapid fabrication method, inkjet printing of 2D materials is used to promptly fabricate photo-actuators in a bi-layer paper/polymer structure. Water-based and biocompatible inks based on graphene and molybdenum disulfide are developed based on liquid phase exfoliation and differential centrifugation technique. It is shown that incorporation of 2D materials with inkjet printing techniques and liquid phase exfoliation can lead to rapid fabrication of photo-actuators with huge opto-mechanical energy release and versatility with a broad range of applications due to specific design and methods presented in this paper.

Grab and Heat: Highly Responsive and Shape Adaptive Soft Robotic Heaters for Effective Heating of Objects of Three-Dimensional Curvilinear Surfaces

Soft actuators have received great research attention because of the recent rise of soft robotics. However, these actuators could perform only relatively simple deformations (such as bending, twisting, etc.) for manipulation, limiting their functionality. Here, we develop highly responsive and shape adaptive soft robotic heaters which not only can achieve large degree of deformation but also can grab and heat objects of three-dimensional (3D) curvilinear surfaces. With intentionally synthesized and selected materials for device fabrication, a U-shaped soft robotic heater exhibits a deformation angle of more than 860° and a curvature of 4.0 cm^-1 at a very low voltage of 2 V, and its curvature can quickly reach 1.31 cm^-1 within 6 s. Moreover, the device can also function as a stable heat source with temperature of 203 °C upon actuation, demonstrating a maximum energy efficiency of 7.44% as a heater. Importantly, the soft robotic heaters can deform to enclose 3D curvilinear surfaces with pressure to enable intimate contact for more effective heat transfer. The unique utility of the soft robotic heaters is illustrated through the heating of objects of various 3D shapes, showcasing their potential applications in soft robotics, advanced thermal therapy, food handling and processing, etc.

An ultra-large deformation bidirectional actuator based on a carbon nanotube/PDMS composite and a chitosan film

Actuating materials can convert external stimuli (humidity, light, electricity, etc.) into mechanical energy and realize multiple forms of movements. However, a majority of current actuating materials are driven by a single stimulus with a small degree of actuation and rough control which is unfavorable for practical applications. Here, a new type of bidirectional actuating material based on carbon nanotube/PDMS composites and chitosan films is proposed. Thanks to the robust mechanical support by PDMS, due to the ultra-large water capacity in between chitosan chains and strong near-infrared light absorption by carbon nanotube layers, the actuator can be driven by humidity and light for an ultra-large actuation curvature (3.91 cm^-1 in humidity actuation, 3.84 cm^-1 in light actuation). The well-established light power-curvature, relative humidity-curvature profiles and a fine mechanic modelling of the actuator show the possibility of controlling the actuator's bending. A lab application as a cargo-moving device preliminarily demonstrates a robust mechanical functionality of this actuator with a low body weight.

Pre-Programmed Tri-Layer Electro-Thermal Actuators Composed of Shape Memory Polymer and Carbon Nanotubes

Due to their high deformability, lightness, and safe interaction with the surrounding environment, flexible actuators are key ingredients in soft robotics technologies. Among these, electro-thermal actuators (ETAs), based on carbon nanotubes (CNTs), are used to generate agile movements when current is applied. The extent of movement is determined mostly by the coefficient of thermal expansion (CTE) of the materials arranged in a bi-/tri-layer structure. However, current CNT-based ETAs usually accomplish only simple actions with limited movements. In this work, we successfully developed novel ETAs that are capable of carrying out various controllable movements, such as extremely high bending curvature or unique actuations mimicking a wheel and a worm. These superior functionalities are achieved by adding a third layer or hinges composed of a thermo-responsive shape memory polymer (SMP) onto a bi-layer CNT-kapton ETA. To predict the unique movements of the "triangle" and "worm" actuators, finite element simulations were performed. The combination of SMP and electro-thermal behavior demonstrates its potential for applications in the field of soft actuators and robotics.

Directional Shape Morphing Transparent Walking Soft Robot

Transparency in electronics can provide extra functionality and esthetic impression. Transparency plays an important role in accurate soft robot control because one can directly observe target surface condition that is usually blocked by a robot's body. Nowadays, demand for soft actuators has been rapidly increasing because soft robots have attracted much attention recently. However, conventional soft actuators are usually nontransparent with simple isotropic bending, limited performance, and limited functionality. To overcome such limitations of current soft robots, we developed a novel soft shape morphing thin film actuator with new functionalities such as high transparency and unique directional responses to allow complex behavior by integrating a transparent metal nanowire heater. A figure of merit was developed to evaluate the performance and derive an optimum design configuration for the transparent actuator with enhanced performance. As a proof of concept, various transparent soft robots such as transparent gripper, Venus flytrap, and transparent walking robot were demonstrated. Such transparent directional shape morphing actuator is expected to open new application fields and functionalities overcoming limitations of current soft robots.

Leaf-inspired multiresponsive MXene-based actuator for programmable smart devices

Natural leaves, with elaborate architectures and functional components, harvest and convert solar energy into chemical fuels that can be converted into energy based on photosynthesis. The energy produced leads to work done that inspired many autonomous systems such as light-triggered motion. On the basis of this nature-inspired phenomenon, we report an unprecedented bilayer-structured actuator based on MXene (Ti3C2T x )-cellulose composites (MXCC) and polycarbonate membrane, which mimic not only the sophisticated leaf structure but also the energy-harvesting and conversion capabilities. The bilayer actuator features multiresponsiveness, low-power actuation, fast actuation speed, large-shape deformation, programmable adaptability, robust stability, and low-cost facile fabrication, which are highly desirable for modern soft actuator systems. We believe that these adaptive soft systems are attractive in a wide range of revolutionary technologies such as soft robots, smart switch, information encryption, infrared dynamic display, camouflage, and temperature regulation, as well as human-machine interface such as haptics.

Water-Evaporation-Powered Fast Actuators with Multimodal Motion Based on Robust Nacre-Mimetic Composite Film

Water evaporation as a source of energy to trigger moisture-responsive soft materials is an emerging field in a variety of energy-harvesting devices, which has attracted widespread attention. Here, we design and fabricate bioinspired nacrelike composite film actuators consisting of graphene oxide and sodium alginate, which demonstrate an obvious shrinkage in volume when their state transfers from wet to dry and the contractile stress is up to 42.3 MPa. Based on these features, the film actuators can show rapid and continuous movements under the water gradient. The flipping frequency of the actuators can reach up to 76 rounds min^-1, which is much faster than those in previous reports. The film can flap back and forth quickly on water vapor even after loading a cargo that is 9 times its own weight. Moreover, high mobility with multimodal motion including blooming, stretching, folding, and twisting can also be achieved by modulating the shapes of films. Thus, film actuators may hold great potential in many fields, such as microrobots, artificial muscles, and sensors on grounds of their rapid response speed and adjustable motion models.

Laser fabrication of graphene-based electrothermal actuators enabling predicable deformation

Electrothermal actuators (ETAs) that can convert electric energy into mechanical works have been extensively studied for their great potential in artificial muscles and robotics. However, the production of ETAs that enable complex and predictable deformation is still challenging. In this Letter, an ETA based on reduced graphene oxide (RGO) and polyethylene (PE) bimorph is developed through a facile laser-scribing method. Since the laser-scribing technology permits flexible patterning, conductive RGO electrodes with complex circuit patterns can be readily produced on a thermally active PE film, forming an ETA capable of fast and reversible deformation. In addition, the laser-scribed ETA demonstrated orientation-defined bending performance, enabling more sophisticated deformation control. The laser scribing of graphene oxide has opened up a new way to produce ETAs towards cutting-edge applications such as soft robotics and intelligent systems.

Fabrication of a High-Performance Bending Actuator Made with a PVC Gel

This paper proposes a small, transparent, electroactive and highly deformable poly vinyl chloride (PVC) gel-based bending actuator. The effect of the PVC molecular weight and plasticizer content on the performance of the bending actuator is investigated. Three PVCs are prepared with different molecular weights (low molecular weight: PVCL, 116,000; medium molecular weight: PVCM, 239,000; and high molecular weight: PVCH, 282,000) and mixed with plasticizers in various ratios to achieve the best performance of the bending actuator. Experiments are conducted to investigate the bending performance of the actuators based on the prepared PVC gels. Among the prepared actuators, the PVCH-based bending actuator shows the best performance (maximum bending angle: 180°, elapsed time: 3.15 s).

An asymmetric graphene oxide film for developing moisture actuators

Although Janus films of different compositions have been commonly utilized to develop moisture actuators due to the different capabilities of swelling in materials, a sole material with a distinct structural design is also able to provide moisture-actuation. In this study, we simply used graphene oxide (GO) to fabricate a sole GO film with an asymmetric structure which consisted of a wavy layer and a smooth layer. Due to the asymmetric structure and excellent hygroscopicity of the GO material, the asymmetric graphene oxide (AGO) film (2.5 × 0.5 cm2) was responsive to moisture and showed a maximum bending angle change of ≈1800° as the relative humidity (RH) changed. Compared with other reports about moisture actuators, the AGO film exhibited a superior bending capability. Furthermore, we propose a novel mechanism for moisture actuation of the AGO film based on our detailed observations, and a wavy structure has been introduced for showing great potential in bending deformation. Finally, the AGO film was used as a grabber to grab a leaf and it exhibited good capability to twine around a plastic rod. This work provides a novel pathway for the development of moisture-responsive materials for potential applications in robotics, artificial muscles and switches.

Photo-driven nanoactuators based on carbon nanocoils and vanadium dioxide bimorphs

Photo-driven actuators are highly desirable in various smart systems owing to the advantages of wireless control and possible actuation by solar energy. Miniaturization of photo-driven actuators is particularly essential in micro-robotics and micro-/nano-electro-mechanical systems. However, it remains a great challenge to build up nano-scale photo-driven actuators with competitive performance in amplitude, response speed, and lifetime. In this work, we developed photo-driven nanoactuators based on bimorph structures of vanadium dioxides (VO2) and carbon nanocoils (CNCs). Activated by the huge structural phase transition of VO2, the photo-driven VO2/CNC nanoactuators deliver a giant amplitude, a fast response up to 9400 Hz, and a long lifetime more than 10 000 000 actuation cycles. Both experimental and simulation results show that the helical structure of CNCs enables a low photo-driven threshold of VO2/CNC nanoactuators, which provides an effective method to construct photo-driven nanoactuators with low power consumption. Our photo-driven VO2/CNC nanoactuators would find potential applications in nano-scale electrical/optical switches and other smart devices.

Humidity- and light-driven actuators based on carbon nanotube-coated paper and polymer composite

Multi-responsive actuators driven by different stimuli (e.g. light, humidity, electricity) have attracted intense attention recently for the advantages of being used in various environments and show enormous actuation. In this work, we propose humidity- and light-driven actuators based on carbon nanotube (CNT)-coated paper and a biaxially oriented polypropylene (BOPP) composite. The CNT-paper/BOPP actuator shows large bending actuation when driven by humidity change (curvature of 1.2 cm-1) and near infrared (NIR) light irradiation (curvature up to 1.6 cm-1). The great actuation performances outperform most other paper-based actuators. Finally, a smart gripper, of which the initial opening width can be enlarged, is fabricated on the basis of the CNT-paper/BOPP actuators. By utilizing the bidirectional bending motion of the actuator, the opening width of the gripper can increase to a width that is 4 times larger than its initial width, so as to grasp a large object. The gripper is also able to raise and move an object that is 20 times heavier than one actuator of the gripper. We assume that this new type of actuator has great potential in artificial muscle, soft robotics and biomimetic applications.

Dual-Mechanism and Multimotion Soft Actuators Based on Commercial Plastic Film

Soft actuators have attracted a lot of attention owing to their biomimetic performance. However, the development of soft actuators that are easily prepared from readily available raw materials, conveniently utilized, and cost-efficient is still a challenge. Here, we present a simple method to fabricate a polyethylene-based soft actuator. It has controllable anisotropic structure and can realize multiple motions, including bidirectional bending and twisting based on dual mechanisms, which is a rare phenomenon. Especially, the soft actuators can response at a very small temperature difference (Δ T ≥ 2.3 °C); therefore, even skin touch can quickly drive the actuator, which greatly broadens its applications in daily life. The soft actuator could demonstrate a curvature up to 7.8 cm^-1 accompanied by powerful actuation. We have shown that it can lift an object 27 times its own weight. We also demonstrate the application of this actuator as intelligent mechanical devices.

Multiresponsive actuators based on modified electrospun films

Robot technology has made great progress over the past few decades, and has found wide use in military, industrial and service fields. In recent years, there has been a dramatic increase in the demand for soft robots. However, as a key part, the development of soft actuators capable of low-energy actuation, multi-stimulation response, and large shape deformation is still challenging. In this work, we fabricated multiresponsive actuators based on modified electrospun films. The actuators provided the largest curvatures of 0.83 cm-1, 0.6 cm-1, and 1.05 cm-1, stimulated by humidity, light, and electricity, respectively. Furthermore, we designed a biomimetic application-a crawling robot-which demonstrates excellent potential applications of the actuator in soft robotics, artificial muscles, and the biomimetics field.

Polydopamine-Coated Main-Chain Liquid Crystal Elastomer as Optically Driven Artificial Muscle

Optically driven active materials have received much attention because their deformation and motion can be controlled remotely, instantly, and precisely in a contactless way. In this study, we investigated an optically actuated elastomer with rapid response: polydopamine (PDA)-coated liquid crystal elastomer (LCE). Because of the photothermal effect of PDA coating and thermal responsiveness of LCE, the elastomer film contracted significantly with near-infrared (NIR) irradiation. With a fixed strain, light-induced actuating stress in the film could be as large as 1.5 MPa, significantly higher than the maximum stress generated by most mammalian skeletal muscle (0.35 MPa). The PDA-coated LCE films could also bend or roll up by surface scanning of an NIR laser. The response time of the film to light exposure could be as short as 1/10 of a second, comparable to or even faster than that of mammalian skeletal muscle. Using the PDA-coated LCE film, we designed and fabricated a prototype of robotic swimmer that was able to swim near the water-air interface by performing "swimming strokes" through reversible bending and unbending motions induced and controlled by an NIR laser. The results presented in this study clearly demonstrated that PDA-coated LCE is a promising optically driven artificial muscle, which may have great potential for applications of soft robotics and optomechanical coupling devices.

Artificial Muscles: Mechanisms, Applications, and Challenges

The area of artificial muscle is a highly interdisciplinary field of research that has evolved rapidly in the last 30 years. Recent advances in nanomaterial fabrication and characterization, specifically carbon nanotubes and nanowires, have had major contributions in the development of artificial muscles. However, what can artificial muscles really do for humans? This question is considered here by first examining nature's solutions to this design problem and then discussing the structure, actuation mechanism, applications, and limitations of recently developed artificial muscles, including highly oriented semicrystalline polymer fibers; nanocomposite actuators; twisted nanofiber yarns; thermally activated shape-memory alloys; ionic-polymer/metal composites; dielectric-elastomer actuators; conducting polymers; stimuli-responsive gels; piezoelectric, electrostrictive, magnetostrictive, and photostrictive actuators; photoexcited actuators; electrostatic actuators; and pneumatic actuators.

A powerful dual-responsive soft actuator and photo-to-electric generator based on graphene micro-gasbags for bioinspired applications

High-performance dual-responsive soft actuators with internal graphene micro-gasbags are fabricated and used to realize diverse biomimetic motions.

Multi-responsive actuators based on a graphene oxide composite: intelligent robot and bioinspired applications

Carbon-based electrothermal or photothermal actuators have attracted intense attention recently. They can directly convert electrical or light energy into thermal energy and exhibit obvious deformations. However, if the actuation mechanism is only limited to thermal expansion, the deformation amplitude is difficult to increase further. Moreover, complex shape-deformation is still challenging. Although a few materials were reported to realize twisting or untwisting actuation by cutting the samples into strips along different orientations, each single strip could perform only one shape-deformation mode. In this work, we propose multi-responsive actuators based on a graphene oxide (GO) and biaxially oriented polypropylene (BOPP) composite, which are designed with different shapes (strip-shape and helical-shape). The strip-shape GO/BOPP actuator shows great bending actuations when driven by humidity (curvature of up to 3.1 cm^-1). Due to a developed dual-mode actuation mechanism, the actuator shows a bending curvature of 2.8 cm^-1 when driven by near infrared (NIR) light. The great actuation outperforms most other carbon-based actuators. Then, an intelligent robot based on the GO/BOPP composite is fabricated, which can switch between the protection mode and weightlifting mode with different external stimuli. Inspired from plant tendrils, a bioinspired helical GO/BOPP actuator is further realized to show both twisting and untwisting actuations in a single actuator, fully mimicking the deformation of plant tendrils. Finally, a robot arm consisting of strip-shape and helical GO/BOPP actuators can grasp an object that is 2.9 times heavier than itself, demonstrating promising bioinspired applications.

Flexible and transparent strain sensors based on super-aligned carbon nanotube films

Highly flexible and transparent strain sensors are fabricated by directly coating super-aligned carbon nanotube (SACNT) films on polydimethylsiloxane (PDMS) substrates. The fabrication process is simple, low cost, and favorable for industrial scalability. The SACNT/PDMS strain sensors present a high sensing range of 400%, a fast response of less than 98 ms, and a low creep of 4% at 400% strain. The SACNT/PDMS strain sensors can withstand 5000 stretching-releasing cycles at 400% strain. Moreover, the SACNT/PDMS strain sensors are transparent with 80% transmittance at 550 nm. In situ microscopic observation clarifies that the surface morphology of the SACNT film exhibits a reversible change during the stretching and releasing processes and thus its electrical conductance is able to fully recover to the original value after the loading-unloading cycles. The SACNT/PDMS strain sensors have the advantages of a wide sensing range, fast response, low creep, transparency, and excellent durability, and thus show great potential in wearable devices to monitor fast and large-scale movements without affecting the appearance of the devices.

Soft electrothermal actuators using silver nanowire heaters

Low-voltage and extremely flexible electrothermal bimorph actuators were fabricated in a simple, efficient and scalable process. The bimorph actuators were made of flexible silver nanowire (AgNW) based heaters, which exhibited a fast heating rate of 18 °C s^-1 and stable heating performance with large bending. The actuators offered the largest bending angle (720°) or curvature (2.6 cm^-1) at a very low actuation voltage (0.2 V sq^-1 or 4.5 V) among all types of bimorph actuators that have been reported to date. The actuators can be designed and fabricated in different configurations that can achieve complex patterns and shapes upon actuation. Two applications of this type of soft actuators were demonstrated towards biomimetic robotics - a crawling robot that can walk spontaneously on ratchet surfaces and a soft gripper that is capable of manipulating lightweight and delicate objects.

Flexible, All-Inorganic Actuators Based on Vanadium Dioxide and Carbon Nanotube Bimorphs

Flexible actuators responsive to multiple stimuli are much desired in wearable electronics. However, general designs containing organic materials are usually subject to slow response and limited lifetime, or high triggering threshold. In this study, we develop flexible, all-inorganic actuators based on bimorph structures composed of vanadium dioxide (VO₂) and carbon nanotube (CNT) thin films. The drastic, reversible phase transition of VO₂ drives the actuators to deliver giant amplitude, fast response up to ∼100 Hz, and long lifetime more than 1 000 000 actuation cycles. The excellent electrical conductivity and light absorption of CNT thin films enable the actuators to be highly responsive to multiple stimuli including light, electric, and heat. The power consumption of the actuators can be much reduced by doping VO₂ to lower its phase transition temperature. These flexible bimorph actuators find applications in biomimetic inspect wings, millimeter-scale fingers, and physiological-temperature driven switches.

Multi-responsive, bidirectional, and large deformation bending actuators based on borax cross-linked polyvinyl alcohol derivative hydrogel

N-Alky-substituted carbamate-modified PVA as a layer material to enable multi-responsive, bidirectional and large deformation actuation.

High-Performance Multiresponsive Paper Actuators

There is an increasing demand for soft actuators because of their importance in soft robotics, artificial muscles, biomimetic devices, and beyond. However, the development of soft actuators capable of low-voltage operation, powerful actuation, and programmable shape-changing is still challenging. In this work, we propose programmable bilayer actuators that operate based on the large hygroscopic contraction of the copy paper and simultaneously large thermal expansion of the polypropylene film upon increasing the temperature. The electrothermally activated bending actuators can function with low voltages (≤ 8 V), low input electric power per area (P ≤ 0.14 W cm^-2), and low temperature changes (≤ 35 °C). They exhibit reversible shape-changing behavior with curvature radii up to 1.07 cm^-1 and bending angle of 360°, accompanied by powerful actuation. Besides the electrical activation, they can be powered by humidity or light irradiation. We finally demonstrate the use of our paper actuators as a soft gripper robot and a lightweight paper wing for aerial robotics.

Dealloying-driven nanoporous palladium with superior electrochemical actuation performance

Metal-hydrogen (in particular, Pd-H) interactions have been receiving considerable attention over the past 150 years within the scope of hydrogen storage, catalytic hydrogenation, hydrogen embrittlement and hydrogen-induced interfacial failure. Here, for the first time, we show that the coupling of hydrogen adsorption and absorption could trigger giant reversible strain in bulk nanoporous Pd (np-Pd) in a weakly adsorbed NaF electrolyte. The bulk np-Pd with a hierarchically porous structure and a ligament/channel size of ∼10 nm was fabricated using a dealloying strategy with compositional/structural design of the precursor. The np-Pd actuator exhibits a giant reversible strain of up to 3.28% (stroke of 137.8 μm), which is a 252% enhancement in comparison to the state-of-the-art value of 1.3% in np-AuPt. The strain rate (∼10(-5) s(-1)) of np-Pd is two orders of magnitude higher than that of current metallic actuators. Moreover, the volume-/mass-specific strain energy density (10.71 MJ m(-3)/3811 J kg(-1)) of np-Pd reaches the highest level compared with that of previously reported actuator materials. The outstanding actuation performance of np-Pd could be attributed to the coupling of hydrogen adsorption/absorption and its unique hierarchically nanoporous structure. Our findings provide valuable information for the design of novel high-performance metallic actuators.