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

Soft Actuator with Biomass Porous Electrode: A Strategy for Lowering Voltage and Enhancing Durability

Electroactive artificial muscles with deformability have attracted widespread interest in the field of soft robotics. However, the design of artificial muscles with low-driven voltage and operational durability remains challenging. Herein, novel biomass porous carbon (BPC) electrodes are proposed. The nanoporous BPC enables the electrode to provide exposed active surfaces for charge transfer and unimpeded channels for ion migration, thus decreasing the driving voltage, enhancing time durability, and maintaining the actuation performances simultaneously. The proposed actuator exhibits a high displacement of 13.6 mm (bending strain of 0.54%) under 0.5 V and long-term durability of 99.3% retention after 550,000 cycles (∼13 days) without breaks. Further, the actuators are integrated to perform soft touch on a smartphone and demonstrated as bioinspired robots, including a bionic butterfly and a crawling robot (moving speed = 0.08 BL s-1). This strategy provides new insight into the design and fabrication of high-performance electroactive soft actuators with great application potential.

Functionalized MXene Films with Substantially Improved Low-Voltage Actuation

Ti3 C2 Tx MXene film is promising for low-voltage electrochemical actuators (ECAs) due to its excellent electrical conductivity, volumetric capacitance, and mechanical properties. However, its in-plane actuation is limited to little intralayer strain of MXene sheets under polarization. Here it is demonstrated that a simple tetrabutylammonium (TBA) functionalization of MXene improves the in-plane actuation strain by 337% and also enhances the mechanical property and stability in air and the electrolyte. Various in situ characterizations reveal that the improved actuation is ascribed to the co-insertion/desertion of TBA and Li ions into/from MXene interlayer galleries and inter-edge gaps that causes a large in-plane sliding of MXene sheets under negative/positive polarizations. The assembled bending actuator has a high strength and modulus and generates a peak-to-peak strain difference of 0.771% and a blocking force up to 51.5 times its own weight under 1 V. The designed soft robotic tweezer can grasp an object under 1 V and hold it firmly under 0 V. The novel sheet sliding mechanism resembling the filament sliding theory in skeletal muscles may inspire the design of high-performance actuators with other nanomaterials.

Air-Working Electrochromic Artificial Muscles

Artificial muscles are indispensable components for next-generation robotics to mimic the sophisticated movements of living systems and provide higher output energies when compared with real muscles. However, artificial muscles actuated by electrochemical ion injection have problems with single actuation properties and difficulties in stable operation in air. Here, air-working electrochromic artificial muscles (EAMs) with both color-changing and actuation functions are reported, which are constructed based on vanadium pentoxide nanowires and carbon tube yarn. Each EAM can generate a contractile stroke of ≈12% during stable operation in the air with multiple color changes (yellow-green-gray) under ±4 V actuation voltages. The reflectance contrast is as high as 51%, demonstrating the excellent versatility of the EAMs. In addition, a torroidal EAM arrangement with fast response and high resilience is constructed. The EAM's contractile stroke can be displayed through visual color changes, which provides new ideas for future artificial muscle applications in soft robots and artificial limbs.

Polysulfonated covalent organic framework as active electrode host for mobile cation guests in electrochemical soft actuator

Tailoring transfer dynamics of mobile cations across solid-state electrolyte-electrode interfaces is crucial for high-performance electrochemical soft actuators. In general, actuation performance is directly proportional to the affinity of cations and anions in the electrolyte for the opposite electrode surfaces under an applied field. Herein, to maximize electrochemical actuation, we report an electronically conjugated polysulfonated covalent organic framework (pS-COF) used as a common electrolyte-electrode host for 1-ethyl-3-methylimidazolium cation embedded into a Nafion membrane. The pS-COF-based electrochemical actuator exhibits remarkable bending deflection at near-zero voltage (~0.01 V) and previously unattainable blocking force, which is 34 times higher than its own weight. The ultrafast step response shows a very short rising time of 1.59 seconds without back-relaxation, and substantial ultralow-voltage actuation at higher frequencies up to 5.0 hertz demonstrates good application prospects of common electrolyte-electrode hosts. A soft fluidic switch is constructed using the proposed soft actuator as a potential engineering application.

Carbon Nanomaterial-Based Hydrogels as Scaffolds in Tissue Engineering: A Comprehensive Review

Carbon-based nanomaterials (CBNs) are a category of nanomaterials with various systems based on combinations of sp2 and sp3 hybridized carbon bonds, morphologies, and functional groups. CBNs can exhibit distinguished properties such as high mechanical strength, chemical stability, high electrical conductivity, and biocompatibility. These desirable physicochemical properties have triggered their uses in many fields, including biomedical applications. In this review, we specifically focus on applying CBNs as scaffolds in tissue engineering, a therapeutic approach whereby CBNs can act for the regeneration or replacement of damaged tissue. Here, an overview of the structures and properties of different CBNs will first be provided. We will then discuss state-of-the-art advancements of CBNs and hydrogels as scaffolds for regenerating various types of human tissues. Finally, a perspective of future potentials and challenges in this field will be presented. Since this is a very rapidly growing field, we expect that this review will promote interdisciplinary efforts in developing effective tissue regeneration scaffolds for clinical applications.

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.

Carbon-Based Nanomaterials Electrodes of Ionic Soft Actuators: From Initial 1D Structure to 3D Composite Structure for Flexible Intelligent Devices

With the rapid development of autonomous and intelligent devices driven by soft actuators, ion soft actuators in flexible intelligent devices have several advantages over other actuators, including their light weight, low voltage drive, large strain, good flexibility, fast response, etc. Traditional ionic polymer metal composites have received a lot of attention over the past decades, but they suffer from poor driving performance and short service lives since the precious metal electrodes are not only expensive, heavy, and labor-intensive, but also prone to cracking with repeated actuation. As excellent candidates for the electrode materials of ionic soft actuators, carbon-based nanomaterials have received a lot of interest because of their plentiful reserves, low cost, and excellent mechanical, electrical, and electrochemical properties. This research reviewed carbon-based nanomaterial electrodes of ion soft actuators for flexible smart devices from a fresh perspective from 1D to 3D combinations. The design of the electrode structure is introduced after the driving mechanism of ionic soft actuators. The details of ionic soft actuator electrodes made of carbon-based nanomaterials are then provided. Additionally, a summary of applications for flexible intelligent devices is provided. Finally, suggestions for challenges and prospects are made to offer direction and inspiration for further development.

Magnetically and Electrically Responsive Soft Actuator Derived from Ferromagnetic Bimetallic Organic Framework

The advancement in smart devices and soft robotics necessitates the use of multiresponsive soft actuators with high actuation stroke and stable reversibility for their use in real-world applications. Here, this work reports a magnetically and electrically dual responsive soft actuator based on neodymium and iron bimetallic organic frameworks (NdFeMOFs@700). The ferromagnetic NdFeMOFs@700 exhibits a porous carbon structure with excellent magnetization saturation (166.96 emu g^-1 ) which allows its application to a dual functional material in both magnetoactive and electro-ionic actuations. The electro-ionic soft actuator, which is fabricated using NdFeMOFs@700 and PEDOT-PSS, demonstrates 4.5 times higher ionic charge storage capacity (68.21 mF cm^-2 ) and has excellent cycle stability compared with the PEDOT-PSS based actuator. Under a low sinusoidal input voltage of 1 V, the dual-responsive actuator displays bending displacement of 15.46 mm and also generates deflection of 10 mm at 50 mT. Present results show that the ferromagnetic bimetallic organic frameworks can open a new way to make dual responsive soft actuators due to the hierarchically porous structures with its high redox activity, superior magnetic properties, and larger electrochemical capacitance. With the NdFeMOFs@700 based soft actuators, walking movement of a starfish robot is demonstrated by applying both the magnetic and electric fields.

Advances in artificial muscles: A brief literature and patent review

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

A Dual-Responsive Magnetoactive and Electro-Ionic Soft Actuator Derived from a Nickel-Based Metal-Organic Framework

There is growing demand for multiresponsive soft actuators for the realization of natural, safe, and complex motions in robotic interactions. In particular, soft actuators simultaneously stimulated by electrical and magnetic fields are always under development owing to their simple controllability and reliability during operation. Herein, magnetically and electrically driven dual-responsive soft actuators (MESAs) derived from novel nickel-based metal-organic frameworks (Ni-MOFs-700C), are reported. Nanoscale Ni-MOFs-700C has excellent electrochemical and magnetic properties that allow it to be used as a multifunctional material under both magnetoactive and electro-ionic actuations. The dual-responsive MESA exhibits a bending displacement of 30 mm and an ultrafast rising time of 1.5 s under a very low input voltage of 1 V and also exerts a bending deflection of 12.5 mm at 50 mT under a high excitation frequency of 5 Hz. By utilizing a dual-responsive MESA, the hovering motion of a hummingbird robot is demonstrated under magnetic and electrical stimuli.

Molecular-Level Methylcellulose/MXene Hybrids with Greatly Enhanced Electrochemical Actuation

Ti₃ C₂ T_x MXene film is promising for electrochemical actuators due to its high electrical conductivity and volumetric capacitance. However, its actuation performance is limited by the slow ion diffusion through the film and poor mechanical property in aqueous electrolytes. Here, molecular-level methylcellulose (MC)/MXene hybrid films are assembled with obviously enlarged layer distance, improved wet strength, and ambient stability. The hybrid films show significantly higher in-plane actuation strain in a liquid electrolyte. Based on direct strain measurements, in situ X-ray diffraction (XRD) and ex situ X-ray photoelectron spectroscopy (XPS) analyses, the actuation enhancement can be ascribed to the enlarged layer distance allowing more water and ions to be intercalated/de-intercalated and MC-induced sliding of MXene sheets. The assembled soft actuator has a high Young's modulus of 1.93 GPa and can be operated in air, generating a peak-to-peak strain difference up to 0.541% under a triangular wave voltage of ±1 V and a blocking force of 4.7 times its own weight.

Effects of Hexagonal Boron Nitride Insulating Layers on the Driving Performance of Ionic Electroactive Polymer Actuators for Light-Weight Artificial Muscles

To improve the energy efficiency and driving performance of ionic electroactive polymer actuators, we propose inserting insulating layers of 170 nm hexagonal boron nitride (h-BN) particles between the ionic polymer membrane and electrodes. In experiments, actuators exhibited better capacitance (4.020 × 10-1 F), displacement (6.01 mm), and curvature (35.59 m-1) with such layers than without them. The excellent insulating properties and uniform morphology of the layers reduced the interfacial resistance, and the ion conductivity (0.071 S m-1) within the ionic polymer improved significantly. Durability was enhanced because the h-BN layer is chemically and thermally stable and efficiently blocks heat diffusion and ion hydrate evaporation during operation. The results demonstrate a close relationship between the capacitance and driving performance of actuators. A gripper prepared from the proposed ionic electroactive polymer actuator can stably hold an object even under strong external vibration and fast or slow movement.

Ultralow-Voltage-Drivable Artificial Muscles Based on a 3D Structure MXene-PEDOT:PSS/AgNWs Electrode

The main challenge in manufacturing an ionic actuator of large bending displacement and great response sensitivity is to design a flexible electrode with great electrochemical characteristics and conductivity. This research reports the MXene-PEDOT:PSS/AgNWs (MPA) electrode with a three-dimensional (3D) network structure formed by a hybrid method of the one-dimensional (1D) silver nanowires (AgNWs) and the two-dimensional (2D) Ti₃C₂T_x MXene. Here, a soft actuator based on the ionic cross-linked hybrid electrode was designed. The results show that the MPA electrode-based soft actuator achieves a large bending strain (0.48%, ±0.5 V sine voltage), wide frequency (0.1-10 Hz), 5 h durability (91.9% retention), fast response time (≈5 s), great power density (7.53 kW m^-3), and great energy density (18.83 kJ m^-3). These excellent performances contribute to the 3D structure of electrodes formed by MXene and AgNWs creating an unhindered ion channel, which facilitates short diffusion and rapid injection of ions and provides higher capacitance and mechanical integrity. This 3D network layered structure hybrid electrode provides an opportunity for the development of ultralow-voltage-drivable artificial muscles.

Graphene-Based Moisture Actuator with Oriented Microstructures Prepared by One-Step Laser Reduction for Accurately Controllable Responsive Direction and Position

Actuators with fast and precise controllable responses are highly in demand for implementing agilely accurate mechanical movements in smart robots, intelligent sensors, biomimetic devices, and so on. Here, we report a graphene-based moisture actuator with accurately controllable direction and position responses achieved by a fast, controlled, and even programmable one-step laser reduction method. The laser reduction-induced oriented microstructures help to precisely guide the direction and location of the moisture response in graphene-based Janus films. The excellent moisture-mechanical response behaviors in these novel moisture actuators originate from the Janus structures and the periodic microstructures of a line-scanned layer. Our customized complex intelligent devices such as drums, bands, and three-dimensional wave humidity drives can highly match and verify the finite element simulations, which will inspire the creation of further smart robot designs for accurate deformation.

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.

Enhanced sensing and electrical performance of hierarchical porous ionic polymer-metal nanocomposite via minimizing cracks in electrode

High-performance foldable metal-coated ionic polymer-metal nanocomposites (IPMNCs) with crack minimized electrode are desired for wearable electronics, energy harvesting devices, tactile sensors, structural health monitors, humidity sensors, and supercapacitor devices. However, the IPMNC shows the cracked structure that seriously decreases the performance of IPMNCs for sensors and actuators applications. To overcome the issue of the cracked metal electrode, here we propose a metal-coated hierarchical porous structured IPMNC via minimizing the cracks in the Platinum (Pt) electrode using attachment of poly(2-acrylamide-2-methyl-1-propane-sulfonic acid) (PAMPS) in poly(vinylidene fluoride-trifluoroethylene) (P(VDF-TrFE))/polyvinylpyrrolidone (PVP) blend. The crack-minimized Pt electrode deposition on PAMPS attached P(VDF-TrFE)/PVP-based IPMNCs showed enhanced electrical and sensing signals compared to the Nafion, ionic liquid, and polystyrene sulphonic acid-based IPMNCs. The developed IPMNCs with an optimized composition depict stable sensing signals up to 10,000 cycles. The hierarchical porous structure and the crack-minimized metal electrode on the P(VDF-TrFE)/PVP/PAMPS IPMNC can be utilized in various attractive applications such as energy harvesting, wearable electronics, humidity sensor, pulse, braille recognition, catalyst supports, bio-interfacing, and sensors.

MWCNT synergy for boosting the electrochemical kinetics of V2O5 cathode for lithium-ion batteries

V2O5/MWCNT hybrid system has been developed and investigated as cathode in LIBs. The developed electrode shows superior performance as compare to pristine V2O5 and V2O5/rGO hybrid structure due to the synergy between V2O5 and MWCNT.

Organic Semiconductor Nanotubes for Electrochemical Devices

Electrochemical devices that transform electrical energy to mechanical energy through an electrochemical process have numerous applications ranging from soft robotics and micropumps to autofocus microlenses and bioelectronics. To date, achievement of large deformation strains and fast response times remains a challenge for electrochemical actuator devices operating in liquid wherein drag forces restrict the actuator motion and electrode materials/structures limit the ion transportation and accumulation. We report results for electrochemical actuators, electrochemical mass transfers, and electrochemical dynamics made from organic semiconductors (OSNTs). Our OSNTs electrochemical device exhibits high actuation performance with fast ion transport and accumulation and tunable dynamics in liquid and gel-polymer electrolytes. This device demonstrates an excellent performance, including low power consumption/strain, a large deformation, fast response, and excellent actuation stability. This outstanding performance stems from enormous effective surface area of nanotubular structure that facilitates ion transport and accumulation resulting in high electroactivity and durability. We utilize experimental studies of motion and mass transport along with the theoretical analysis for a variable-mass system to establish the dynamics of the electrochemical device and to introduce a modified form of Euler-Bernoulli's deflection equation for the OSNTs. Ultimately, we demonstrate a state-of-the-art miniaturized device composed of multiple microactuators for potential biomedical application. This work provides new opportunities for next generation electrochemical devices that can be utilized in artificial muscles and biomedical devices.

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.

Ionic EAP Actuators with Electrodes Based on Carbon Nanomaterials

Flexible polymer-based actuators, often also called artificial muscles, are an essential part of biomimetic systems that mimic the movement principles of animal world creatures. The most used electrode material to force the actuator move is an ensemble of noble metal nanoparticles in the electroactive polymer surface. Noble metal electrodes have enough electrical conductivity and elasticity and are not subjected to oxidation. However, high cost of such electrodes and their tendency to cracking dictate the need for searching other materials, primarily carbon ones. The review considers several options for this search. For example, carbon nanotubes and graphene have excellent properties at the level of a single individually taken nanotube or graphene sheet. However, conservation of these properties in structurally imperfect film electrodes requires a separate study. In addition, there are problems of compatibility of such electrodes with the polymers that requires cumbersome technologies, e.g., hot pressing, which complicates the production of the actuator as a whole. The review concerns the technology options of manufacturing actuators and the results obtained on their basis, both including hot pressing and avoiding this procedure. In particular, the required level of the graphene oxide reduction in hydrazine provides sufficient adhesion at rather high electrical conductivity of the graphene film. The ability to simultaneous achieving these properties is a nontrivial result, providing the same level of actuation as with expensive noble metal electrodes. Actuators that additionally require greater lifetime resource should be obtained in other ways. Among them are using the graphdiyne electrodes and laser processing of the graphene electrodes.

Nanomaterials Upscaling Cell Production and Advancing Exosome-Based Stem Cell Therapies

The COVID-19 pandemic underlined that by investing in both basic and clinical life science research and if there are enough volunteers, it is feasible to have -validated by Phase III clinical trials- vaccines in less than a year. Regarding the treatment options for the people who were infected by COVID-19, we know that it was the large clinical trials - like SOLIDARITY (WHO) and RECOVERY (UK)- that gave the most valid results, and that although hundreds of drugs were repurposed, sadly, most proved to be unsuccessful. Repurposing drugs and compassionate use, were the only options for the first half of 2020. The same applied to the convalescent plasma (CP) approach; however, apart from CP, other cell derived therapeutics were deployed, such as synthetic monoclonal antibodies, which were also tested and given provisional licences by health authorities. Unfortunately, synthetic antibody production comes with problems related to low and slow yield that were not overcome, while SARS-CoV-2 viral mutations may possibly render them less effective. One approach that works and is currently assessed in several clinical trials, is mesenchymal stromal cell (MSCs) and extracellular vesicle (EV) administration for therapy. Interdisciplinarity may prove key here. Easy to produce nanomaterials and biomaterials should be further investigated to increase bioproduction of MSCs, both at the level of therapeutics, as the base substrate for EV production and to upscale synthetic antibody production for therapy.

Two-Dimensional Nanosheets-Based Soft Electro-Chemo-Mechanical Actuators: Recent Advances in Design, Construction, and Applications

Soft electro-chemo-mechanical actuators have received enormous interest in biomimetic technologies, wearable electronics, and microelectromechanical systems due to their low voltage-driven large deformation, fast response, high strain, and working durability. Two-dimensional (2D) nanosheets, which can highly promote ion-induced micromotion to macrodeformation, have outstandingly been used as prime actuator electrodes because of their ordered microstructures, tunable interlayer spaces, controllable electrochemical activities, and excellent electrical and mechanical properties. Here, this review primarily focuses on the recent advances in key 2D electro-chemo-mechanical actuator electrodes, including graphene, MXenes, graphitic carbon nitride, molybdenum disulfide, black phosphorus, and graphdiyne. Various synthetic strategies of electrode design, such as microstructural architecture, active-site regulation, and channel construction, for achieving high ionic kinetic transport, charge storage, and electrochemical-mechanical performances are discussed. The advanced structures with diverse building principles that provide ordered and active ionic pathways for high actuation speed and strain are emphasized. Furthermore, the innovative applications of electro-chemo-mechanical actuators toward biomimetic robots and smart devices are highlighted. Finally, the current challenges and future perspectives are also proposed. The aim of this review is to provide the guiding significance for scientific researchers and industrial engineers to design higher performance next-generation electro-chemo-mechanical actuators.

Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization

Pneumatic artificial muscles (PAMs) are one of the key technologies in soft robotics, and they enable actuation in mobile robots, in wearable devices and exoskeletons for assistive and rehabilitative purposes. While they recently showed relevant improvements, they still present quite low payload, limited bandwidth, and lack of repeatability, controllability and robustness. Vacuum-based actuation has been recently demonstrated as a very promising solution, and many challenges are still open, like generating at the same time a large contraction ratio, and a high blocking force with enhanced axial stiffness. In this paper, a novel Ultralight Hybrid PAM (UH-PAM), based on bellow-type elastomeric skin and vacuum actuation, is presented. In particular, open-cell foam is exploited as a structural backbone, together with plastic rings, all embedded in a thin skin. The design and optimization combine numerical, analytical, and experimental data. Both static and dynamic analysis are performed. The weight of the optimized actuator is only 20 g. Nevertheless, a contraction ratio up to 50% and a maximum payload of 3 kg can be achieved. From a dynamic point of view, a rise time of 0.5 s for the contraction phase is observed. Although hysteresis is significant when using the whole contraction span, it can be reduced (down to 11.5%) by tuning both the vacuum range and the operating frequency for cyclic movements. Finally, to demonstrate the potentiality of this soft actuation approach, a 3 DoFs Stewart platform is built. The feasibility of performing smooth movements by exploiting open-loop control is shown through simple and more complex handwriting figures projected on the XY plane.

Soft Electrochemical Actuators with a Two-Dimensional Conductive Metal-Organic Framework Nanowire Array

Electrically activated soft actuators capable of large deformation are powerful and broadly applicable in multiple fields. However, designing soft actuators that can withstand a high strain, provide a large actuation displacement, and exhibit stable reversibility are still the main challenges toward their practical application. Here, for the first time, we report a two-dimensional (2D) conductive metal-organic framework (MOF) based electrochemical actuator, which consists of vertically oriented and hierarchical Ni-CAT NWAs/CNF electrodes through the use of a facile one-step in situ hydrothermal growth method. The soft actuator prepared in this study demonstrated improvements in actuation performance and benefits from both the intrinsically ordered porous architecture and efficient transfer pathways for fast ion and electron transport; furthermore, this actuator facilitated a considerably high diffusion rate and low interfacial resistance. In particular, the actuator demonstrated a rapid response (<19 s) at a 3 V DC input, large actuation displacement (12.1 mm), and a correspondingly high strain of 0.36% under a square-wave AC voltage of ±3 V. Specifically, the actuator achieved a broad-band frequency response (0.1-20 Hz) and long-term cyclability in air (10000 cycles) with a negligible degradation in actuation performance. Our work demonstrates new opportunities for bioinspired artificial actuators and overcomes current limitations in electrode materials for soft robotics and bionics.

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.

An intelligent film actuator with multi-level deformation behaviour

Smart materials with simply reversible deformation or reconfigurability have shown great potential in artificial muscles, robots, controlled displays, etc. However, the combination of reversible and reconfigured functions in responsive materials, which can endow them with mature and complex actuation performance similar to that of living things, is still a great challenge. In this regard, we report an intelligent graphene oxide (GO)/polyvinylidene fluoride (PVDF) film with reconfigured structures resulting from inner plastic deformation after treatment at elevated temperature (40-80 °C), which simultaneously expresses basically and secondarily reversible deformation ability of its original and reconfigured states in response to external stimuli (e.g. IR light and moisture), respectively. As a result, this film achieves unique multi-level actuation behaviour by combining reversible and reconfigured functions. Based on this, an "Artificial Pupil" with two switchable light penetration modes under the different reconfigured states was designed and developed. Furthermore, many special and reconfigured 3D structures (e.g. cubic boxes, pyramids) have been well explored, which is promising for applications in future materials engineering and biomimetic devices.

Laser Fabrication of Graphene-Based Flexible Electronics

Recent years have witnessed the rise of graphene and its applications in various electronic devices. Specifically, featuring excellent flexibility, transparency, conductivity, and mechanical robustness, graphene has emerged as a versatile material for flexible electronics. In the past decade, facilitated by various laser processing technologies, including the laser-treatment-induced photoreduction of graphene oxides, flexible patterning, hierarchical structuring, heteroatom doping, controllable thinning, etching, and shock of graphene, along with laser-induced graphene on polyimide, graphene has found broad applications in a wide range of electronic devices, such as power generators, supercapacitors, optoelectronic devices, sensors, and actuators. Here, the recent advancements in the laser fabrication of graphene-based flexible electronic devices are comprehensively summarized. The various laser fabrication technologies that have been employed for the preparation, processing, and modification of graphene and its derivatives are reviewed. A thorough overview of typical laser-enabled flexible electronic devices that are based on various graphene sources is presented. With the rapid progress that has been made in the research on graphene preparation methodologies and laser micronanofabrication technologies, graphene-based electronics may soon undergo fast development.

Progress in supercapacitors: roles of two dimensional nanotubular materials

Overcoming the global energy crisis due to vast economic expansion with the advent of human reliance on energy-consuming labor-saving devices necessitates the demand for next-generation technologies in the form of cleaner energy storage devices. The technology accelerates with the pace of developing energy storage devices to meet the requirements wherever an unanticipated burst of power is indeed needed in a very short time. Supercapacitors are predicted to be future power vehicles because they promise faster charging times and do not rely on rare elements such as lithium. At the same time, they are key nanoscale device elements for high-frequency noise filtering with the capability of storing and releasing energy by electrostatic interactions between the ions in the electrolyte and the charge accumulated at the active electrode during the charge/discharge process. There have been several developments to increase the functionality of electrodes or finding a new electrolyte for higher energy density, but this field is still open to witness the developments in reliable materials-based energy technologies. Nanoscale materials have emerged as promising candidates for the electrode choice, especially in 2D sheet and folded tubular network forms. Due to their unique hierarchical architecture, excellent electrical and mechanical properties, and high specific surface area, nanotubular networks have been widely investigated as efficient electrode materials in supercapacitors, while maintaining their inherent characteristics of high power and long cycling life. In this review, we briefly present the evolution, classification, functionality, and application of supercapacitors from the viewpoint of nanostructured materials to apprehend the mechanism and construction of advanced supercapacitors for next-generation storage devices.

3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

This paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted.

Crumpled Quaternary Nanoarchitecture of Sulfur-Doped Nickel Cobalt Selenide Directly Grown on Carbon Cloth for Making Stronger Ionic Soft Actuators

A novel crumpled quaternary sulfur-doped nickel cobalt selenide nanoarchitecture grown on carbon cloth (S-(NiCo)Se/CC) has been successfully synthesized as an electrode material for high-performance ionic polymer-carbon cloth composite (IP-CCC) actuators. A facile one-step solvothermal process has been introduced here to synthesize S-(NiCo)Se/CC, resolving the time-consuming, complicated, and costly problems of existing methods. Taking advantage of the outstanding electron transport kinetics and three-dimensionally interconnected nature of the transition-metal chalcogenide structure, the hybrid carbon cloth electrode with quaternary sulfur-doped selenide nanoarchitectures exhibits low electrical resistivity (3 times lower than that of bare CC), high areal capacitance (409 mF/cm²), and excellent cycle stability (over 4000 cycles). Moreover, due to the synergistic effect between S-(NiCo)Se and a carbon cloth substrate, the S-(NiCo)Se/CC electrode-based actuator exhibits high blocking force (38.5 mN), 6 h durability, and large bending strain (0.47%). Compared with other actuators reported in the literature, the S-(NiCo)Se/CC electrode-based actuator shows much higher normalized blocking force, leading to opening of new potential applications in the field of next-generation soft electronics. Moreover, stacked multiple IP-CCC actuators in parallel exhibit an exceptional blocking force of 0.174 N under direct current 4 V.

MXene artificial muscles based on ionically cross-linked Ti3C2Tx electrode for kinetic soft robotics

Existing ionic artificial muscles still require a technology breakthrough for much faster response speed, higher bending strain, and longer durability. Here, we report an MXene artificial muscle based on ionically cross-linked Ti3C2Tx with poly(3,4 ethylenedioxythiophene)-poly(styrenesulfonate), showing ultrafast rise time of within 1 s in DC responses, extremely large bending strain up to 1.37% in very low input voltage regime (0.1 to 1 V), long-term cyclic stability of 97% up to 18,000 cycles, markedly reduced phase delay, and very broad frequency bandwidth up to 20 Hz with good structural reliability without delamination under continuous electrical stimuli. These artificial muscles were successfully applied to make an origami-inspired narcissus flower robot as a wearable brooch and dancing butterflies and leaves on a tree as a kinetic art piece. These successful demonstrations elucidate the wide potential of MXene-based soft actuators for the next-generation soft robotic devices including wearable electronics and kinetic art pieces.

Determination of proton concentration at cardiolipin-containing membrane interfaces and its relation with the peroxidase activity of cytochrome c

The interface –log[H⁺] defined as pH′ of a mimic inner mitochondrial membrane is ∼3.9 at bulk pH ∼ 6.8, which affects cytochrome c activity.

The activities of biomolecules are affected by the proton concentrations at biological membranes. Here, we succeeded in evaluating the interface proton concentration (–log[H⁺] defined as pH′) of cardiolipin (CL)-enriched membrane models of the inner mitochondrial membrane (IMM) using a spiro-rhodamine-glucose molecule (RHG). According to fluorescence microscopy and ¹H-NMR studies, RHG interacted with the Stern layer of the membrane. The acid/base equilibrium of RHG between its protonated open form (o-RHG) and deprotonated closed spiro-form (c-RHG) at the membrane interface was monitored with UV-vis absorption and fluorescence spectra. The interface pH′ of 25% cardiolipin (CL)-containing large unilamellar vesicles (LUVs), which possess similar lipid properties to those of the IMM, was estimated to be ∼3.9, when the bulk pH was similar to the mitochondrial intermembrane space pH (6.8). However, for the membranes containing mono-anionic lipids, the interface pH′ was estimated to be ∼5.3 at bulk pH 6.8, indicating that the local negative charges of the lipid headgroups in the lipid membranes are responsible for the deviation of the interface pH′ from the bulk pH. The peroxidase activity of cyt c increased 5–7 fold upon lowering the pH to 3.9–4.3 or adding CL-containing (10–25% of total lipids) LUVs compared to that at bulk pH 6.8, indicating that the pH′ decrease at the IMM interface from the bulk pH enhances the peroxidase activity of cyt c. The peroxidase activity of cyt c at the membrane interface of tetraoleoyl CL (TOCL)-enriched (50% of total lipids) LUVs was higher than that estimated from the interface pH′, while the peroxidase activity was similar to that estimated from the interface pH′ for tetramyristoyl CL (TMCL)-enriched LUVs, supporting the hypothesis that when interacting with TOCL (not TMCL), cyt c opens the heme crevice to substrates. The present simple methodology allows us to estimate the interface proton concentrations of complex biological membranes.

Polyvinylidene fluoride/sulfonated graphene oxide blend membrane coated with polypyrrole/platinum electrode for ionic polymer metal composite actuator applications

A polyvinylidene fluoride, sulfonated graphene oxide composite membrane coated with polypyrrole (Ppy) and platinum metal (Pt) was fabricated. The Fourier-transform infrared (FTIR) spectroscopic analysis was done to analyze the functional groups present in the composite material. Deposition of PPy/Pt electrode and surface morphology of PVDF/SGO/Pt/PPy was confirmed by scanning electron microscopic (SEM) images. The capacity of ion exchange and proton conductivity (PC) of PVDF/SGO/Pt/PPy were 1.4 meq g-1 of dry ion exchanger and 4.251 × 10-2 S cm-1, respectively. A two-link flexible manipulator based on the fabricated ionic polymer metal composite (IPMC) membranes was also developed where the electromechanical behaviour of a polymer-based actuator provides an important step in robotics applications.

High-Performance Hierarchical Black-Phosphorous-Based Soft Electrochemical Actuators in Bioinspired Applications

Bioinspired methods allowing artificial actuators to perform controllably are potentially important for various principles and may offer fundamental insight into chemistry and engineering. To date, the main challenges persist regarding the achievement of large deformation in fast response-time and potential-engineering applications in which electrode materials and structures limit ion diffusion and accumulation processes. Herein, a novel electrochemical actuator is developed that presents both higher electromechanical performances and biomimetic applications based on hierachically structured covalently bridged black phosphorous/carbon nanotubes. The new actuator demonstrates astonishing actuation properties, including low power consumption/strain (0.04 W cm^-2 %^-1 ), a large peak-to-peak strain (1.67%), a controlled frequency response (0.1-20 Hz), faster strain and stress rates (11.57% s^-1 ; 28.48 MPa s^-1 ), high power (29.11 kW m^-3 ), and energy (8.48 kJ m^-3 ) densities, and excellent cycling stability (500 000 cycles). More importantly, bioinspired applications such as artificial-claw, wings-vibrating, bionic-flower, and hand actuators have been realized. The key to high performances stems from hierachically structured materials with an ordered lamellar structure, large redox activity, and electrochemical capacitance (321.4 F g^-1 ) for ions with smooth diffusion and flooding accommodation, which will guide substantial progress of next-generation electrochemical actuators.

Enhanced Stability and Driving Performance of GO⁻Ag-NW-based Ionic Electroactive Polymer Actuators with Triton X-100-PEDOT:PSS Nanofibrils

Ionic electroactive polymers (IEAPs) have received considerable attention for their flexibility, lightweight composition, large displacement, and low-voltage activation. Recently, many metal–nonmetal composite electrodes have been actively studied. Specifically, graphene oxide–silver nanowire (GO–Ag NW) composite electrodes offer advantages among IEAPs with metal–nonmetal composite electrodes. However, GO–Ag NW composite electrodes still show a decrease in displacement owing to low stability and durability during driving. Therefore, the durability and stability of the IEAPs with metal–nonmetal composite electrodes must be improved. One way to improve the device durability is coating the electrode surface with a protective layer. This layer must have enough flexibility and suitable electrical properties such that it does not hinder the IEAPs’ driving. Herein, a poly(3,4-ethylenedioxythiophene)–poly(styrenesulfonate) (PEDOT:PSS) protective layer and 4-(1,1,3,3-tetramethylbutyl)phenyl-polyethylene glycol (Triton X-100) are applied to improve driving performance. Triton X-100 is a nonionic surfactant that transforms the PEDOT:PSS capsule into a nanofibril structure. In this study, a mixed Triton X-100/PEDOT:PSS protective layer at an optimum weight ratio was coated onto the GO–Ag NW composite-electrode-based IEAPs under various conditions. The IEAP actuators based on GO–Ag NW composite electrodes with a protective layer of PEDOT:PSS treated with Triton X-100 showed the best stability and durability.

Transport and retention of reduced graphene oxide materials in saturated porous media: Synergistic effects of enhanced attachment and particle aggregation

The increasing production and use of graphene-based nanomaterials (e.g., graphene oxide (GO) and reduced graphene oxide (RGO)) will lead to their environmental release. To date, transport of RGOs in saturated porous media is poorly understood. Here, we examined the transport behaviors of three RGO materials obtained by reducing a GO product with commonly used reducing agents - N₂H₄, NaBH₄ and L-ascorbic acid (referred to as N₂H₄-RGO, NaBH₄-RGO and VC-RGO, respectively). When the dominant background cation was Na⁺, K⁺ or Mg²⁺, the mobility of the RGOs and GO in saturated quartz sand correlated well with their surface C/O ratio. Interestingly, the lower mobility of the more reduced materials (the ones with higher C/O values) was not only the results of their less negative surface charges and larger particle sizes, but also the outcome of their greater hydrophobicity, in line with the calculated extended Derjaguin-Landau-Verwey-Overbeek (XDLVO) profiles. Counterintuitively, when the background cation was Ca²⁺, the least reduced material among the three RGOs, VC-RGO, exhibited the lowest mobility. Analysis of electrophoretic and aggregation properties, as well as pH-effect experiments, indicated that the surprisingly low mobility of VC-RGO was attributable to the strong cation-bridging effect (primarily Ca²⁺-bridging between RGO and quartz sand) associated with this material, as VC-RGO contained the highest amount of surface carboxyl group (a strong metal-binding moiety). Notably, enhanced attachment (due to increased hydrophobic effect and cation-bridging) and particle aggregation appeared to work synergistically to increase RGO retention, as the attachment of large RGO aggregates significantly enhanced particle straining by narrowing the flow path. These observations reveal a largely overlooked link between the mobility of graphene-based materials and their key physicochemical properties.

Graphene-coated microballs for a hyper-sensitive vacuum sensor

Reduced graphene oxide (RGO)-coated microballs of poly (methyl methacrylate) (PMMA) used for fabricating three-dimensional sensor (3D sensor), which are expected to exhibit high sensitivity compared with conventional two-dimensional (2D) sensors, were prepared using a reaction-based assembly process. The sheet resistance and transmittance of the RGO-coated balls decreased with increasing number of coatings, implying that the RGO was well adhered to the ball by the assembly method. Two types of vacuum pressure sensors using multiple balls and a single ball were fabricated using lift-off and air-blowing methods, respectively. At pressures <1 torr, the sensors showed an increased resistance value due to the bending of graphene sheets by the Van der Waals attractive force. Further, the pressure versus resistance values at the logarithmic scale showed a linear relation, with a pressure reading error <6%. Compared with the 2D sensor fabricated using RGO, the multiball sensor exhibited almost 4-5 times higher RRC value. The single-ball sensor showed reasonable reproducibility at various temperatures. Given the size and pressure reading range of the sensor, the sensitivity of the single-ball sensor at 100 °C was approximately 6,000 times greater than that of the sensor with the highest sensitivity reported in the literature. The increase in surface area and the geometric effect of the sensing part of the single-ball sensor appeared to be responsible for its abnormally high sensitivity.

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.

Unusually fast and large actuation from multilayer polyelectrolyte thin films

Polymers responsive to external stimuli (e.g., electric field, chemical vapor, light) are of great interest for smart materials such as sensors and soft robotics. A vapor-driven multilayer polymer actuator, capable of fast and large-scale actuation, is described here. This Janus-like actuator is prepared with two polyelectrolyte multilayer systems (polyethylenimine (PEI)/poly(acrylic acid) (PAA) and polyurethane (PU)/poly(acrylic acid) (PAA)) using layer-by-layer assembly (LbL). The differing hydrophilicity of these two nanocoatings results in different swelling behavior in water and organic solvents, which leads to vapor-responsive mechanical motion. The bending/curling degree of this polymeric actuator can be precisely controlled by changing the thickness ratio of the two layers. A vapor sensor was constructed to demonstrate the environmental detection ability of this unique actuator.

Electroactive Artificial Muscles Based on Functionally Antagonistic Core-Shell Polymer Electrolyte Derived from PS-b-PSS Block Copolymer

Electroactive ionic soft actuators, a type of artificial muscles containing a polymer electrolyte membrane sandwiched between two electrodes, have been intensively investigated owing to their potential applications to bioinspired soft robotics, wearable electronics, and active biomedical devices. However, the design and synthesis of an efficient polymer electrolyte suitable for ion migration have been major challenges in developing high-performance ionic soft actuators. Herein, a highly bendable ionic soft actuator based on an unprecedented block copolymer is reported, i.e., polystyrene-b-poly(1-ethyl-3-methylimidazolium-4-styrenesulfonate) (PS-b-PSS-EMIm), with a functionally antagonistic core-shell architecture that is specifically designed as an ionic exchangeable polymer electrolyte. The corresponding actuator shows exceptionally good actuation performance, with a high displacement of 8.22 mm at an ultralow voltage of 0.5 V, a fast rise time of 5 s, and excellent durability over 14 000 cycles. It is envisaged that the development of this high-performance ionic soft actuator could contribute to the progress toward the realization of the aforementioned applications. Furthermore, the procedure described herein can also be applied for developing novel polymer electrolytes related to solid-state lithium batteries and fuel cells.

Tough and electro-responsive hydrogel actuators with bidirectional bending behavior

Electro-responsive hydrogel actuators have gained much attention because of their fast response, low power consumption and easy modulation. However, such hydrogel actuators suffer from poor mechanical properties and restricted bending direction, which limit their practical applications. Herein, we report a nanocomposite hydrogel actuator with a combination of high mechanical tensile strength (2 MPa) and automatic bidirectional bending behavior in response to electric signals. The resulting hydrogel, crosslinked by aluminum hydroxide nanoparticles, shows rapid bending behavior and could be cyclically actuated up to ten times in an electric field. Furthermore, the hydrogel demonstrates bidirectional bending actuation, which was ascribed to the difference in diffusion coefficients and concentrations of cations and anions within the gel network. Moreover, the direction and magnitude of the bending behavior could be tuned by composition variation. The hydrogel actuators developed in this study may have great potential in soft robotics, artificial muscles and tissue engineering.

Fast and Stable Ionic Electroactive Polymer Actuators with PEDOT:PSS/(Graphene⁻Ag-Nanowires) Nanocomposite Electrodes

Ionic electroactive polymer (IEAP) actuators that are driven by electrical stimuli have been widely investigated for use in practical applications. However, conventional electrodes in IEAP actuators have a serious drawback of poor durability under long-term actuation in open air, mainly because of leakage of the inner electrolyte and hydrated cations through surface cracks on the metallic electrodes. To overcome this problem, a top priority is developing new high-performance ionic polymer actuators with graphene electrodes that have superior mechanical, electrical conductivity, and electromechanical properties. However, the task is made difficultby issues such as the low electrical conductivity of graphene (G). The percolation network of silver nanowires (Ag-NWs) is believed to enhance the conductivity of graphene, while poly(3,4-ethylenedioxythiophene):polystyrene sulfonate (PEDOT:PSS), which exhibits excellent stability under ambient conditions, is expected to improve the actuation performance of IEAP actuators. In this study, we developed a very fast, stable, and durable IEAP actuator by employing electrodes made of a nanocomposite comprising PEDOT:PSS and graphene⁻Ag-NWs (P/(G⁻Ag)). The cost-effective P/(G⁻Ag) electrodes with high electrical conductivity displayed a smooth surface resulting from the PEDOT:PSS coating, which prevented oxidation of the surface upon exposure to air, and showedstrong bonding between the ionic polymer and the electrode surface. More interestingly, the proposed IEAP actuator based on the P/G⁻Ag electrode can be used in active biomedical devices, biomimetic robots, wearable electronics, and flexible soft electronics.