Soft electrothermal actuators using silver nanowire heaters

Thermal Gradient-Driven Heterogeneous Actuation of Liquid Crystal Elastomers for a Crawling Robot

Emerging soft robots based on liquid crystal elastomers (LCEs) exhibit remarkable capabilities for large reversible shape morphing, enabling them to adapt to complex environments and perform diverse tasks such as locomotion and camouflage. Despite extensive studies, current methods for locally controlled actuation of LCE-based soft robots often involve intricate structural design, complex programming of LCEs, incorporation of multiple materials, or complex actuation methods. Here, we present a simple and efficient approach to achieve multiple deformation modes within a simply programmed LCE structure by harnessing Joule heating-induced thermal gradients across the LCE volume. Oxidized liquid metal (LM) thin films, which exhibit increased resistance, enhanced viscosity, high thermal conductivity, and large deformability, are employed for Joule heating in this study. Using an LCE strip programmed via uniaxial stretching as an example, we perform systematic studies on the effect of essential parameters, including the actuation voltage, LCE dimensions, and the LM-to-LCE thickness ratio, on the deformation behaviors of LCEs induced by three-dimensional thermal gradients across the LCE volume. In addition, concurrently actuating two adjacent surfaces of the LCE strip yields previously inaccessible coupled bending behaviors. Finally, we demonstrate a crawling robot constructed from LM-coated LCE strips with adjustable bending capabilities, which enable multimode locomotion, including forward movement and turns, enhancing biomimetic functionality akin to leg movements observed in living organisms like reptiles. The reported strategy, which is both straightforward and versatile, promises scalability and holds potential for various applications in multifunctional intelligent systems including soft robotics and biomedical devices.

Highly Transmittance, Mechanical, Thermally Stable Silver Nanowires Network Using ZnO Nanoparticles

This research addresses challenges with silver nanowires (Ag NWs) as transparent conductive electrodes (TCEs) and heaters in commercial devices. Here, zinc oxide nanoparticles (ZnO NPs) are first reported as a protective layer for Ag NWs. Multi-physics simulations confirm enhanced thermal stability due to improved heat dissipation, temperature distribution, and thermal conductivity from ZnO. When Ag NWs are surrounded by air, heat transfers mainly through convection and radiation because of air's low conduction coefficient. Encasing Ag NWs in ZnO enhances heat transfer to the ZnO surface, accelerating cooling and dissipating more heat into the atmosphere via convection. The results show composite's efficiency in the Joule effect, maintaining a consistent temperature of 78 °C for 700 s after 500 bending cycles, a significant improvement over Ag NWs operating for only 5 s at 80 °C. Additionally, the composite film exhibited exceptional performance, including a sheet resistance of 9.8 Ω sq-1 and an optical transmittance of 96.96 %, outperforming Ag NWs, which have a sheet resistance of 12 Ω sq-1 and a transmittance of 94.11%. The combination of enhanced electrical, thermal, and mechanical stability, along with impressive optical properties, makes Ag NWs/ZnO NPs a promising candidate for transparent conductive electrode materials in various applications.

Encapsulated stretchable amphibious strain sensors

Soft and stretchable strain sensors have found wide applications in health monitoring, motion tracking, and robotic sensing. There is a growing demand for strain sensors in amphibious environments, such as implantable sensors, wearable sensors for swimmers/divers, and underwater robotic sensors. However, developing a sensitive, stretchable, and robust amphibious strain sensor remains challenging. This work presents an encapsulated stretchable amphibious strain sensor. The conductive layer, made of silver nanowires embedded below the surface of polydimethylsiloxane, was sandwiched by two layers of thermoplastic polyurethane. Periodic sharp cuts were introduced to change the direction of flow from across the sensor to along the conductive path defined by the opening cracks. The crack advancing and opening is controlled by a unique combination of weak/strong interfaces within the sandwich structure. The cut design and the interfacial interactions between the layers were investigated. The strain sensor exhibited a high gauge factor up to 289, a linear sensing response, a fast response time (53 ms), excellent robustness against over-strain, and stability after 16 000 loading cycles and 20 days in an aqueous saline solution. The functionality of this amphibious strain sensor was demonstrated by tracking the motion of a robotic fish, undertaking language recognition underwater, and monitoring the blood pressure of a porcine aorta. This illustrates the promising potential for this strain sensor for both underwater use and surgically implantable applications.

A Redox-Reversible Switch of DNA Hydrogen Bonding and Structure

Modulating molecular structure and function at the nanoscale drives innovation across wide-ranging technologies. Electrical control of the bonding of individual DNA base pairs endows DNA with precise nanoscale structural reconfigurability, benefiting efforts in DNA origami and actuation. Here, alloxazine DNA base surrogates were synthesized and incorporated into DNA duplexes to function as a redox-active switch of hydrogen bonding. Circular dichroism (CD) revealed that 24-mer DNA duplexes containing one or two alloxazines exhibited CD spectra and melting transitions similar to DNA with only canonical bases, indicating that the constructs adopt a B-form conformation. However, duplexes were not formed when four or more alloxazines were incorporated into a 24-mer strand. Thiolated duplexes incorporating alloxazines were self-assembled onto multiplexed gold electrodes and probed electrochemically. Square-wave voltammetry (SWV) revealed a substantial reduction peak centered at -0.272 V vs Ag/AgCl reference. Alternating between alloxazine oxidizing and reducing conditions modulated the SWV peak in a manner consistent with the formation and loss of hydrogen bonding, which disrupts the base pair stacking and redox efficiency of the DNA construct. These alternating signals support the assertion that alloxazine can function as a redox-active switch of hydrogen bonding, useful in controlling DNA and bioinspired assemblies.

Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation

Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.

Somatosensory Electro-Thermal Actuator through the Laser-Induced Graphene Technology

The biological system realizes the unity of action and perception through the muscle tissue and nervous system. Correspondingly, artificial soft actuators realize the unity of sensing and actuating functions in a single functional material, which will have tremendous potential for developing intelligent and bionic soft robotics. This paper reports the design of a laser-induced graphene (LIG) electrothermal actuator with self-sensing capability. LIG, a functional material formed by a one-step direct-write lasing procedure under ambient air, is used as electrothermal conversion materials and piezoresistive sensing materials. By transferring LIG to a flexible silicone substrate, the design ability of the LIG-based actuator unit is enriched, along with an effectively improved sensing sensitivity. Through the integration of different types of well-designed LIG-based actuator units, the transformations from multidimensional precursors to 2D and 3D structures are realized. According to the piezoresistive effect of the LIG units during the deformation process, the visual synchronous deformation state feedback of the LIG-based actuator is proposed. The multimodal crawling soft robotics and the switchable electromagnetic shielding cloak serve as the demonstrations of the self-sensing LIG-based actuator, showing the advantage of the design in remote control of the soft robot without relying on the assistance of visual devices.

Piezo-Wormbots for Continuous Crawling

Biomimetic soft robots are typically made of soft materials with bioinspired configurations. However, their locomotion is activated and manipulated by externally controlled soft actuators. In this study, piezo-wormbots were developed by automatically triggering the mechanical metamaterial-inspired soft actuator to mimic the continuous crawling of inchworms without manipulation, where crawling was controlled by the deformation of the piezo-wormbots themselves. We designed the flexible piezo-wormbots with an actuator to generate bending deformation under continuous inflation, piezoelectric rubber to automatically create internal excitation voltage to trigger deflation, as well as true legs and prolegs to convert the bending-recovering sequence into continuous crawling. We tailored the actuator to enhance the crawling performance and found that the response was critically affected by the leg pattern, inflation-to-deflation time duration ratio, air pressure, and ground environment. We observed satisfactory locomotion performance for the following tasks (pushing boxes and approaching a predefined target) through accurate self-actuated crawling under up to 51 continuous bending cycles. The maximum crawling velocity of the piezo-wormbots was found to be 16.6 mm/s, resulting in a maximum body length per second (BL/s) of 0.13, which is comparable to those of most natural inchworms (0.1-0.3 BL/s). This study offers new insight into bioinspired soft robotics and expands its biomimetic performance to continuously autonomous locomotion.

Materials-Driven Soft Wearable Bioelectronics for Connected Healthcare

In the era of Internet-of-things, many things can stay connected; however, biological systems, including those necessary for human health, remain unable to stay connected to the global Internet due to the lack of soft conformal biosensors. The fundamental challenge lies in the fact that electronics and biology are distinct and incompatible, as they are based on different materials via different functioning principles. In particular, the human body is soft and curvilinear, yet electronics are typically rigid and planar. Recent advances in materials and materials design have generated tremendous opportunities to design soft wearable bioelectronics, which may bridge the gap, enabling the ultimate dream of connected healthcare for anyone, anytime, and anywhere. We begin with a review of the historical development of healthcare, indicating the significant trend of connected healthcare. This is followed by the focal point of discussion about new materials and materials design, particularly low-dimensional nanomaterials. We summarize material types and their attributes for designing soft bioelectronic sensors; we also cover their synthesis and fabrication methods, including top-down, bottom-up, and their combined approaches. Next, we discuss the wearable energy challenges and progress made to date. In addition to front-end wearable devices, we also describe back-end machine learning algorithms, artificial intelligence, telecommunication, and software. Afterward, we describe the integration of soft wearable bioelectronic systems which have been applied in various testbeds in real-world settings, including laboratories that are preclinical and clinical environments. Finally, we narrate the remaining challenges and opportunities in conjunction with our perspectives.

Recent Advances in Sensor-Actuator Hybrid Soft Systems: Core Advantages, Intelligent Applications, and Future Perspectives

The growing demand for soft intelligent systems, which have the potential to be used in a variety of fields such as wearable technology and human-robot interaction systems, has spurred the development of advanced soft transducers. Among soft systems, sensor-actuator hybrid systems are considered the most promising due to their effective and efficient performance, resulting from the synergistic and complementary interaction between their sensor and actuator components. Recent research on integrated sensor and actuator systems has resulted in a range of conceptual and practical soft systems. This review article provides a comprehensive analysis of recent advances in sensor and actuator integrated systems, which are grouped into three categories based on their primary functions: i) actuator-assisted sensors for intelligent detection, ii) sensor-assisted actuators for intelligent movement, and iii) sensor-actuator interactive devices for a hybrid of intelligent detection and movement. In addition, several bottlenecks in current studies are discussed, and prospective outlooks, including potential applications, are presented. This categorization and analysis will pave the way for the advancement and commercialization of sensor and actuator-integrated systems.

Caterpillar-inspired soft crawling robot with distributed programmable thermal actuation

Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)-based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.

Highly Sensitive, Stretchable, and Robust Strain Sensor Based on Crack Propagation and Opening

Soft and stretchable strain sensors have been attracting significant attention. However, the trade-off between the sensitivity (gauge factor) and the sensing range has been a major challenge. In this work, we report a soft stretchable resistive strain sensor with an unusual combination of high sensitivity, large sensing range, and high robustness. The sensor is made of a silver nanowire network embedded below the surface of an elastomeric matrix (e.g., poly(dimethylsiloxane)). Periodic mechanical cuts are applied to the top surface of the sensor, changing the current flow from uniformly across the sensor to along the conducting path defined by the open cracks. Both experiment and finite element analysis are conducted to study the effect of the slit depth, slit length, and pitch between the slits. The stretchable strain sensor can be integrated into wearable systems for monitoring physiological functions and body motions associated with different levels of strain, such as blood pressure and lower back health. Finally, a soft three-dimensional (3D) touch sensor that tracks both normal and shear stresses is developed for human-machine interfaces and tactile sensing for robotics.

Fast Thermal Actuators for Soft Robotics

Thermal actuation is a common actuation method for soft robots. However, a major limitation is the relatively slow actuation speed. Here we report significant increase in the actuation speed of a bimorph thermal actuator by harnessing the snap-through instability. The actuator is made of silver nanowire/polydimethylsiloxane composite. The snap-through instability is enabled by simply applying an offset displacement to part of the actuator structure. The effects of thermal conductivity of the composite, offset displacement, and actuation frequency on the actuator speed are investigated using both experiments and finite element analysis. The actuator yields a bending speed as high as 28.7 cm^-1/s, 10 times that without the snap-through instability. A fast crawling robot with locomotion speed of 1.04 body length per second and a biomimetic Venus flytrap were demonstrated to illustrate the promising potential of the fast bimorph thermal actuators for soft robotic applications.

Electrothermally Actuated Semitransparent Shape Memory Polymer Composite with Application as a Wearable Touch Sensor

A semitransparent shape memory polymer (SMP):silver nanowire (AgNW) composite is demonstrated to be capable of low-temperature actuation, thus making it attractive for wearable electronics applications that require intimate contact with the human body. We demonstrate that the SMP:AgNW composite has tunable electrical and optical transparency through variation of the AgNW loading and that the AgNW loading did not significantly change the mechanical behavior of the SMP. The SMP composite is also capable of electrical actuation through Joule heating, where applying a 4 V bias across the AgNWs resulted in full shape recovery. The SMP was found to have high strain sensitivity at both small (<1%) and large (over 10%) applied strain. The SMP could sense strains as low as 0.6% with a gauge factor of 8.2. The SMP composite was then utilized as a touch sensor, able to sense and differentiate tapping and pressing. Finally, the composite was applied as a wearable ring that was thermally actuated to conformably fit onto a finger as a touch sensor. The ring sensor was able to sense finger tapping, pressing, and bending with high signal-to-noise ratios. These results demonstrate that SMP:AgNW composites are a promising design approach for application in wearable electronics.

Soft Gripper with Electro-Thermally Driven Artificial Fingers Made of Tri-layer Polymers and a Dry Adhesive Surface

Soft grippers have attracted great interest in the soft robotics research field. Due to their lack of deformability and control over compliance, it can be challenging for them to pick up objects that are too large or too small in size. In particular, compliant objects are vulnerable to the large grasping force. Therefore, it is crucial to be able to adjust the stiffness of the gripper materials. In this study, a soft gripper consisting of three artificial fingers is reported on. Each of the artificial fingers is made of a tri-layer polymer structure. An exterior layer, made of an ecoflex–graphene composite is embedded with electric wires as a heating source, by applying direct-current potential. The Joule heat not only allows for deformation of the exterior layer, but also transfers heat to the middle layer of the thermoplastic polyurethane (TPU) elastomer. As a result, the stiffness of the TPU layer can be adjusted using electro-thermal heating. Meanwhile, the third layer consists of a polydimethylsiloxane replica as a supporting layer with a gecko-inspired dry adhesive structure. By applying voltage through electric wires, the artificial fingers can bend and, thus, the soft gripper can hold the objects, with the help of the dry adhesive layer. Finally, objects like a shuttlecock, tennis ball and a glass beaker, can be picked up by the soft gripper. This research may provide an insight for the design and fabrication of soft robotic manipulators.

Rapid and Energy-Efficient Frontal Curing of Multifunctional Composites Using Integrated Nanostructured Heaters

Current technologies for the manufacture of fiber-reinforced polymer composites are energy-intensive, environmentally unfriendly, and time-consuming and require expensive equipment and resources. In addition, composites typically lack key nonstructural functionalities (e.g., electrical conductivity for deicing, lightning strike protection, and structural health monitoring), which are crucial to many applications such as aerospace and wind energy. Here, we present a new approach for rapid and energy-efficient manufacturing of multifunctional composites without using traditional expensive autoclaves, ovens, or heated molds used for curing of composites. Our approach is predicated on embedding a thin conductive nanostructured paper in the composite layup to act as a resistive heater for triggering frontal polymerization of the matrix thermosetting resin of the composite laminate. Upon passing electric current, the nanostructured paper quickly heats up and initiates frontal polymerization, which then rapidly propagates through the thickness of the laminate, resulting in rapid curing of composites (within seconds to few minutes) irrespective of the size of the composite laminate. The integrated nanostructured paper remains advantageous during the service of the composite part by imparting new functionalities (e.g., deicing) to the cured composite, owing to its excellent electrical conductivity and electrothermal properties. In this work, we first study the influence of several composite processing parameters on the electrothermal properties of the nanostructured paper and determine the power required for rapid initiation of frontal polymerization. We then successfully fabricate a 10 cm × 10 cm composite panel within 1 min using only 4.49 kJ of energy, which is 4 orders of magnitude less than the energy consumed by the traditional bulk, oven-curing technique. Detailed experiments are conducted to provide an in-depth understanding of the effect of heater position, tooling material, and input power on frontal curing of composite laminates. The multifunctional response of produced composites is demonstrated by performing a deicing experiment, where a 50 × 50 × 3 mm3 cube of ice is completely melted within 3 min using an input power of 77 W.

Ultra-long silver nanowires prepared via hydrothermal synthesis enable efficient transparent heaters

Ultra-long silver nanowires (AgNWs) with an aspect ratio of >2000 were prepared by the hydrothermal synthesis method. The influence of reaction time (4-32 h), reaction temperature (150-180 °C), polyvinylpyrrolidone (PVP) molecular weight (10 000-1 300 000 g mol^-1), PVP concentration (50-125 mM), glucose concentration (5.6-22.4 mM) and CuCl₂ concentration (2-20 μM) on the AgNW length was investigated systematically. The optimum conditions provided nanowires with an average diameter of 207 nm, an average length of 234 μm and a maximum length of 397 μm. Finally, a AgNW electrode was prepared on a glass substrate and used in transparent heater application. The transparent heater enabled outstanding heat-generating properties, reaching >200 °C within 70 s with an applied voltage of 5 V. Our results demonstrate how increasing the aspect ratio of ultra-long AgNWs is beneficial for both optical and electronic applications in terms of increased transmission and a more efficient Joule effect in the heater application. In addition, our results show that AgNWs with different lengths can be simply obtained by tuning synthesis parameters.

Direct and remote induced actuation in artificial muscles based on electrospun fiber networks

The present work reports a new configuration of soft artificial muscle based on a web of metal covered nylon 6/6 micrometric fibers attached to a thin polydimethylsiloxane (PDMS) film. The preparation process is simple and implies the attachment of metalized fiber networks to a PDMS sheet substrate while heating and applying compression. The resulting composite is versatile and can be cut in different shapes as a function of the application sought. When an electric current passes through the metallic web, heat is produced, leading to local dilatation and to subsequent controlled deformation. Because of this, the artificial muscle displays a fast and ample movement (maximum displacement of 0.8 cm) when applying a relatively low voltage (2.2 V), a consequence of the contrast between the thermal expanse coefficients of the PDMS substrate and of the web-like electrode. It was shown that the electrical current producing this effect can originate from both direct electric contacts, and untethered configurations i.e. radio frequency induced. Usually, for thermal activated actuators the heating is produced by using metallic films or conductive carbon-based materials, while here a fast heating/cooling process is obtained by using microfiber-based heaters. This new approach for untethered devices is an interesting path to follow, opening a wide range of applications were autonomous actuation and remote transfer of energy are needed.

A Moisture-Resistant Soft Actuator with Low Driving Voltages for Haptic Stimulations in Virtual Games

Strong and robust stimulations to human skins with low driving voltages under high moisture working conditions are desirable for wearable haptic feedback applications. Here, a soft actuator based on the "air bubble" electret structure is developed to work in high-moisture environments and produce haptic sensations to human skin with low driving voltages. Experimentally, the water soaking and drying process has been conducted repeatedly for the first time and the 20th time to test the antimoisture ability of the actuator as it recovers its output force up 90 and 65% of the initial value, respectively. The threshold voltages for sensible haptic sensations for the fingertip and palm of volunteers have been characterized as 7 and 10 V, respectively. Furthermore, a demonstration example has been designed and conducted in a virtual boxing game to generate the designated haptic sensations according to the gaming conditions with an accuracy of 98% for more than 100 tests. As such, the design principle, performance characteristic, and demonstration example in this work could inspire various applications with improved reliability for wearable haptic devices.

Multi-stimuli-responsive actuator based on bilayered thermoplastic film

Recently, soft actuators have attracted considerable interest owing to their biomimetic performance. Unfortunately, it remains a great challenge to fabricate multi-stimuli-responsive soft actuators by a facile but low-cost method. Herein, a thermoplastic film with bilayered architecture was designed and fabricated by a one-step method. This bilayered thermoplastic film can act as a soft actuator, demonstrating versatile shape-programmable performance in response to acetone vapor exposure and temperature change. Interestingly, diverse biomimetic devices including a worm-like self-walker, crawler-type robot and soft gripper can be realized, which highlights its promising applications in biomimetic robots, artificial muscles and automatic devices. Considering the one-step preparation process and the low-cost raw materials, this approach can be cost-effectively scaled up for practical production.

Flexible Electronics and Devices as Human-Machine Interfaces for Medical Robotics

Medical robots are invaluable players in non-pharmaceutical treatment of disabilities. Particularly, using prosthetic and rehabilitation devices with human-machine interfaces can greatly improve the quality of life for impaired patients. In recent years, flexible electronic interfaces and soft robotics have attracted tremendous attention in this field due to their high biocompatibility, functionality, conformability, and low-cost. Flexible human-machine interfaces on soft robotics will make a promising alternative to conventional rigid devices, which can potentially revolutionize the paradigm and future direction of medical robotics in terms of rehabilitation feedback and user experience. In this review, the fundamental components of the materials, structures, and mechanisms in flexible human-machine interfaces are summarized by recent and renowned applications in five primary areas: physical and chemical sensing, physiological recording, information processing and communication, soft robotic actuation, and feedback stimulation. This review further concludes by discussing the outlook and current challenges of these technologies as a human-machine interface in medical robotics.

Electrothermal Performance of Heaters Based on Laser-Induced Graphene on Aramid Fabric

Nanostructured heaters based on laser-induced graphene (LIG) are promising for heat generation and temperature control in a variety of applications due to their high efficiency as well as a fast, facile, and highly scalable fabrication process. While recent studies have shown that LIG can be written on a wide range of precursors, the reports on LIG-based heaters are mainly limited to polyimide film substrates. Here, we develop and characterize nanostructured heaters by direct writing of laser-induced graphene on nonuniform and structurally porous aramid woven fabric. The synthesis and writing of graphene on aramid fabric is conducted using a 10.6 μm CO2 laser. The quality of laser-induced graphene and electrical properties of the heater fabric is tuned by controlling the lasing process parameters. Produced heaters exhibit good electrothermal efficiency with steady-state temperatures up to 170 °C when subjected to an input power density of 1.5 W cm-2. In addition, the permeable texture of LIG-aramid fabric heaters allows for easy impregnation with thermosetting resins. We demonstrate the encapsulation of fabric heaters with two different types of thermosetting resins to develop both flexible and stiff composites. A flexible heater is produced by the impregnation of LIG-aramid fabric by silicone rubber. While the flexible composite heater exhibits inferior electrothermal performance compared to neat LIG-aramid fabric, it shows consistent electrothermal performance under various electrical and mechanical loading conditions. A multifunctional fiber-reinforced composite panel with integrated de-icing functionality is also manufactured using one ply of LIG-aramid fabric heater as part of the composite layup. The results of de-icing experiments show excellent de-icing capability, where a 5 mm thick piece of ice is completely melted away within 2 min using an input power of 12.8 W.

Boundary curvature guided programmable shape-morphing kirigami sheets

Kirigami, a traditional paper cutting art, offers a promising strategy for 2D-to-3D shape morphing through cut-guided deformation. Existing kirigami designs for target 3D curved shapes rely on intricate cut patterns in thin sheets, making the inverse design challenging. Motivated by the Gauss-Bonnet theorem that correlates the geodesic curvature along the boundary with the Gaussian curvature, here, we exploit programming the curvature of cut boundaries rather than the complex cut patterns in kirigami sheets for target 3D curved morphologies through both forward and inverse designs. The strategy largely simplifies the inverse design. Leveraging this strategy, we demonstrate its potential applications as a universal and nondestructive gripper for delicate objects, including live fish, raw egg yolk, and a human hair, as well as dynamically conformable heaters for human knees. This study opens a new avenue to encode boundary curvatures for shape-programing materials with potential applications in soft robotics and wearable devices.

Patterning of Metal Nanowire Networks: Methods and Applications

With the advance in flexible and stretchable electronics, one-dimensional nanomaterials such as metal nanowires have drawn much attention in the past 10 years or so. Metal nanowires, especially silver nanowires, have been recognized as promising candidate materials for flexible and stretchable electronics. Owing to their high electrical conductivity and high aspect ratio, metal nanowires can form electrical percolation networks, maintaining high electrical conductivity under deformation (e.g., bending and stretching). Apart from coating metal nanowires for making large-area transparent conductive films, many applications require patterned metal nanowires as electrodes and interconnects. Precise patterning of metal nanowire networks is crucial to achieve high device performances. Therefore, a high-resolution, designable, and scalable patterning of metal nanowire networks is important but remains a critical challenge for fabricating high-performance electronic devices. This review summarizes recent advances in patterning of metal nanowire networks, using subtractive methods, additive methods of nanowire dispersions, and printing methods. Representative device applications of the patterned metal nanowire networks are presented. Finally, challenges and important directions in the area of the patterning of metal nanowire networks for device applications are discussed.

A Biaxially Stretchable and Self-Sensing Textile Heater Using Silver Nanowire Composite

Wearable heaters have garnered significant attention from academia and industry for their great potential in thermotherapy. Silver nanowire (AgNW) is a promising conductive material for flexible and stretchable electrodes. Here, a resistive, biaxially stretchable heater based on AgNW composite is reported for the first time, where a AgNW percolation network is encased in a thin polyimide (PI) film and integrated with a highly stretchable textile. AgNW/PI is patterned with a 2D Kirigami structure, which enables constant resistance under a large tensile strain (up to uniaxial 100% strain and 50% biaxial strain). The heater can achieve a high temperature of ∼140 °C with a low current of 0.125 A, fast heating and cooling rates of ∼16.5 and ∼14.1 °C s^-1, respectively, and stable performance over 400 heating cycles. A feedback control system is developed to provide constant heating temperature under a temperature change of the surrounding environment. Demonstrated applications in applying thermotherapy at the curvilinear surface of the knee using the stretchable heater illustrate its promising potential for wearable applications.

Chinese ink: a programmable, dual-responsive and self-sensing actuator using a healing-assembling method

Actuators have wide applications in soft robotics and bionic devices. Since the healing ability not only makes actuators have longer service lives, but also allows them to be programmable through welding and assembling, it is regarded as an important feature for state-of-the-art actuators. Nevertheless, it remains a great challenge to integrate multi-functional merits, such as multi-responsiveness, programmable shape-morphing, healing and self-sensing function, simultaneously into a monolithic actuating material. Here, we introduce Chinese ink, a carbon-based material used in traditional calligraphy, to develop programmable, dual-responsive and self-sensing actuators by a healing-assembling method. The ink is combined with graphene oxide (GO) to fabricate a double-layer ink/GO actuator, which shows bi-directional bending under near-infrared light or humidity, owing to the mismatch of the volume change between ink and GO films. The maximal bending curvature is up to 5.2 cm^-1. Importantly, the entire ink/GO actuator can be healed with the aid of ink solution. Using the healing-assembling method to fabricate advanced structures including a Mobius ring, triangular rings and square rings, diverse actuating modes and complex 3D deformations such as a wavy shape and saddle shape are realized. This method also enables the construction of an artificial mimosa that shows a biomimetic stimulus-responsive behavior. In addition, the ink/GO actuator shows a self-sensing function, which is attributed to the thermoresistivity of the ink film. This research shows the huge potential of Chinese-ink-based actuators for use in smart materials, providing a new idea for the development of new generation multi-functional actuators.

Colloidal Self-Assembly Approaches to Smart Nanostructured Materials

Colloidal self-assembly refers to a solution-processed assembly of nanometer-/micrometer-sized, well-dispersed particles into secondary structures, whose collective properties are controlled by not only nanoparticle property but also the superstructure symmetry, orientation, phase, and dimension. This combination of characteristics makes colloidal superstructures highly susceptible to remote stimuli or local environmental changes, representing a prominent platform for developing stimuli-responsive materials and smart devices. Chemists are achieving even more delicate control over their active responses to various practical stimuli, setting the stage ready for fully exploiting the potential of this unique set of materials. This review addresses the assembly of colloids into stimuli-responsive or smart nanostructured materials. We first delineate the colloidal self-assembly driven by forces of different length scales. A set of concepts and equations are outlined for controlling the colloidal crystal growth, appreciating the importance of particle connectivity in creating responsive superstructures. We then present working mechanisms and practical strategies for engineering smart colloidal assemblies. The concepts underpinning separation and connectivity control are systematically introduced, allowing active tuning and precise prediction of the colloidal crystal properties in response to external stimuli. Various exciting applications of these unique materials are summarized with a specific focus on the structure-property correlation in smart materials and functional devices. We conclude this review with a summary of existing challenges in colloidal self-assembly of smart materials and provide a perspective on their further advances to the next generation.

Progress in Flexible Electronic Textile for Heating Application: A Critical Review

Intelligent textiles are predicted to see a 'surprising' development in the future. The consequence of this revived interest has been the growth of industrial goods and the improvement of innovative methods for the incorporation of electrical features into textiles materials. Conductive textiles comprise conductive fibres, yarns, fabrics, and finished goods produced using them. Present perspectives to manufacture electrically conductive threads containing conductive substrates, metal wires, metallic yarns, and intrinsically conductive polymers. This analysis concentrates on the latest developments of electro-conductivity in the area of smart textiles and heeds especially to materials and their assembling processes. The aim of this work is to illustrate a potential trade-off between versatility, ergonomics, low energy utilization, integration, and heating properties.

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

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

Fractal-Based Stretchable Circuits via Electric-Field-Driven Microscale 3D Printing for Localized Heating of Shape Memory Polymers in 4D Printing

Thermally responsive shape memory polymers (SMPs) used in 4D printing are often reported to be activated by external heat sources or embedded stiff heaters. However, such heating strategies impede the practical application of 4D printing due to the lack of precise control over heating or the limited ability to accommodate the stretching during shape programming. Herein, we propose a novel 4D printing paradigm by fabricating stretchable heating circuits with fractal motifs via electric-field-driven microscale 3D printing of conductive paste for seamless integration into 3D printed structures with SMP components. By regulating the fractal order and printing/processing parameters, the overall electrical resistance and areal coverage of the circuits can be tuned to produce an efficient and uniform heating performance. Compared with serpentine structures, the resistance of fractal-based circuits remains relatively stable under both uniaxial and biaxial stretching. In practice, steady-state and transient heating modes can be respectively used during the shape programming and actuation phases. We demonstrate that this approach is suitable for 4D printed structures with shape programming by either uniaxial or biaxial stretching. Notably, the biaxial stretchability of fractal-based heating circuits enables the shape change between a planar structure and a 3D one with double curvature. The proposed strategy would offer more freedom in designing 4D printed structures and enable the manipulation of the latter in a controlled and selective manner.

Somatosensitive film soft crawling robots driven by artificial muscle for load carrying and multi-terrain locomotion

Somatosensitive soft crawling robotics is highly desired for load carrying and multi-terrain locomotion. The motor-driven skeleton robots and pneumatic robots are effective and well-developed, while the bulk size, rigidity, or complexity limit their applications. In this paper, a somatosensitive film soft crawling robot driven by an artificial muscle was developed, which can carry heavy loads and crawl on multiple terrains. A bow-shaped film skeleton connected with a twisted-fiber artificial muscle is not easily deformed while carrying a load. A strain sensor coating on the film skeleton was used to detect the body deformation of the robot and a controller was designed for feedback control to make the robot self-crawling. This film soft crawling robot was demonstrated to crawl on the multi-terrain such as flat, mountainous, and underwater, as well as surfaces with different roughness. This work provides a new design strategy for multi-functional compact soft crawling robotics.

Recent advances in printed flexible heaters for portable and wearable thermal management

Flexible resistive heaters (FRHs) with high heating performance, large-area thermal homogeneity, and excellent thermal stability are very desirable in modern life, owing to their tremendous potential for portable and wearable thermal management applications, such as body thermotherapy, on-demand drug delivery, and artificial intelligence. Printed electronic (PE) technologies, as emerging methods combining conventional printing techniques with solution-processable functional ink have been proposed to be promising strategies for the cost-effective, large-scale, and high-throughput fabrication of printed FRHs. This review summarizes recent progress in the main components of FRHs, including conductive materials and flexible or stretchable substrates, focusing on the formulation of conductive ink systems for making printed FRHs by a variety of PE technologies including screen printing, inkjet printing, roll-to-roll (R2R) printing and three-dimensional (3D) printing. Various challenges facing the commercialization of printed FRHs and improved methods for portable and wearable thermal management applications have been discussed in detail to overcome these problems.

Transparent Soft Actuators/Sensors and Camouflage Skins for Imperceptible Soft Robotics

The advent of soft robotics has led to great advancements in robots, wearables, and even manufacturing processes by employing entirely soft-bodied systems that interact safely with any random surfaces while providing great mechanical compliance. Moreover, recent developments in soft robotics involve advances in transparent soft actuators and sensors that have made it possible to construct robots that can function in a visually and mechanically unobstructed manner, assisting the operations of robots and creating more applications in various fields. In this aspect, imperceptible soft robotics that mainly consist of optically transparent imperceptible hardware components is expected to constitute a new research focus in the forthcoming era of soft robotics. Here, the recent progress regarding extended imperceptible soft robotics is provided, including imperceptible transparent soft robotics (transparent soft actuators/sensors) and imperceptible nontransparent camouflage skins. Their principles, materials selections, and working mechanisms are discussed so that key challenges and perspectives in imperceptible soft robotic systems can be explored.

Programmable soft electrothermal actuators based on free-form printing of the embedded heater

In recent years, there has been an increasing interest in the research in soft actuators that exhibit complex programmable deformations. Soft electrothermal actuators use electricity as the stimulus to generate heat, and the mismatch between the thermal expansions of the two structural layers causes the actuator to bend. Complex programmable deformations of soft electrothermal actuators are difficult due to the limitations of the conventional fabrication methods. In this article, we report a new approach to fabricate soft electrothermal actuators, in which the resistive heater of the electrothermal actuator is directly printed using electrohydrodynamic (EHD) printing. The direct patterning capabilities of EHD printing allow the free-form design of the heater. By changing the design of the heating pattern on the actuator, different heat distributions can be achieved and utilized to realize complex programmable deformations, including uniform bending, customized bending, folding, and twisting. Finite element analysis (FEA) was used to validate the thermal distribution and deformation for different actuator designs. Lastly, several integrated demonstrations are presented, including complex structures obtained from folding, a two-degree-of-freedom soft robotic arm, and soft walkers.

Electrical switching of high-performance bioinspired nanocellulose nanocomposites

Nature fascinates with living organisms showing mechanically adaptive behavior. In contrast to gels or elastomers, it is profoundly challenging to switch mechanical properties in stiff bioinspired nanocomposites as they contain high fractions of immobile reinforcements. Here, we introduce facile electrical switching to the field of bioinspired nanocomposites, and show how the mechanical properties adapt to low direct current (DC). This is realized for renewable cellulose nanofibrils/polymer nanopapers with tailor-made interactions by deposition of thin single-walled carbon nanotube electrode layers for Joule heating. Application of DC at specific voltages translates into significant electrothermal softening via dynamization and breakage of the thermo-reversible supramolecular bonds. The altered mechanical properties are reversibly switchable in power on/power off cycles. Furthermore, we showcase electricity-adaptive patterns and reconfiguration of deformation patterns using electrode patterning techniques. The simple and generic approach opens avenues for bioinspired nanocomposites for facile application in adaptive damping and structural materials, and soft robotics.

Underwater, Multifunctional Superhydrophobic Sensor for Human Motion Detection

Superhydrophobic conductive materials have received a great amount of interest due to their wide applications in oil-water separation, electrically driven smart surface, electromagnetic shielding, and body motion detection. Herein, a highly conductive superhydrophobic cotton cloth is prepared by a facile method. A layer of polydopamine/reduced graphene oxide (PDA/rGO) was first coated on the cotton fabric, and then copper nanoparticles were in situ grown on the prepared surface. After further modification with stearic acid (STA), the wettability of the cotton surface changed from superhydrophilic to superhydrophobic (water contact angle (WCA) = 153°). The electrical conductivity of the PDA/rGO/Cu/STA cotton is as high as 6769 S·m^-1, while the stearic acid effectively protects Cu NPs from oxidation. As a result, the superhydrophobic PDA/rGO/Cu/STA cotton has shown excellent electrical stability and can be used in detecting human motions in both ambient and underwater conditions. The sensor can recognize human motion from air into water and other underwater activities (e.g., underwater bending, stretching, and ultrasound). This multifunctional cotton device can be used as an ideal sensor for underwater intelligent devices and provides a basis for further research.

Polarization-Modulated Multidirectional Photothermal Actuators

Photothermal actuators have attracted increasing attention due to their ability to convert light energy into mechanical deformation and locomotion. This work reports a freestanding, multidirectional photothermal robot that can walk along a predesigned pathway by modulating laser polarization and on-off switching. Magnetic-plasmonic hybrid Fe₃ O₄ /Ag nanorods are synthesized using an unconventional templating approach. The coupled magnetic and plasmonic anisotropy allows control of the rod orientation, plasmonic excitation, and photothermal conversion by simply applying a magnetic field. Once the rods are fixed with desirable orientations in a bimorph actuator by magnetic-field-assisted lithography, the bending of the actuator can be controlled by switching the laser polarization. A bipedal robot is created by coupling the rod orientation with the alternating actuation of its two legs. Irradiating the robot by a laser with alternating or fixed polarization synergistically results in basic movement (backward and forward) and turning (including left-, right-, and U-turn), respectively. A complex walk along predesigned pathways can be potentially programmed by combining the movement and turning modes of the robots. This strategy provides an alternative driving mechanism for preparing functional soft robots, thus breaking through the limitations in the existing systems in terms of light sources and actuation manners.

Designing Mechanical Metamaterials with Kirigami-Inspired, Hierarchical Constructions for Giant Positive and Negative Thermal Expansion

Advanced mechanical metamaterials with unusual thermal expansion properties represent an area of growing interest, due to their promising potential for use in a broad range of areas. In spite of previous work on metamaterials with large or ultralow coefficient of thermal expansion (CTE), achieving a broad range of CTE values with access to large thermally induced dimensional changes in structures with high filling ratios remains a key challenge. Here, design concepts and fabrication strategies for a kirigami-inspired class of 2D hierarchical metamaterials that can effectively convert the thermal mismatch between two closely packed constituent materials into giant levels of biaxial/uniaxial thermal expansion/shrinkage are presented. At large filling ratios (>50%), these systems offer not only unprecedented negative and positive biaxial CTE (i.e., -5950 and 10 710 ppm K^-1 ), but also large biaxial thermal expansion properties (e.g., > 21% for 20 K temperature increase). Theoretical modeling of thermal deformations provides a clear understanding of the microstructure-property relationships and serves as a basis for design choices for desired CTE values. An Ashby plot of the CTE versus density serves as a quantitative comparison of the hierarchical metamaterials presented here to previously reported systems, indicating the capability for substantially enlarging the accessible range of CTE.

Transparent low-voltage-driven soft actuators with silver nanowires Joule heaters

Transparent soft actuators with silver nanowire Joule heaters embedded in liquid crystal elastomer and PDMS layer was prepared, and it can perform reversible large bending deformation driven by low voltage.

Programmable Stimuli-Responsive Actuators for Complex Motions in Soft Robotics: Concept, Design and Challenges

During the last years, great progress was made in material science in terms of concept, design and fabrication of new composite materials with conferred properties and desired functionalities. The scientific community paid particular interest to active soft materials, such as soft actuators, for their potential as transducers responding to various stimuli aiming to produce mechanical work. Inspired by this, materials engineers today are developing multidisciplinary approaches to produce new active matters, focusing on the kinematics allowed by the material itself more than on the possibilities offered by its design. Traditionally, more complex motions beyond pure elongation and bending are addressed by the robotics community. The present review targets encompassing and rationalizing a framework which will help a wider scientific audience to understand, sort and design future soft actuators and methods enabling complex motions. Special attention is devoted to recent progress in developing innovative stimulus-responsive materials and approaches for complex motion programming for soft robotics. In this context, a challenging overview of the new materials as well as their classification and comparison (performances and characteristics) are proposed. In addition, the great potential of soft transducers are outlined in terms of kinematic capabilities, illustrated by the related application. Guidelines are provided to design actuators and to integrate asymmetry enabling motions along any of the six basic degrees of freedom (translations and rotations), and strategies towards the programming of more complex motions are discussed. As a final note, a series of manufacturing methods are described and compared, from molding to 3D and 4D printing. The review ends with a Perspectives section, from material science and microrobotic points of view, on the soft materials’ future and close future challenges to be overcome.

Buckle-Delamination-Enabled Stretchable Silver Nanowire Conductors

Controlled buckling and delamination of thin films on a compliant substrate has attracted much attention for applications ranging from micro/nanofabrication to flexible and stretchable electronics to bioengineering. Here, a highly conductive and stretchable conductor is fabricated by attaching a polymer composite film (with a thin layer of silver nanowires embedded below the surface of the polymer matrix) on top of a prestretched elastomer substrate followed with releasing the prestrain. A partially delaminated wavy geometry of the polymer film is created. During the evolution of the buckle-delamination, the blisters pop-up randomly but self-adjust into a uniform distribution, which effectively reduces the local strain in the silver nanowires. The resistance change of the conductor is less than 3% with the applied strain up to 100%. A theoretical model on the buckle-delamination structure is developed to predict the geometrical evolution, which agrees well with experimental observation. Finally, an integrated silver nanowire/elastomer sensing module and a stretchable thermochromic device are developed to demonstrate the utility of the stretchable conductor. This work highlights the important relevance of mechanics-based design in nanomaterial-enabled stretchable devices.

Recent Progress of Soft Electrothermal Actuators

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

Programmable deformation of patterned bimorph actuator swarm

Graphene-based actuators featuring fast and reversible deformation under various external stimuli are promising for soft robotics. However, these bimorph actuators are incapable of complex and programmable 3D deformation, which limits their practical application. Here, inspired from the collective coupling and coordination of living cells, we fabricated a moisture-responsive graphene actuator swarm that has programmable shape-changing capability by programming the SU-8 patterns underneath. To get better control over the deformation, we fabricated SU-8 micropattern arrays with specific geometries and orientations on a continuous graphene oxide film, forming a swarm of bimorph actuators. In this way, predictable and complex deformations, including bending, twisting, coiling, asymmetric bending, 3D folding, and combinations of these, have been achieved due to the collective coupling and coordination of the actuator swarm. This work proposes a new way to program the deformation of bilayer actuators, expanding the capabilities of existing bimorph actuators for applications in various smart devices.

Three-Layered Design of Electrothermal Actuators for Minimal Voltage Operation

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

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

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

Dual-Stimuli Responsive Carbon Nanotube Sponge-PDMS Amphibious Actuator

A dual-stimuli responsive soft actuator based on the three-dimensional (3D) porous carbon nanotube (CNT) sponge and its composite with polydimethylsiloxane (PDMS) was developed, which can realize both electrothermal and electrochemical actuation. The bimorph actuator exhibited a bending curvature of 0.32 cm⁻¹·W⁻¹ under electrothermal stimulation on land. The displacement of the electrochemical actuator could reach 4 mm under a 5 V applied voltage in liquid. The dual-responsive actuator has demonstrated the applications on multi-functional amphibious soft robots as a crawling robot like an inchworm, a gripper to grasp and transport the cargo and an underwater robot kicking a ball. Our study presents the versatility of the CNT sponge-based actuator, which can be used both on land and in water.

Fast-response, agile and functional soft actuators based on highly-oriented carbon nanotube thin films

Highly-oriented carbon nanotube (CNT) film, which is made from super-aligned CNT array, is an even, tough and soft material. This CNT film has strong anisotropy in electrical and mechanical properties. The electrical conductivity and Young's modulus of the CNT film (2.8 × 10⁴S m^-1, 3000 MPa) along the CNT aligned direction are one magnitude larger than those (2.3 × 10³S m^-1, 200 MPa) along the vertical direction. In virtue of easy preparation and good processability, it is competent as high-performance flexible electrodes for soft actuators, advanced film capacitors and batteries. Here, we use this highly-oriented CNT film as a heating electrode to make fast-response soft actuators. The actuator has a thin bilayer composite structure and is driven by current heating. It takes a typical miniaturized actuator only 0.9 s to perform fast and large-angle deformations (270° bending, curvature 4.8 cm^-1), and its bending speed can reach 300° s^-1by low power driving (2.4 W). Based on this CNT film, graphical designs and fine processing were carried out to make patterned electrodes and functional actuators, such as cross-shaped and hand-shaped ones. Notably, a well-designed gripper-like actuator can even deftly grab and manipulate some tiny things, e.g. a grain of rice. Moreover, the anisotropic properties of the CNT film also effectively influence and regulate the deformation forms of the actuators. In virtue of good and unique performances in electrical, mechanical and thermal aspects, the high-oriented CNT film would have promising application prospects in various emerging soft devices.

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

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