Graphene-based bimorph microactuators

Graphene MEMS and NEMS

Graphene is being increasingly used as an interesting transducer membrane in micro- and nanoelectromechanical systems (MEMS and NEMS, respectively) due to its atomical thickness, extremely high carrier mobility, high mechanical strength, and piezoresistive electromechanical transductions. NEMS devices based on graphene feature increased sensitivity, reduced size, and new functionalities. In this review, we discuss the merits of graphene as a functional material for MEMS and NEMS, the related properties of graphene, the transduction mechanisms of graphene MEMS and NEMS, typical transfer methods for integrating graphene with MEMS substrates, methods for fabricating suspended graphene, and graphene patterning and electrical contact. Consequently, we provide an overview of devices based on suspended and nonsuspended graphene structures. Finally, we discuss the potential and challenges of applications of graphene in MEMS and NEMS. Owing to its unique features, graphene is a promising material for emerging MEMS, NEMS, and sensor applications.

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.

2D Materials Beyond Post-AI Era: Smart Fibers, Soft Robotics, and Single Atom Catalysts

Recent consecutive discoveries of various 2D materials have triggered significant scientific and technological interests owing to their exceptional material properties, originally stemming from 2D confined geometry. Ever-expanding library of 2D materials can provide ideal solutions to critical challenges facing in current technological trend of the fourth industrial revolution. Moreover, chemical modification of 2D materials to customize their physical/chemical properties can satisfy the broad spectrum of different specific requirements across diverse application areas. This review focuses on three particular emerging application areas of 2D materials: smart fibers, soft robotics, and single atom catalysts (SACs), which hold immense potentials for academic and technological advancements in the post-artificial intelligence (AI) era. Smart fibers showcase unconventional functionalities including healthcare/environmental monitoring, energy storage/harvesting, and antipathogenic protection in the forms of wearable fibers and textiles. Soft robotics aligns with future trend to overcome longstanding limitations of hard-material based mechanics by introducing soft actuators and sensors. SACs are widely useful in energy storage/conversion and environmental management, principally contributing to low carbon footprint for sustainable post-AI era. Significance and unique values of 2D materials in these emerging applications are highlighted, where the research group has devoted research efforts for more than a decade.

Recent Progress on Multifunctional Thermally Conductive Epoxy Composite

In last years, the requirements for materials and devices have increased exponentially. Greater competitiveness; cost and weight reduction for structural materials; greater power density for electronic devices; higher design versatility; materials customizing and tailoring; lower energy consumption during the manufacturing, transport, and use; among others, are some of the most common market demands. A higher operational efficiency together with long service life claimed. Particularly, high thermally conductive in epoxy resins is an important requirement for numerous applications, including energy and electrical and electronic industry. Over time, these materials have evolved from traditional single-function to multifunctional materials to satisfy the increasing demands of applications. Considering the complex application contexts, this review aims to provide insight into the present state of the art and future challenges of thermally conductive epoxy composites with various functionalities. Firstly, the basic theory of thermally conductive epoxy composites is summarized. Secondly, the review provides a comprehensive description of five types of multifunctional thermally conductive epoxy composites, including their fabrication methods and specific behavior. Furthermore, the key technical problems are proposed, and the major challenges to developing multifunctional thermally conductive epoxy composites are presented. Ultimately, the purpose of this review is to provide guidance and inspiration for the development of multifunctional thermally conductive epoxy composites to meet the increasing demands of the next generation of materials.

A Closed Cavity Ultrasonic Resonator Formed by Graphene/PMMA Membrane for Acoustic Application

A graphene/poly(methyl methacrylate) (PMMA) closed cavity resonator with a resonant frequency at around 160 kHz has been fabricated. A six-layer graphene structure with a 450 nm PMMA laminated layer has been dry-transferred onto the closed cavity with an air gap of 105 μm. The resonator has been actuated in an atmosphere and at room temperature by mechanical, electrostatic and electro-thermal methods. The (1,1) mode has been observed to dominate the resonance, which suggests that the graphene/PMMA membrane has been perfectly clamped and seals the closed cavity. The degree of linearity of the membrane's displacement versus the actuation signal has been determined. The resonant frequency has been observed to be tuned to around 4% by applying an AC voltage through the membrane. The strain has been estimated to be around 0.08%. This research puts forward a graphene-based sensor design for acoustic sensing.

Microstructure and Mechanical Properties of Magnesium Matrix Composites Reinforced by In Situ Reduced Graphene Oxide

Due to their excellent mechanical properties and large specific surface area, graphene and its derivatives are widely used in metal matrix composites as reinforcements. In this study, the thermal reduction behavior of large-size graphene oxide are investigated systematically, and reduced graphene oxide (RGO) with few residual oxygen groups and good structural integrity is obtained. ZK61 matrix composites with varying content of in situ RGO are fabricated using the semi-powder metallurgy method. The results reveal that the addition of RGO can cause the refinement of the grains and the second phase, which is attributed to the uniform distribution of the RGO throughout the matrix. The formation of nano-MgO particles is beneficial in increasing the interfacial bonding strength between the RGO and the matrix, resulting in simultaneous increments in yield strength and elongation in the RGO/ZK61 composites. The composite containing 0.6 wt.% RGO shows a superior mechanical property, including microhardness of 79.9 HV, yield strength of 203 MPa and excellent elongation of 17.5%, with increases of 20.9%, 8.6% and 7.4%, respectively, when compared with the ZK61 alloy. Quantitative analysis indicates that the main strengthening mechanisms of RGO-reinforced magnesium matrix composites are load transfer strengthening and grain refinement strengthening.

A Review on the Applications of Graphene in Mechanical Transduction

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

Electro-responsive actuators based on graphene

Electro-responsive actuators (ERAs) hold great promise for cutting-edge applications in e-skins, soft robots, unmanned flight, and in vivo surgery devices due to the advantages of fast response, precise control, programmable deformation, and the ease of integration with control circuits. Recently, considering the excellent physical/chemical/mechanical properties (e.g., high carrier mobility, strong mechanical strength, outstanding thermal conductivity, high specific surface area, flexibility, and transparency), graphene and its derivatives have emerged as an appealing material in developing ERAs. In this review, we have summarized the recent advances in graphene-based ERAs. Typical the working mechanisms of graphene ERAs have been introduced. Design principles and working performance of three typical types of graphene ERAs (e.g., electrostatic actuators, electrothermal actuators, and ionic actuators) have been comprehensively summarized. Besides, emerging applications of graphene ERAs, including artificial muscles, bionic robots, human-soft actuators interaction, and other smart devices, have been reviewed. At last, the current challenges and future perspectives of graphene ERAs are discussed.

Mechanochromic Detection for Soft Opto-Magnetic Actuators

New multi-stimuli responsive materials are required in smart systems applications to overcome current limitations in remote actuation and to achieve versatile operation in inaccessible environments. The incorporation of detection mechanisms to quantify in real time the response to external stimuli is crucial for the development of automated systems. Here, we present the first wireless opto-magnetic actuator with mechanochromic response. The device, based on a nanostructured-iron (Fe) layer transferred onto suspended elastomer structures with a periodically corrugated backside, can be actuated both optically (in a broadband spectral range) and magnetically. The combined opto-magnetic stimulus can accurately modulate the mechanical response (strength and direction) of the device. The structural coloration generated at the corrugated back surface enables to easily map and quantify, in 2D, the mechanical deflections by analyzing in real time the hue changes of images taken using a conventional RGB smartphone camera, with a precision of 0.05°. We demonstrate the independent and synergetic optical and magnetic actuation and detection with a detection limit of 1.8 mW·cm^-2 and 0.34 mT, respectively. The simple operation, versatility, and cost-effectiveness of the wireless multiactuated device with highly sensitive mechanochromic mapping paves the way to a new generation of wirelessly controlled smart systems.

Recent Trends and Developments in Conducting Polymer Nanocomposites for Multifunctional Applications

Electrically-conducting polymers (CPs) were first developed as a revolutionary class of organic compounds that possess optical and electrical properties comparable to that of metals as well as inorganic semiconductors and display the commendable properties correlated with traditional polymers, like the ease of manufacture along with resilience in processing. Polymer nanocomposites are designed and manufactured to ensure excellent promising properties for anti-static (electrically conducting), anti-corrosion, actuators, sensors, shape memory alloys, biomedical, flexible electronics, solar cells, fuel cells, supercapacitors, LEDs, and adhesive applications with desired-appealing and cost-effective, functional surface coatings. The distinctive properties of nanocomposite materials involve significantly improved mechanical characteristics, barrier-properties, weight-reduction, and increased, long-lasting performance in terms of heat, wear, and scratch-resistant. Constraint in availability of power due to continuous depletion in the reservoirs of fossil fuels has affected the performance and functioning of electronic and energy storage appliances. For such reasons, efforts to modify the performance of such appliances are under way through blending design engineering with organic electronics. Unlike conventional inorganic semiconductors, organic electronic materials are developed from conducting polymers (CPs), dyes and charge transfer complexes. However, the conductive polymers are perhaps more bio-compatible rather than conventional metals or semi-conductive materials. Such characteristics make it more fascinating for bio-engineering investigators to conduct research on polymers possessing antistatic properties for various applications. An extensive overview of different techniques of synthesis and the applications of polymer bio-nanocomposites in various fields of sensors, actuators, shape memory polymers, flexible electronics, optical limiting, electrical properties (batteries, solar cells, fuel cells, supercapacitors, LEDs), corrosion-protection and biomedical application are well-summarized from the findings all across the world in more than 150 references, exclusively from the past four years. This paper also presents recent advancements in composites of rare-earth oxides based on conducting polymer composites. Across a variety of biological and medical applications, the fact that numerous tissues were receptive to electric fields and stimuli made CPs more enticing.

Realization of a Graphene/PMMA Acoustic Capacitive Sensor Released by Silicon Dioxide Sacrificial Layer

We report the realization of an acoustic capacitive microphone formed by graphene/poly(methyl methacrylate) (PMMA). It is the first time that the ultra-large graphene/PMMA membrane suspended fully over the cavity has been fabricated by releasing the silicon dioxide sacrificial layer underneath the membrane. The novelty in the fabrication method is that the silicon dioxide layer has been etched by hydrogen fluoride vapor from the back of the partly etched silicon substrate. Using the new process, the ultra-large graphene/PMMA membrane, with a diameter to thickness ratio of 7800, has been suspended over the cavity with a 2 μm air gap. The spacing of 2 μm is the minimum gap over the graphene-based acoustic capacitive microphones which have been reported so far. The static deformation of the suspended graphene/PMMA membrane after silicon dioxide has been etched is estimated to be 270 nm. The aspect ratio of the membrane's diameter over its static deformation is around 13,000, which shows that the graphene/PMMA membrane with a diameter of a few millimeters can be transferred and suspended over the substrate with relatively small deformation by releasing the sacrificial silicon dioxide layer. The dynamic behavior of the device under electrostatic actuation has been characterized. The acoustic response of the graphene/PMMA capacitive microphone has been measured, and the sensitivity has been observed to be -47.5 dB V (4.22 mV/Pa) ± 10%. The strain in the graphene/PMMA membrane is estimated to be 0.034%.

Autoperforation of two-dimensional materials to generate colloidal state machines capable of locomotion

A central ambition of the robotics field has been to increasingly miniaturize such systems, with perhaps the ultimate achievement being the synthetic microbe or cell sized machine. To this end, we have introduced and demonstrated prototypes of what we call colloidal state machines (CSMs) as particulate devices capable of integrating sensing, memory, and energy harvesting as well as other functions onto a single particle. One technique that we have introduced for creating CSMs based on 2D materials such as graphene or monolayer MoS₂ is "autoperforation", where the nanometer-scale film is fractured around a designed strain field to produce structured particles upon liftoff. While CSMs have been demonstrated with functions such as memory, sensing, and energy harvesting, the property of locomotion has not yet been demonstrated. In this work, we introduce an inversion moulding technique compatible with autoperforation that allows for the patterning of an external catalytic surface that enables locomotion in an accompanying fuel bath. Optimal processing conditions for electroplating a catalytic Pt layer to one side of an autoperforated CSM are elucidated. The self-driven propulsion of the resulting Janus CSM in H₂O₂ is studied, including the average velocity, as a function of fluid surface tension and H₂O₂ concentration in the bath. Since machines have to encode for a specific task, this work summarizes efforts to create a microfluidic testbed that allows for CSM designs to be evaluated for the ultimate purpose of navigation through complex fluidic networks, such as the human circulatory system. We introduce two CSM designs that mimic aspects of human immunity to solve search and recruitment tasks in such environments. These results advance CSM design concepts closer to promising applications in medicine and other areas.

CTF-based soft touch actuator for playing electronic piano

In the field of bioinspired soft robotics, to accomplish sophisticated tasks in human fingers, electroactive artificial muscles are under development. However, most existing actuators show a lack of high bending displacement and irregular response characteristics under low input voltages. Here, based on metal free covalent triazine frameworks (CTFs), we report an electro-ionic soft actuator that shows high bending deformation under ultralow input voltages that can be implemented as a soft robotic touch finger on fragile displays. The as-synthesized CTFs, derived from a polymer of intrinsic microporosity (PIM-1), were combined with poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT-PSS) to make a flexible electrode for a high-performance electro-ionic soft actuator. The proposed soft touch finger showed high peak-to-peak displacement of 17.0 mm under ultralow square voltage of ±0.5 V, with 0.1 Hz frequency and 4 times reduced phase delay in harmonic response compared with that of a pure PEDOT-PSS-based actuator. The significant actuation performance is mainly due to the unique physical and chemical configurations of CTFs electrode with highly porous and electrically conjugated networks. On a fragile display, the developed soft robotic touch finger array was successfully used to perform soft touching, similar to that of a real human finger; device was used to accomplish a precise task, playing electronic piano.

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.

Transparent photoactuators based on localized-surface-plasmon-resonant semiconductor nanocrystals: a platform for camouflage soft robots

Among the various kinds of actuators, photoactuators with the advantages of wireless and remote manipulation have attracted the interest of many researchers. However, it is challenging to develop transparent photoactuators for camouflage soft robots, because most of the current photoactuators use colored or even black light-absorbing agents. Here, we fabricate a series of transparent actuators by employing localized-surface-plasmon-resonant semiconductor nanocrystals, which mainly respond to infrared light. In this way, we introduce the advantages of wireless and remote manipulation into the camouflage soft robots. Three semiconductor nanocrystals (In2O3:Sn, W18O49 and CuS nanocrystals) are fabricated as the photothermal conversion agents to construct the photoactuators. Owing to the weak absorption of visible light, the fabricated actuators exhibit high transparency (maximum transmittance >72% at 600 nm). Meanwhile, they demonstrate remarkable deformations upon near infrared light irradiation (bending curvature up to 0.66 cm-1). Finally, a worm-like crawling robot, a glasswing butterfly robot and a two-finger robot hand are constructed to demonstrate the ability of remote manipulation and inconspicuousness in both the robot appearance and the driving signal, attaining excellent passive camouflage function. These results provide a promising platform for remote-controlled camouflage soft robots and biomimic applications, which will be of significance in the field of soft robotics.

Laser-Induced Graphene for Electrothermally Controlled, Mechanically Guided, 3D Assembly and Human-Soft Actuators Interaction

Mechanically guided, 3D assembly has attracted broad interests, owing to its compatibility with planar fabrication techniques and applicability to a diversity of geometries and length scales. Its further development requires the capability of on-demand reversible shape reconfigurations, desirable for many emerging applications (e.g., responsive metamaterials, soft robotics). Here, the design, fabrication, and modeling of soft electrothermal actuators based on laser-induced graphene (LIG) are reported and their applications in mechanically guided 3D assembly and human-soft actuators interaction are explored. Over 20 complex 3D architectures are fabricated, including reconfigurable structures that can reshape among three distinct geometries. Also, the structures capable of maintaining 3D shapes at room temperature without the need for any actuation are realized by fabricating LIG actuators at an elevated temperature. Finite element analysis can quantitatively capture key aspects that govern electrothermally controlled shape transformations, thereby providing a reliable tool for rapid design optimization. Furthermore, their applications are explored in human-soft actuators interaction, including elastic metamaterials with human gesture-controlled bandgap behaviors and soft robotic fingers which can measure electrocardiogram from humans in an on-demand fashion. Other demonstrations include artificial muscles, which can lift masses that are about 110 times of their weights and biomimetic frog tongues which can prey insects.

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.

The Application of Stimuli-Sensitive Actuators Based on Graphene Materials

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

Tunable-Deformed Graphene Layers for Actuation

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

Review of Electrothermal Actuators and Applications

This paper presents a review of electrothermal micro-actuators and applications. Electrothermal micro-actuators have been a significant research interest over the last two decades, and many different designs and applications have been investigated. The electrothermal actuation method offers several advantages when compared with the other types of actuation approaches based on electrostatic and piezoelectric principles. The electrothermal method offers flexibility in the choice of materials, low-cost fabrication, and large displacement capabilities. The three main configurations of electrothermal actuators are discussed: hot-and-cold-arm, chevron, and bimorph types as well as a few other unconventional actuation approaches. Within each type, trends are outlined from the basic concept and design modifications to applications which have been investigated in order to enhance the performance or to overcome the limitations of the previous designs. It provides a grasp of the actuation methodology, design, and fabrication, and the related performance and applications in cell manipulation, micro assembly, and mechanical testing of nanomaterials, Radio Frequency (RF) switches, and optical Micro-Electro-Mechanical Systems (MEMS).

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.

Soft Three-Dimensional Robots with Hard Two-Dimensional Materials

Inspired by biological organisms, soft engineered robots seek to augment the capabilities of rigid robots by providing safe, compliant, and flexible interfaces for human-machine interactions. Soft robots provide significant advantages in applications ranging from pick-and-place, prostheses, wearables, and surgical and drug-delivery devices. Conventional soft robots are typically composed of elastomers or gels, where changes in material properties such as stiffness or swelling control actuation. However, soft materials have limited electronic and optical performance, mechanical rigidity, and stability against environmental damage. Atomically thin two-dimensional layered materials (2DLMs) such as graphene and transition metal dichalcogenides have excellent electrical, optical, mechanical, and barrier properties and have been used to create ultrathin interconnects, transistors, photovoltaics, photocatalysts, and biosensors. Importantly, although 2DLMs have high in-plane stiffness and rigidity, they have high out-of-plane flexibility and are soft from that point of view. In this Perspective, we discuss the use of 2DLMs either in their continuous monolayer state or as composites with elastomers and hydrogels to create soft three-dimensional (3D) robots, with a focus on origami-inspired approaches. We classify the field, outline major methods, and highlight challenges toward seamless integration of hybrid materials to create multifunctional robots with the characteristics of soft devices.

Graphene-based bimorphs for micron-sized, autonomous origami machines

Origami-inspired fabrication presents an attractive platform for miniaturizing machines: thinner layers of folding material lead to smaller devices, provided that key functional aspects, such as conductivity, stiffness, and flexibility, are persevered. Here, we show origami fabrication at its ultimate limit by using 2D atomic membranes as a folding material. As a prototype, we bond graphene sheets to nanometer-thick layers of glass to make ultrathin bimorph actuators that bend to micrometer radii of curvature in response to small strain differentials. These strains are two orders of magnitude lower than the fracture threshold for the device, thus maintaining conductivity across the structure. By patterning 2-[Formula: see text]m-thick rigid panels on top of bimorphs, we localize bending to the unpatterned regions to produce folds. Although the graphene bimorphs are only nanometers thick, they can lift these panels, the weight equivalent of a 500-nm-thick silicon chip. Using panels and bimorphs, we can scale down existing origami patterns to produce a wide range of machines. These machines change shape in fractions of a second when crossing a tunable pH threshold, showing that they sense their environments, respond, and perform useful functions on time and length scales comparable with microscale biological organisms. With the incorporation of electronic, photonic, and chemical payloads, these basic elements will become a powerful platform for robotics at the micrometer scale.

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.

Electroionic Antagonistic Muscles Based on Nitrogen-Doped Carbons Derived from Poly(Triazine-Triptycene)

Electroactive soft actuators and bioinspired artificial muscles have received burgeoning interest as essential components in future electronic devices such as soft haptic-feedback systems, human-friendly wearable electronics, and active biomedical devices. However, important challenging issues including fast response time, ultralow input power, robust operation in harsh environments, high-resolution controllability, and cost-effectiveness remain to be resolved for more practical applications. Here, an electroionic antagonistic artificial muscle is reported based on hierarchically porous nitrogen-doped carbon (HPNC) electrodes derived from a microporous poly(triazine-triptycene) organic framework (PtztpOF). The HPNC, which exhibits hierarchically micro- and mesoporous structures, high specific capacitance of 330 F g-1 in aqueous solution, large specific surface area of 830.46 m2 g-1, and graphitic nitrogen doping, offers high electrical conductivity of 0.073 MS m-1 and outstanding volumetric capacitance of 10.4 MF m-3. Furthermore, it is demonstrated that a novel electroionic antagonistic muscle based on HPNC electrodes successfully displays extremely reliable and large bending deformations and long-term durability under ultralow input voltages. Therefore, microporous polymer or covalent organic frameworks can be applied to provide significant improvements in electroactive artificial muscles, which can play key roles as technological advances toward bioinspired actuating devices required for next-generation soft and wearable electronics.

Natural cellulose ionogels for soft artificial muscles

Rapid development of soft micromanipulation techniques for human friendly electronics has raised the demand for the devices to be able to carry out mechanical work on a micro- and macroscale. The natural cellulose-based ionogels (CEL-iGEL) hold a great potential for soft artificial muscle application, due to its flexibility, low driving voltage and biocompatibility. The CEL-iGEL composites undergo reversible bending already at ±500mV step-voltage values. A fast response to the voltage applied and high ionic conductivity of membranous actuator is achieved by a complete dissolution of cellulose in 1-ethyl-3-methylimidazolium acetate [EMIm][OAc]. The CEL-iGEL supported cellulose actuator films were cast out of cellulose-[EMIm][OAc] solution via phase inversion in H₂O. The facile preparation method ensured uniform morphology along the layers and stand for the high ionic-liquid loading in a porous cellulose scaffold. During the electromechanical characterization, the CEL-iGEL actuators showed exponential dependence to the voltage applied with the max strain difference values reaching up to 0.6% at 2 V. Electrochemical analysis confirmed the good stability of CEL-iGEL actuators and determined the safe working voltage value to be below 2.5V. To predict and estimate the deformation for various step input voltages, a mathematical model was proposed.

Soft but Powerful Artificial Muscles Based on 3D Graphene-CNT-Ni Heteronanostructures

Bioinspired soft ionic actuators, which exhibit large strain and high durability under low input voltages, are regarded as prospective candidates for future soft electronics. However, due to the intrinsic drawback of weak blocking force, the feasible applications of soft ionic actuators are limited until now. An electroactive artificial muscle electro-chemomechanically reinforced with 3D graphene-carbon nanotube-nickel heteronanostructures (G-CNT-Ni) to improve blocking force and bending deformation of the ionic actuators is demonstrated. The G-CNT-Ni heteronanostructure, which provides an electrically conductive 3D network and sufficient contact area with mobile ions in the polymer electrolyte, is embedded as a nanofiller in both ionic polymer and conductive electrodes of the ionic actuators. An ionic exchangeable composite membrane consisting of Nafion, G-CNT-Ni and ionic liquid (IL) shows improved tensile modulus and strength of up to 166% and 98%, respectively, and increased ionic conductivity of 0.254 S m^-1 . The ionic actuator exhibits enhanced actuation performances including three times larger bending deformation, 2.37 times higher blocking force, and 4 h durability. The electroactive artificial muscle electro-chemomechanically reinforced with 3D G-CNT-Ni heteronanostructures offers improvements over current soft ionic actuator technologies and can advance the practical engineering applications.

Graphene and Other 2D Colloids: Liquid Crystals and Macroscopic Fibers

Two-dimensional colloidal nanomaterials are running into renaissance after the enlightening researches of graphene. Macroscopic one-dimensional fiber is an optimal ordered structural form to express the in-plane merits of 2D nanomaterials, and the formation of liquid crystals (LCs) allows the creation of continuous fibers. In the correlated system from LCs to fibers, understanding their macroscopic organizing behavior and transforming them into new solid fibers is greatly significant for applications. Herein, we retrospect the history of 2D colloids and discuss about the concept of 2D nanomaterial fibers in the context of LCs, elaborating the motivation, principle and possible strategies of fabrication. Then we highlight the creation, development and typical applications of graphene fibers. Additionally, the latest advances of other 2D nanomaterial fibers are also summarized. Finally, conclusions, challenges and perspectives are provided to show great expectations of better and more fibrous materials of 2D nanomaterials. This review gives a comprehensive retrospect of the past century-long effort about the whole development of 2D colloids, and plots a clear roadmap - "lamellar solid - LCs - macroscopic fibers - flexible devices", which will certainly open a new era of structural-multifunctional application for the conventional 2D colloids.

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.

Construction of a Fish-like Robot Based on High Performance Graphene/PVDF Bimorph Actuation Materials

Smart actuators have many potential applications in various areas, so the development of novel actuation materials, with facile fabricating methods and excellent performances, are still urgent needs. In this work, a novel electromechanical bimorph actuator constituted by a graphene layer and a PVDF layer, is fabricated through a simple yet versatile solution approach. The bimorph actuator can deflect toward the graphene side under electrical stimulus, due to the differences in coefficient of thermal expansion between the two layers and the converse piezoelectric effect and electrostrictive property of the PVDF layer. Under low voltage stimulus, the actuator (length: 20 mm, width: 3 mm) can generate large actuation motion with a maximum deflection of about 14.0 mm within 0.262 s and produce high actuation stress (more than 312.7 MPa/g). The bimorph actuator also can display reversible swing behavior with long cycle life under high frequencies. on this basis, a fish-like robot that can swim at the speed of 5.02 mm/s is designed and demonstrated. The designed graphene-PVDF bimorph actuator exhibits the overall novel performance compared with many other electromechanical avtuators, and may contribute to the practical actuation applications of graphene-based materials at a macro scale.

Graphene-Based Flexible and Stretchable Electronics

Graphene provides outstanding properties that can be integrated into various flexible and stretchable electronic devices in a conventional, scalable fashion. The mechanical, electrical, and optical properties of graphene make it an attractive candidate for applications in electronics, energy-harvesting devices, sensors, and other systems. Recent research progress on graphene-based flexible and stretchable electronics is reviewed here. The production and fabrication methods used for target device applications are first briefly discussed. Then, the various types of flexible and stretchable electronic devices that are enabled by graphene are discussed, including logic devices, energy-harvesting devices, sensors, and bioinspired devices. The results represent important steps in the development of graphene-based electronics that could find applications in the area of flexible and stretchable electronics.

Transparent actuators and robots based on single-layer superaligned carbon nanotube sheet and polymer composites

Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm(-1) under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot "hand" were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency.

Sulfur and Nitrogen Co-Doped Graphene Electrodes for High-Performance Ionic Artificial Muscles

Sulfur and nitrogen co-doped graphene electrodes for bioinspired ionic artificial muscles, which exhibit outstanding actuation performances (bending strain of 0.36%, 4.5 times higher than

PEDOT

PSS electrodes, and 96% of initial strain after demonstration over 18 000 cycles), provide remarkable electro-chemo-mech anical properties: specific capacitance, electrical conductivity, and large surface area with mesoporosity.

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

In recent years, electroactive polymers have been developed as actuator materials. As an important branch of electroactive polymers, electrothermal actuators (ETAs) demonstrate potential applications in the fields of artificial muscles, biomimetic devices, robotics, and so on. Large-shape deformation, low-voltage-driven actuation, and ultrafast fabrication are critical to the development of ETA. However, a simultaneous optimization of all of these advantages has not been realized yet. Practical biomimetic applications are also rare. In this work, we introduce an ultrafast approach to fabricate a curling actuator based on a newly designed carbon nanotube and polymer composite, which completely realizes all of the above required advantages. The actuator shows an ultralarge curling actuation with a curvature greater than 1.0 cm(-1) and bending angle larger than 360°, even curling into a tubular structure. The driving voltage is down to a low voltage of 5 V. The remarkable actuation is attributed not only to the mismatch in the coefficients of thermal expansion but also to the mechanical property changes of materials during temperature change. We also construct an S-shape actuator to show the possibility of building advanced-structure actuators. A weightlifting walking robot is further designed that exhibits a fast-moving motion while lifting a sample heavier than itself, demonstrating promising biomimetic applications.

Graphene kirigami

For centuries, practitioners of origami ('ori', fold; 'kami', paper) and kirigami ('kiru', cut) have fashioned sheets of paper into beautiful and complex three-dimensional structures. Both techniques are scalable, and scientists and engineers are adapting them to different two-dimensional starting materials to create structures from the macro- to the microscale. Here we show that graphene is well suited for kirigami, allowing us to build robust microscale structures with tunable mechanical properties. The material parameter crucial for kirigami is the Föppl-von Kármán number γ: an indication of the ratio between in-plane stiffness and out-of-plane bending stiffness, with high numbers corresponding to membranes that more easily bend and crumple than they stretch and shear. To determine γ, we measure the bending stiffness of graphene monolayers that are 10-100 micrometres in size and obtain a value that is thousands of times higher than the predicted atomic-scale bending stiffness. Interferometric imaging attributes this finding to ripples in the membrane that stiffen the graphene sheets considerably, to the extent that γ is comparable to that of a standard piece of paper. We may therefore apply ideas from kirigami to graphene sheets to build mechanical metamaterials such as stretchable electrodes, springs, and hinges. These results establish graphene kirigami as a simple yet powerful and customizable approach for fashioning one-atom-thick graphene sheets into resilient and movable parts with microscale dimensions.

Large-strain, multiform movements from designable electrothermal actuators based on large highly anisotropic carbon nanotube sheets

Many electroactive polymer (EAP) actuators use diverse configurations of carbon nanotubes (CNTs) as pliable electrodes to realize discontinuous, agile movements, for CNTs are conductive and flexible. However, the reported CNT-based EAP actuators could only accomplish simple, monotonous actions. Few actuators were extended to complex devices because efficiently preparing a large-area CNT electrode was difficult, and complex electrode design has not been carried out. In this work, we successfully prepared large-area CNT paper (buckypaper, BP) through an efficient approach. The BP is highly anisotropic, strong, and suitable as flexible electrodes. By means of artful graphic design and processing on BP, we fabricated various functional BP electrodes and developed a series of BP-polymer electrothermal actuators (ETAs). The prepared ETAs can realize various controllable movements, such as large-stain bending (>180°), helical curling (∼ 630°), or even bionic actuations (imitating human-hand actions). These functional and interesting movements benefit from flexible electrode design and the anisotropy of BP material. Owing to the advantages of low driving voltage (20-200 V), electrolyte-free and long service life (over 10000 times), we think the ETAs will have great potential applications in the actuator field.

Tuning the oxygen functional groups in reduced graphene oxide papers to enhance the electromechanical actuation

Tuning oxygen content in rGO paper is found to enhance its actuation strain. The developed theoretical model and in-depth experimental investigation show that capacitance and stiffness are two key factors in the actuation mechanism of rGO papers.

Piezoelectric coupling in a field-effect transistor with a nanohybrid channel of ZnO nanorods grown vertically on graphene

Piezoelectric coupling phenomena in a graphene field-effect transistor (GFET) with a nano-hybrid channel of chemical-vapor-deposited Gr (CVD Gr) and vertically aligned ZnO nanorods (NRs) under mechanical pressurization were investigated. Transfer characteristics of the hybrid channel GFET clearly indicated that the piezoelectric effect of ZnO NRs under static or dynamic pressure modulated the channel conductivity (σ) and caused a positive shift of 0.25% per kPa in the Dirac point. However, the GFET without ZnO NRs showed no change in either σ or the Dirac point. Analysis of the Dirac point shifts indicated transfer of electrons from the CVD Gr to ZnO NRs due to modulation of their interfacial barrier height under pressure. High responsiveness of the hybrid channel device with fast response and recovery times was evident in the time-dependent behavior at a small gate bias. In addition, the hybrid channel FET could be gated by mechanical pressurization only. Therefore, a piezoelectric-coupled hybrid channel GFET can be used as a pressure-sensing device with low power consumption and a fast response time. Hybridization of piezoelectric 1D nanomaterials with a 2D semiconducting channel in FETs enables a new design for future nanodevices.

A spongy graphene based bimorph actuator with ultra-large displacement towards biomimetic application

Bimorph actuators, consisting of two layers with asymmetric expansion and generating bending displacement, have been widely researched. Their actuation performances greatly rely on the difference of coefficients of thermal expansion (CTE) between the two material layers. Here, by introducing a spongy graphene (sG) paper with a large negative CTE as well as high electrical-to-thermal properties, an electromechanical sG/PDMS bimorph actuator is designed and fabricated, showing an ultra-large bending displacement output under low voltage stimulation (curvature of about 1.2 cm(-1) at 10 V for 3 s), a high displacement-to-length ratio (∼0.79), and vibration motion at AC voltage (up to 10 Hz), which is much larger and faster than that of the other electromechanical bimorph actuators. Based on the sG/PDMS bimorph serving as the "finger", a mechanical gripper is constructed to realize the fast manipulation of the objects under 0.1 Hz square wave voltage stimulation (0-8 V). The designed bimorph actuator coupled with ultra-large bending displacement, low driven voltage, and the ease of fabrication may open up substantial possibilities for the utilization of electromechanical actuators in practical biomimetic device applications.

Nanostructured carbon materials based electrothermal air pump actuators

Actuator materials can directly convert different types of energy into mechanical energy. In this work, we designed and fabricated electrothermal air pump-type actuators by utilization of various nanostructured carbon materials, including single wall carbon nanotubes (SWCNTs), reduced graphene oxide (r-GO), and graphene oxide (GO)/SWCNT hybrid films as heating elements to transfer electrical stimulus into thermal energy, and finally convert it into mechanical energy. Both the actuation displacement and working temperature of the actuator films show the monotonically increasing trend with increasing driving voltage within the actuation process. Compared with common polymer nanocomposites based electrothermal actuators, our actuators exhibited better actuation performances with a low driving voltage (<10 V), large generated stress (tens of MPa), high gravimetric density (tens of J kg(-1)), and short response time (few hundreds of milliseconds). Besides that, the pump actuators exhibited excellent stability under cyclic actuation tests. Among these actuators, a relatively larger actuation strain was obtained for the r-GO film actuator due to the intrinsic gas-impermeability nature of graphene platelets. In addition, the high modulus of the r-GO and GO/SWCNT films also guaranteed the large generated stress and high work density. Specifically, the generated stress and gravimetric work density of the GO/SWCNT hybrid film actuator could reach up to more than 50 MPa and 30 J kg(-1), respectively, under a driving voltage of 10 V. The resulting stress value is at least two orders of magnitude higher than that of natural muscles (∼ 0.4 MPa).

Durable and water-floatable ionic polymer actuator with hydrophobic and asymmetrically laser-scribed reduced graphene oxide paper electrodes

Ionic polymer actuators driven by electrical stimuli have been widely investigated for use in practical applications such as bioinspired robots, sensors, and biomedical devices. However, conventional ionic polymer-metal composite actuators have a serious drawback of poor durability under long-term actuation in open air, mainly because of the leakage of the inner electrolyte and hydrated cations through cracks in the metallic electrodes. Here, we developed a highly durable and water-floatable ionic polymer artificial muscle by employing hydrophobic and asymmetrically laser-scribed reduced graphene oxide paper electrodes (HLrGOP). The highly conductive, flexible, and cost-effective HLrGOP electrodes have asymmetrically smooth hydrophobic outer and rough inner surfaces, resulting in liquid-impermeable and water-floatable functionalities and strong bonding between an ionic polymer and the electrodes. More interestingly, the HLrGOP electrode, which has a unique functionality to prevent the leakage of the vaporized or liquid electrolyte and mobile ions during electrical stimuli, greatly contributes to an exceptionally durable ionic polymer-graphene composite actuator that is a prerequisite for practical applications in active biomedical devices, biomimetic robots, touch-feedback haptic systems, and flexible soft electronics.

Carbon nanotube and graphene-based bioinspired electrochemical actuators

Bio-inspired actuation materials, also called artificial muscles, have attracted great attention in recent decades for their potential application in intelligent robots, biomedical devices, and micro-electro-mechanical systems. Among them, ionic polymer metal composite (IPMC) actuator has been intensively studied for their impressive high-strain under low voltage stimulation and air-working capability. A typical IPMC actuator is composed of one ion-conductive electrolyte membrane laminated by two electron-conductive metal electrode membranes, which can bend back and forth due to the electrode expansion and contraction induced by ion motion under alternating applied voltage. As its actuation performance is mainly dominated by electrochemical and electromechanical process of the electrode layer, the electrode material and structure become to be more crucial to higher performance. The recent discovery of one dimensional carbon nanotube and two dimensional graphene has created a revolution in functional nanomaterials. Their unique structures render them intriguing electrical and mechanical properties, which makes them ideal flexible electrode materials for IPMC actuators in stead of conventional metal electrodes. Currently although the detailed effect caused by those carbon nanomaterial electrodes is not very clear, the presented outstanding actuation performance gives us tremendous motivation to meet the challenge in understanding the mechanism and thus developing more advanced actuator materials. Therefore, in this review IPMC actuators prepared with different kinds of carbon nanomaterials based electrodes or electrolytes are addressed. Key parameters which may generate important influence on actuation process are discussed in order to shed light on possible future research and application of the novel carbon nanomateials based bio-inspired electrochemical actuators.