Soft Three-Dimensional Robots with Hard Two-Dimensional Materials

Wrinkles, Ridges, Miura-Ori, and Moiré Patterns in MoSe2 Using Neural Networks

Effects of lateral compression on out-of-plane deformation of two-dimensional MoSe₂ layers are investigated. A MoSe₂ monolayer develops periodic wrinkles under uniaxial compression and Miura-Ori patterns under biaxial compression. When a flat MoSe₂ monolayer is placed on top of a wrinkled MoSe₂ layer, the van der Waals (vdW) interaction transforms wrinkles into ridges and generates mixed 2H and 1T phases and chain-like defects. Under a biaxial strain, the vdW interaction induces regions of Miura-Ori patterns in bilayers. Strained systems analyzed using a convolutional neural network show that the compressed system consists of semiconducting 2H and metallic 1T phases. The energetics, mechanical response, defect structure, and dynamics are analyzed as bilayers undergo wrinkle-ridge transformations under uniaxial compression and moiré transformations under biaxial compression. Our results indicate that in-plane compression can induce self-assembly of out-of-plane metasurfaces with controllable semiconducting and metallic phases and moiré patterns with unique optoelectronic properties.

Macromolecular Engineering and Additive Manufacturing of Polyisobutylene-Based Thermoplastic Elastomers. II. The Poly(styrene-b-isobutylene-b-styrene)/Poly(phenylene oxide) System

This series of publications describes research rendering soft polyisobutylene (PIB)-based thermoplastic elastomers 3D printable by blending with rigid chemically compatible thermoplastics. The molecular structure, morphology, physical properties, and 3D printability of such blends have been systematically investigated. The authors' first report was concerned with the rendering of soft poly(styrene-b-isobutylene-b-styrene) (SIBS) 3D printable by blending with rigid polystyrene (PS). Here they report the macromolecular engineering of SIBS/polyphenylene oxide (PPO) blends for 3D printing. PPO, a rigid high-performance thermoplastic, is compatible with the hard PS block in SIBS; however, neither PPO nor SIBS can be directly 3D printed. The microphase-separated structures and physical properties of SIBS/PPO blends are systematically tuned by controlling blending ratios and molecular weights. Suitable composition ranges and desirable properties of SIBS/PPO blends for 3D printing are optimized. The morphology and properties of SIBS/PPO blends are characterized by an ensemble of techniques, including atomic force microscopy, small-angle X-ray scattering, and thermal and mechanical properties testing. The elucidation of processing-structure-property relationship of SIBS/PPO blends is essential for 3D printing and advanced manufacturing of high-performance polymer systems.

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.

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.

Progress of low-frequency sound absorption research utilizing intelligent materials and acoustic metamaterials

In recent years, increasing attention has been paid to the impacts of environmental noises on living creatures as well as the accuracy and stability of precise instruments. Due to inherent properties induced by large wavelength, the attenuation and manipulation of low-frequency sound waves is quite difficult to realize with traditional acoustic absorbers, yet particularly critical to modern designs. The advent of acoustic metamaterials and intelligent materials provides possibilities of energy dissipation mechanisms other than viscous dissipation and heat conduction in conventional porous sound absorbers, and therefore inspires new strategies on the design of subwavelength-scale structures. This short review aims to trace the current advancement on the low-frequency sound absorption research utilizing intelligent materials and metamaterials, including Helmholtz resonators and acoustic metamaterials based on micro-perforated plates, porous media, and decorated membrane, along with the tunable absorbing structures regulated with the function of electroactive polymers or magnetically sensitive materials. The effective principles and prospects were concluded and presented for future investigations of subwavelength-scale acoustic structures.

2D-Material-integrated hydrogels as multifunctional protective skins for soft robots

Soft robots provide compliant object-machine interactions, but they exhibit insufficient material stability, which restricts them from working in harsh environments. Herein, we developed a class of soft robotic skins based on two-dimensional materials (2DMs) and gelatin hydrogels, featuring skin-like multifunctionality (stretchability, thermoregulation, threat protection, and strain sensing). The 2DM-integrated hydrogel (2DM/H) skins enabled soft robots to execute designated missions in the presence of high levels of heat and various environmental threats while maintaining mild machine temperatures. Via adopting different 2DMs (graphene oxide (GO), montmorillonite (MMT), and titanium carbide (MXene)), the 2DM/H-protected robots were able to perform soft grasping in organic liquids (GO/H) and open fire (MMT/H), and in the presence of electromagnetic radiation and biocontamination (MXene/H). Through blending MXene nanosheets into gelatin, the MXene-blended hydrogel (M-H) skin became strain sensitive, and a GO/M-H gripper exhibited the high-level integration of skin-mimicking capabilities. Finally, we incorporated 2DM/H skins onto an origami-inspired walker robot and a soft batoid-like robot to execute vision-guided searching in fire and underwater locomotion/navigation in chemical spills.

Ultrathin Polydopamine-Graphene Oxide Hybrid Coatings on Polymer Filters with Improved Filtration Performance and Functionalities

Thin polymer fiber mats, in particular those made of nonwoven polypropylene (PP) fibers, are extensively used for medical and industrial filtration. The recent pandemic has increased the demand for the fabrication of protective masks. The nonwoven PP filter has limitations in filtration efficiency and lacks advanced functionalities. Here, we propose a simple, effective, and low-cost method to functionalize PP filters and endow antimicrobial and photothermal properties. Our approach is based on the deposition of an ultrathin hybrid coating composed of graphene oxide (GO) and polydopamine on the surface of PP filters by spray-coating. The complementary properties and synergic effects of GO and polydopamine in the ultrathin coating improved the filtration efficiency of the PP filter by 20% with little change in pressure drop. Single component coatings did not result in similar improvements in performance. The ultrathin coating also makes the surface of the filter more hydrophilic with negative charges. The photothermal property of GO enables a rapid temperature increase of the surface-coated filter upon light irradiation for easy sterilization. Furthermore, cationic polymer brushes can be grafted to the ultrathin hybrid coating, which adds the highly desired antimicrobial property to the PP filters for their more effective protection against microorganisms.

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human-Robot Interface

Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actuators and their performances under various external stimuli are reviewed. Fiber/yarn-based artificial muscles for soft-robots manipulation and assistance in human motion are discussed, as well as smart clothes for improving human perception. Second, the geometric designs, fabrications, mechanisms, and functions of fibers/fabrics for sensing and energy harvesting from the human body and environments are summarized. Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine. Lastly, the relationships between robotic/wearable fibers/fabrics and the external stimuli, together with the challenges and possible routes for revolutionizing the robotic fibers/fabrics and wearables in this new era are proposed.

Engineered two-dimensional nanomaterials: an emerging paradigm for water purification and monitoring

Water scarcity has become an increasingly complex challenge with the growth of the global population, economic expansion, and climate change, highlighting the demand for advanced water treatment technologies that can provide clean water in a scalable, reliable, affordable, and sustainable manner. Recent advancements on 2D nanomaterials (2DM) open a new pathway for addressing the grand challenge of water treatment owing to their unique structures and superior properties. Emerging 2D nanostructures such as graphene, MoS₂, MXene, h-BN, g-C₃N₄, and black phosphorus have demonstrated an unprecedented surface-to-volume ratio, which promises ultralow material use, ultrafast processing time, and ultrahigh treatment efficiency for water cleaning/monitoring. In this review, we provide a state-of-the-art account on engineered 2D nanomaterials and their applications in emerging water technologies, involving separation, adsorption, photocatalysis, and pollutant detection. The fundamental design strategies of 2DM are discussed with emphasis on their physicochemical properties, underlying mechanism and targeted applications in different scenarios. This review concludes with a perspective on the pressing challenges and emerging opportunities in 2DM-enabled wastewater treatment and water-quality monitoring. This review can help to elaborate the structure-processing-property relationship of 2DM, and aims to guide the design of next-generation 2DM systems for the development of selective, multifunctional, programmable, and even intelligent water technologies. The global significance of clean water for future generations sheds new light and much inspiration in this rising field to enhance the efficiency and affordability of water treatment and secure a global water supply in a growing portion of the world.

Remotely Controlled, Reversible, On-Demand Assembly and Reconfiguration of 3D Mesostructures via Liquid Crystal Elastomer Platforms

Three-dimensional (3D) mesostructures are gaining rapidly growing interest due to their potential applications in a broad range of areas. Despite intensive studies, remotely controlled, reversible, on-demand assembly and reconfiguration of 3D mesostructures, which are desired for many applications, including robotics, minimally invasive biomedical devices, and deployable systems, remain a challenge. Here, we introduce a facile strategy to utilize liquid crystal elastomers (LCEs), a soft polymer capable of large, reversible shape changes, as a platform for reversible assembly and programming of 3D mesostructures via compressive buckling of two-dimensional (2D) precursors in a remote and on-demand fashion. The highly stretchable, reversible shape-switching behavior of the LCE substrate, resulting from the soft elasticity of the material and the reversible nematic-isotropic transition of liquid crystal (LC) molecules upon remote thermal stimuli, provides deterministic thermal-mechanical control over the reversible assembly and reconfiguration processes. Demonstrations include experimental results and finite element simulations of 3D mesostructures with diverse geometries and material compositions, showing the versatility and reliability of the approach. Furthermore, a reconfigurable light-emitting system is assembled and morphed between its "on" and "off" status via the LCE platform. These results provide many exciting opportunities for areas from remotely programmable 3D mesostructures to tunable electronic systems.

Advances in Stimuli-Responsive Soft Robots with Integrated Hybrid Materials

Hybrid stimuli-responsive soft robots have been extensively developed by incorporating multi-functional materials, such as carbon-based nanoparticles, nanowires, low-dimensional materials, and liquid crystals. In addition to the general functions of conventional soft robots, hybrid stimuli-responsive soft robots have displayed significantly advanced multi-mechanical, electrical, or/and optical properties accompanied with smart shape transformation in response to external stimuli, such as heat, light, and even biomaterials. This review surveys the current enhanced scientific methods to synthesize the integration of multi-functional materials within stimuli-responsive soft robots. Furthermore, this review focuses on the applications of hybrid stimuli-responsive soft robots in the forms of actuators and sensors that display multi-responsive and highly sensitive properties. Finally, it highlights the current challenges of stimuli-responsive soft robots and suggests perspectives on future directions for achieving intelligent hybrid stimuli-responsive soft robots applicable in real environments.

Materials as Machines

Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walking, crawling, swimming, and flying). Key functional considerations of responsive materials in machine implementations are response time, cyclability (frequency and ruggedness), sizing, payload capacity, amenability to mechanical programming, performance in extreme environments, and autonomy. This review summarizes the material transformation mechanisms, mechanical design, and robotic integration of responsive materials including shape memory alloys (SMAs), piezoelectrics, dielectric elastomer actuators (DEAs), ionic electroactive polymers (IEAPs), pneumatics and hydraulics systems, shape memory polymers (SMPs), hydrogels, and liquid crystalline elastomers (LCEs) and networks (LCNs). Structural and geometrical fabrication of these materials as wires, coils, films, tubes, cones, unimorphs, bimorphs, and printed elements enables differentiated mechanical responses and consistently enables and extends functional use.

Reversible MoS2 Origami with Spatially Resolved and Reconfigurable Photosensitivity

Two-dimensional layered materials (2DLMs) have been extensively studied in a variety of planar optoelectronic devices. Three-dimensional (3D) optoelectronic structures offer unique advantages including omnidirectional responses, multipolar detection, and enhanced light-matter interactions. However, there has been limited success in transforming monolayer 2DLMs into reconfigurable 3D optoelectronic devices due to challenges in microfabrication and integration of these materials in truly 3D geometries. Here, we report an origami-inspired self-folding approach to reversibly transform monolayer molybdenum disulfide (MoS₂) into functional 3D optoelectronic devices. We pattern and integrate monolayer MoS₂ and gold (Au) onto differentially photo-cross-linked thin polymer (SU8) films. The devices reversibly self-fold due to swelling gradients in the SU8 films upon solvent exchange. We fabricate a wide variety of optically active 3D MoS₂ microstructures including pyramids, cubes, flowers, dodecahedra, and Miura-oris, and we simulate the self-folding mechanism using a coarse-grained mechanics model. Using finite-difference time-domain (FDTD) simulation and optoelectronic characterization, we demonstrate that the 3D self-folded MoS₂ structures show enhanced light interaction and are capable of angle-resolved photodetection. Importantly, the structures are also reversibly reconfigurable upon solvent exchange with high tunability in the optical detection area. Our approach provides a versatile strategy to reversibly configure 2D materials in 3D optoelectronic devices of broad relevance to flexible and wearable electronics, biosensing, and robotics.