Hydro-actuation of hybrid carbon nanotube yarn muscles

Wet-Spinning Carbon Nanotube/Shape Memory Polymer Composite Fibers with High Actuation Stress and Predesigned Shape Change

Actuators based on shape memory polymers and composites incorporating nanomaterial additives have been extensively studied; achieving both high output stress and precise shape change by low-cost, scalable methods is a long-term-desired yet challenging task. Here, conventional polymers (polyurea) and carbon nanotube (CNT) fillers are combined to fabricate reinforced composite fibers with exceptional actuation performance, by a wet-spinning method amenable for continuous production. It is found that a thermal-induced shrinkage step could obtain densified strong fibers, and the presence of CNTs effectively promotes the tensile orientation of polymer molecular chains, leading to much improved mechanical properties. Consequently, the CNT/ polyurea composite fibers exhibit stresses as high as 33 MPa within 0.36 s during thermal actuation, and stresses up to 22 MPa upon electrical stimulation enabled by the built-in conductive CNT networks. Utilizing the flexible thin fibers, various shape change behavior are also demonstrated including the conversion between different structures/curvatures, and recovery of predefined simple patterns. This high-performance composite fibers, capable of both thermal and electrical actuation and produced by low-cost materials and fabrication process, may find many potential applications in wearable devices, robotics, and biomedical areas.

Wet-Driven Bionic Actuators from Wool Artificial Yarn Muscles

Nature-similar muscle is one of the ultimate goals of advanced artificial muscle materials. Currently, a variety of chemical and natural materials have been gradually developed for the preparation of artificial muscles. However, due to the scarcity, biological exclusion, and poor flexibility of the abovementioned materials, it is still a challenging process to maximize the imitation of behaviors shown by real muscles and commercial development. Here, this article presents multidimensional wool yarn artificial muscles, and the wet response behavior of fibers is induced in yarn muscles successfully by virtue of weakening the water-repellent effect of wool scales. Wool artificial muscles are cost-effective and widely available and have good biocompatibility. In addition, wool fiber assemblies are structurally stable, soft, and flexible to be processed into artificial muscles with torsional, contractile, and even multilayered structures, enabling various wet-driven behaviors. On the basis of the theoretical model and numerical simulation, we explained and verified the working mechanism employed in wool artificial yarn muscles. Finally, the yarn muscle was integrated into a wool muscle group through the textile technology, followed by the application to robot bionic arms, displaying the great potential of wool artificial yarn muscles in bionic drivers and the intelligent textile industry.

Tethering of twisted-fiber artificial muscles

Twisted-fiber artificial muscles, a new type of soft actuator, exhibit significant potential for use in applications related to lightweight smart devices and soft robotics. Fiber twisting generates internal torque and a spiral architecture, exhibiting rotation, contraction, or elongation as a result of fiber volume change. Untethering a twisted fiber often results in fiber untwisting and loss of stored torque energy. Preserving the torque in twisted fibers during actuation is necessary to realize a reversible and stable artificial muscle performance; this is a key issue that has not yet been systematically discussed and reviewed. This review summarizes the mechanisms for preserving the torque within twisted fibers and the potential applications of such systems. The potential challenges and future directions of research related to twisted-fiber artificial muscles are also discussed.

Enhanced Hydro-Actuation and Capacitance of Electrochemically Inner-Bundle-Activated Carbon Nanotube Yarns

Recently, several attempts have been made to activate or functionalize macroscopic carbon nanotube (CNT) yarns to enhance their innate abilities. However, a more homogeneous and holistic activation approach that reflects the individual nanotubes constituting the yarns is crucial. Herein, a facile strategy is reported to maximize the intrinsic properties of CNTs assembled in yarns through an electrochemical inner-bundle activation (EIBA) process. The as-prepared neat CNT yarns are two-end tethered and subjected to an electrochemical voltage (vs Ag/AgCl) in aqueous electrolyte systems. Massive electrolyte infiltration during the EIBA causes swelling of the CNT interlayers owing to the tethering and subsequent yarn shrinkage after drying, suggesting activation of the entire yarn. The EIBA-treated CNT yarns functionalized with oxygen-containing groups exhibit enhanced wettability without significant loss of their physical properties. The EIBA effect of the CNTs is experimentally demonstrated by hydration-driven torsional actuation (∼986 revolutions/m) and a drastic capacitance improvement (approximately 25-fold).

Novel Polyelectrolyte-Based Draw Solute That Overcomes the Trade-Off between Forward Osmosis Performance and Ease of Regeneration

Forward osmosis (FO) is an emerging technology for seawater and brackish desalination, wastewater treatment, and other applications, such as food processing, power generation, and protein and pharmaceutical enrichment. However, choosing a draw solute (DS) that provides an appropriate driving force and, at the same time, is easy to recover, is challenging. In this study, water-soluble poly(styrene sulfonate) (PSS) was modified by a high-electrical-conductivity 3,4-ethylenedioxythiophene (EDOT) monomer to fabricate a novel draw solute (mPSS). FO tests with the CTA membrane in the active layer facing the feed solution (AL-FS) orientation, using a 50 mS/cm aqueous solution of synthesized solute and distilled water as a feed solution exhibited a water flux of 4.2 L h^-1 m^-2 and a corresponding reverse solute flux of 0.19 g h^-1 m^-2. The FO tests with the same membrane, using a 50 mS/cm NaCl control draw solution, yielded a lower water flux of 3.6 L h^-1 m^-2 and a reverse solute flux of 4.13 g h^-1 m^-2, which was more than one order of magnitude greater. More importantly, the synthesized draw solute was easily regenerated using a commercial ultrafiltration membrane (PS35), which showed over 96% rejection.

High-Power Hydro-Actuators Fabricated from Biomimetic Carbon Nanotube Coiled Yarns with Fast Electrothermal Recovery

Bioinspired yarn/fiber structured hydro-actuators have recently attracted significant attention. However, most water-driven mechanical actuators are unsatisfactory because of the slow recovery process and low full-time power density. A rapidly recoverable high-power hydro-actuator is reported by designing biomimetic carbon nanotube (CNT) yarns. The hydrophilic CNT (HCNT) coiled yarn was prepared by storing pre-twist into CNT sheets and subsequent electrochemical oxidation (ECO) treatment. The resulting yarn demonstrated structural stability even when one end was cut off without the possible loss of pre-stored twists. The HCNT coiled yarn actuators provided maximal contractile work of 863 J/kg at 11.8 MPa stress when driven by water. Moreover, the recovery time of electrically heated yarns at a direct current voltage of 5 V was 95% shorter than that of neat yarns without electric heating. Finally, the electrothermally recoverable hydro-actuators showed a high actuation frequency (0.17 Hz) and full-time power density (143.8 W/kg).

A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments

Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.

Twist-Stabilized, Coiled Carbon Nanotube Yarns with Enhanced Capacitance

Coil-structured carbon nanotube (CNT) yarns have recently attracted considerable attention. However, structural instability due to heavy twist insertion, and inherent hydrophobicity restrict its wider application. We report a twist-stable and hydrophilic coiled CNT yarn produced by the facile electrochemical oxidation (ECO) method. The ECO-treated coiled CNT yarn is prepared by applying low potentiostatic voltages (3.0-4.5 V vs Ag/AgCl) between the coiled CNT yarn and a counter electrode immersed in an electrolyte for 10-30 s. Notably, a large volume expansion of the coiled CNT yarns prepared by electrochemical charge injection produces morphological changes, such as surface microbuckling and large reductions in the yarn bias angle and diameter, resulting in the twist-stability of the dried ECO-treated coiled CNT yarns with increased yarn density. The resulting yarns are well functionalized with oxygen-containing groups; they exhibit extrinsic hydrophilicity and significantly improved capacitance (approximately 17-fold). We quantitatively explain the origin of the capacitance improvement using theoretical simulations and experimental observations. Stretchable supercapacitors fabricated with the ECO-treated coiled CNT yarns show high capacitance (12.48 mF/cm and 172.93 mF/cm², respectively) and great stretchability (80%). Moreover, the ECO-treated coiled CNT yarns are strong enough to be woven into a mask as wearable supercapacitors.

Graphene Oxide/Nanofiber-Based Actuation Films with Moisture and Photothermal Stimulation Response for Remote Intelligent Control Applications

The rapid development of intelligent technology and industry has induced higher requirements for multifunctional materials, especially intelligent materials with stimulus-responsive self-actuation behavior. In this study, a Cu@PVA-co-PE/GO composite actuation film, with an asymmetric sandwich structure, was prepared by attaching graphene oxide (GO) to the surface of a polyvinyl alcohol ethylene copolymer (PVA-co-PE) nanofiber composite film containing copper nanoparticles (Cu) through layer-on-layer adsorption. This unique structural design endowed the composite film with not only excellent structural stability but also different bending directions (in response to moisture and infrared light). The actuation performance shows that when the adsorption time was 4 h, the maximum bending angle of the Cu@PVA-co-PE/GO composite film was up to 90° within 5.99 s. Furthermore, the actuation behavior was stable after 100 cycles of reversible moisture stimulation. Additionally, the maximum actuation strain of the composite film was up to 1.35 MPa during the illumination time of 6.8 s and maintained an excellent stability for 400 s under continuous infrared stimulation of 0.53 W/cm². The rapid and sensitive stimulus response of the Cu@PVA-co-PE/GO composite film exhibited self-actuation behavior under the remote control of moisture and infrared light. This, in turn, suggests prospects for wide applications in emerging technologies, such as intelligent switches, artificial muscles, intelligent medical treatment, and flexible robots.

Textiles in soft robots: Current progress and future trends

Soft robotics have substantial benefits of safety, adaptability, and cost efficiency compared to conventional rigid robotics. Textiles have applications in soft robotics either as an auxiliary material to reinforce the conventional soft material or as an active soft material. Textiles of various types and configurations have been fabricated into key components of soft robotics in adaptable formats. Despite significant advancements, the efficiency and characteristics of textile actuators in practical applications remain unsatisfactory. To address these issues, novel structural and material designs as well as new textile technologies have been introduced. Herein, we aim at giving an insight into the current state of the art in textile technology for soft robotic manufacturing. We firstly discuss the fundamental actuation mechanisms for soft robotics. We then provide a critical review on the recently developed functional textiles as reinforcements, sensors, and actuators in soft robotics. Finally, the future trends and current strategies that can be employed in textile-based actuator manufacturing process have been explored to address the critical challenges in soft robotics.

The Power of Fiber Twist

Nature's evolution over billions of years has led to the development of different kinds of twisted structures in a variety of biological species. Twisted fibers from nanoscale- to micrometer-scale diameter have been prepared by mimicking natural twisted structures. Mechanically inserting twist in a yarn is an efficient and important method, which generates internal stress, changes the macromolecular orientation, and increases compactness. Recently, twist insertion has been found to produce interesting fiber properties, including chemical, mechanical, electrical, and thermal properties. This Account summarizes recent progress in how twist insertion affects the chemical and physical properties of fibers and describes their applications in artificial spider silk, artificial muscles, refrigeration, and electricity generation.Twist and associated chirality widely arise in nature from molecules to nano- and microscale materials to macroscopic objects such as DNA, RNA, peptides, and chromosomes. Such twisted architectures play an important role in improving the mechanical properties and enabling biological functions. Inspired by the beauty and interesting properties of twisted structures, a wide range of artificial chiral materials with twisted or coiled structures have been prepared, from organic and inorganic nanorods, nanotubes, and nanobelts to macroscopic architectures and buildings.An efficient way to prepare twisted materials is by inserting twist in fibers or yarns, which is an ancient technique used to make yarns or ropes (Wang, R., et al. Science 2019, 366, 216-221. Mu, J., et al. Science 2019, 365, 150-155). During the twisting process, torque is generated in fibers or yarns, the structure of the polymer chains becomes helically oriented, and the fibers in a yarn become more compact. Therefore, the twisting of fibers and yarns can produce novel chemical, mechanical, electrical, and thermal properties (Dou, Y., et al. Nat. Commun. 2019, 10, 1-10. Kim, S. H., et al. Science 2017, 357, 773-778). This Account focuses on the novel properties generated by twist insertion. The mechanical stress and strain can be optimized in a yarn by twist insertion, and different types of fibers exhibit rather different mechanisms.In the first section, we will focus on recent progress in improving the mechanical properties of twisted fibers, including carbon nanotube yarns, single-filament fibers, and hydrogel fibers. Torque was generated by twist insertion in a fiber or a yarn, and the balance of internal torsional stress can be changed by causing a change in yarn volume. This will result in twist release and torsional and tensile actuations of the yarn, which will be described in the second section. Twisting a yarn generally makes it more compact, which will result in a mechanically induced change in capacitance, supercapacitance, and other useful electrochemical properties when a conducting yarn is in an electrolyte. Such processes were used to develop novel devices for twist-based electricity generation, called twistrons, which will be discussed in the third section. Twist insertion or release also changes the polymer chain orientation or crystal structure, resulting in changes in entropy. This is called the twistocaloric effect, which was used to develop a new cooling method, and will be discussed in the last section.

Dual high-stroke and high-work capacity artificial muscles inspired by DNA supercoiling

Powering miniature robots using actuating materials that mimic skeletal muscle is attractive because conventional mechanical drive systems cannot be readily downsized. However, muscle is not the only mechanically active system in nature, and the thousandfold contraction of eukaryotic DNA into the cell nucleus suggests an alternative mechanism for high-stroke artificial muscles. Our analysis reveals that the compaction of DNA generates a mass-normalized mechanical work output exceeding that of skeletal muscle, and this result inspired the development of composite double-helix fibers that reversibly convert twist to DNA-like plectonemic or solenoidal supercoils by simple swelling and deswelling. Our modeling-optimized twisted fibers give contraction strokes as high as 90% with a maximum gravimetric work 36 times higher than skeletal muscle. We found that our supercoiling coiled fibers simultaneously provide high stroke and high work capacity, which is rare in other artificial muscles.

Humidity- and Water-Responsive Torsional and Contractile Lotus Fiber Yarn Artificial Muscles

Materials that dynamically respond to their environment have diverse applications in artificial muscles, soft robotics, and smart textiles. Inspired by biological systems, humidity- and water-responsive actuators that bend, twist, and contract have been previously demonstrated. However, more powerful artificial muscles with large strokes and high work densities are needed, especially those that can be made cost-effectively from eco-friendly materials. We here derive such muscles from naturally abundant lotus fibers. A coiled lotus fiber yarn muscle provides a large, reversible tensile stroke of 38% and a work capacity during contraction of 450 J/kg, which is 56 times higher than that of natural skeletal muscles and higher than that for any other reported natural fiber muscles. In addition, highly twisted lotus fiber yarn muscles provide a fully reversible torsional stroke of 200°/mm of muscle length and a peak rotation speed of 200 rpm, with a generated specific torque of 488 mN·m/kg for a 2.5 cm long muscle. Potential applications of these lotus fiber yarn muscles are demonstrated for a weight-lifting artificial limb and a smart textile.

Carbon nanotube-reduced graphene oxide fiber with high torsional strength from rheological hierarchy control

High torsional strength fibers are of practical interest for applications such as artificial muscles, electric generators, and actuators. Herein, we maximize torsional strength by understanding, measuring, and overcoming rheological thresholds of nanocarbon (nanotube/graphene oxide) dopes. The formed fibers show enhanced structure across multiple length scales, modified hierarchy, and improved mechanical properties. In particular, the torsional properties were examined, with high shear strength (914 MPa) attributed to nanotubes but magnified by their structure, intercalating graphene sheets. This design approach has the potential to realize the hierarchical dimensional hybrids, and may also be useful to build the effective network structure of heterogeneous materials.

Advances in Stimuli-Responsive Soft Robots with Integrated Hybrid Materials

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

High density mechanical energy storage with carbon nanothread bundle

The excellent mechanical properties of carbon nanofibers bring promise for energy-related applications. Through in silico studies and continuum elasticity theory, here we show that the ultra-thin carbon nanothreads-based bundles exhibit a high mechanical energy storage density. Specifically, the gravimetric energy density is found to decrease with the number of filaments, with torsion and tension as the two dominant contributors. Due to the coupled stresses, the nanothread bundle experiences fracture before reaching the elastic limit of any individual deformation mode. Our results show that nanothread bundles have similar mechanical energy storage capacity compared to (10,10) carbon nanotube bundles, but possess their own advantages. For instance, the structure of the nanothread allows us to realize the full mechanical energy storage potential of its bundle structure through pure tension, with a gravimetric energy density of up to 1.76 MJ kg⁻¹, which makes them appealing alternative building blocks for energy storage devices.

Carbon nanothreads are promising for applications in mechanical energy storage and energy harvesting. Here the authors use large-scale molecular dynamics simulations and continuum elasticity theory to explore mechanical energy storage in carbon nanothreads-based bundles.

Sheath-run artificial muscles

Although guest-filled carbon nanotube yarns provide record performance as torsional and tensile artificial muscles, they are expensive, and only part of the muscle effectively contributes to actuation. We describe a muscle type that provides higher performance, in which the guest that drives actuation is a sheath on a twisted or coiled core that can be an inexpensive yarn. This change from guest-filled to sheath-run artificial muscles increases the maximum work capacity by factors of 1.70 to 2.15 for tensile muscles driven electrothermally or by vapor absorption. A sheath-run electrochemical muscle generates 1.98 watts per gram of average contractile power-40 times that for human muscle and 9.0 times that of the highest power alternative electrochemical muscle. Theory predicts the observed performance advantages of sheath-run muscles.

Understanding the Mechanical and Conductive Properties of Carbon Nanotube Fibers for Smart Electronics

The development of fiber-based smart electronics has provoked increasing demand for high-performance and multifunctional fiber materials. Carbon nanotube (CNT) fibers, the 1D macroassembly of CNTs, have extensively been utilized to construct wearable electronics due to their unique integration of high porosity/surface area, desirable mechanical/physical properties, and extraordinary structural flexibility, as well as their novel corrosion/oxidation resistivity. To take full advantage of CNT fibers, it is essential to understand their mechanical and conductive properties. Herein, the recent progress regarding the intrinsic structure-property relationship of CNT fibers, as well as the strategies of enhancing their mechanical and conductive properties are briefly summarized, providing helpful guidance for scouting ideally structured CNT fibers for specific flexible electronic applications.

Carbon nanotube and graphene fiber artificial muscles

Actuator materials capable of producing a rotational or tensile motion are rare and, yet, rotary systems are extensively utilized in mechanical systems like electric motors, pumps, turbines and compressors. Rotating elements of such machines can be rather complex and, therefore, difficult to miniaturize. Rotating action at the microscale, or even nanoscale, would benefit from the direct generation of torsion from an actuator material. Herein we discuss the advantages of using carbon nanotube (CNT) yarns and/or graphene (G) fibers as novel artificial muscles that have the ability to be driven by the electrochemical charging of helically wound multiwall carbon nanotubes or graphene fibers as well as elements in the ambient environment such as moisture to generate such rotational action. The torsional strain, torque, speed and lifetime have been evaluated under various electrochemical conditions to provide insight into the actuation mechanism and performance. Here the most recent advances in artificial muscles based on sheath-run artificial muscles (SRAMs) are reviewed. Finally, the rotating motion of the CNT yarn actuator and the humidity-responsive twisted graphene fibers have been coupled to a mixer for use in a prototype microfluidic system, moisture management and a humidity switch respectively.

Photothermal and Moisture Actuator Made with Graphene Oxide and Sodium Alginate for Remotely Controllable and Programmable Intelligent Devices

Functional materials with energy storage and conversion properties have been useful for actuating devices. Here, a new kind of torsional fiber-based actuator including graphene oxide (GO) and natural sodium alginate was prepared by traditional wet spinning and twisting methods, during which the fiber structure was reconstructed, and the mechanical energy was prestored. When the twisted GO/SA (graphene oxide/sodium alginate) fiber was stimulated by infrared light or moisture, the torsional structure of the fiber was activated instantaneously to generate rapid and reversible rotational motion, thus realizing the automatic release and re-storage process of rotational kinetic energy. In addition, the full revolutions of the twisted GO/SA fiber have no attenuation after 100 reversible rotations when stimulated by moisture, which proves the excellent rotational stability. Due to its excellent flexibility and wettability, the twisted GO/SA fiber can be woven into a network or prepared into a series of programmable intelligent devices, which is of great significance for future flexible intelligent electronic devices.

Large-Stroke Electrochemical Carbon Nanotube/Graphene Hybrid Yarn Muscles

Artificial muscles are reported in which reduced graphene oxide (rGO) is trapped in the helical corridors of a carbon nanotube (CNT) yarn. When electrochemically driven in aqueous electrolytes, these coiled CNT/rGO yarn muscles can contract by 8.1%, which is over six times that of the previous results for CNT yarn muscles driven in an inorganic electrolyte (1.3%). They can contract to provide a final stress of over 14 MPa, which is about 40 times that of natural muscles. The hybrid yarn muscle shows a unique catch state, in which 95% of the contraction is retained for 1000 s following charging and subsequent disconnection from the power supply. Hence, they are unlike thermal muscles and natural muscles, which need to consume energy to maintain contraction. Additionally, these muscles can be reversibly cycled while lifting heavy loads.

Synthesis and Characterization of the Conducting Polymer Micro-Helix Based on the Spirulina Template

As one of the most interesting naturally-occurring geometries, micro-helical structures have attracted attention due to their potential applications in fabricating biomedical and microelectronic devices. Conventional processing techniques for manufacturing micro-helices are likely to be limited in cost and mass-productivity, while Spirulina, which shows natural fine micro-helical forms, can be easily mass-reproduced at an extremely low cost. Furthermore, considering the extensive utility of conducting polymers, it is intriguing to synthesize conducting polymer micro-helices. In this study, PPy (polypyrrole), PANI (polyaniline), and PEDOT (poly(3,4-ethylenedioxythiophene)) micro-helices were fabricated using Spirulinaplatensis as a bio-template. The successful formations of the conducting polymer micro-helix were confirmed using scanning electron microscopy (SEM). Fourier transform infrared spectroscopy (FTIR) and Raman and X-ray diffraction (XRD) were employed to characterize the molecular structures of the conducting polymer in micro-helical forms. In the electrochemical characterization, the optimized specific capacitances for the PPy micro-helix, the PANI micro-helix, and the PEDOT micro-helix were found to be 234 F/g, 238 F/g at the scan rate of 5 mV/s, and 106.4 F/g at the scan rate of 10 mV/s, respectively. Therefore, it could be expected that other conducting polymer micro-helices with Spirulina as a bio-template could be also easily synthesized for various applications.

Self-plied and twist-stable carbon nanotube yarn artificial muscles driven by organic solvent adsorption

Artificial yarn/fiber muscles have recently attracted considerable interest for various applications. These muscles can provide large-stroke tensile and torsional actuations, resulting from inserted twists. However, tensional tethering of twisted muscles is generally needed to avoid muscle snarling and untwisting. In this paper a carbon nanotube (CNT) yarn muscle that is tethering-free and twist-stable is reported. The yarn muscle is prepared by allowing the self-plying of a coiled CNT yarn. When driven by acetone adsorption, this muscle shows decoupled actuations, which provide fast and reversible ∼13.3% contraction strain against a constant stress corresponding to ∼38 000 times the muscle weight but almost zero torsional strokes. The cycling test shows that the self-plied muscle has very good structural stability and actuation reversibility. Applied joule heating can help increase the desorption of acetone and increase the operation frequency of the self-plied muscle. Furthermore, by controlling the coupling between the joule heating and acetone adsorption/desorption, tensile actuations from negative to positive have been achieved. This twist-stable feature could considerably facilitate the practical applications of such muscle.

In situ mechanical investigation of carbon nanotube-graphene junction in three-dimensional carbon nanostructures

Hierarchically organized three-dimensional (3D) carbon nanotubes/graphene (CNTs/graphene) hybrid nanostructures hold great promises in composite and battery applications. Understanding the junction strength between CNTs and graphene is crucial for utilizing such special nanostructures. Here, in situ pulling an individual CNT bundle out of graphene is carried out for the first time using a nanomechanical tester developed in-house, and the measured junction strength of CNTs/graphene is 2.23 ± 0.56 GPa. The post transmission electron microscopy (TEM) analysis of remained graphene after peeling off CNT forest confirms that the failure during pull-out test occurs at the CNT-graphene junction. Such a carefully designed study makes it possible to better understand the interfacial interactions between CNTs and graphene in the 3D CNTs/graphene nanostructures. The coupled experimental and computational effort suggests that the junction between the CNTs and the graphene layer is likely to be chemically bonded, or at least consisting of a mixture of chemical bonding and van der Waals interactions.