A Review of Electrically Driven Soft Actuators for Soft Robotics

In recent years, the field of soft robotics has gained much attention by virtue of its aptness to work in certain environments unsuitable for traditional rigid robotics. Along with the uprising field of soft robotics is the increased attention to soft actuators which provide soft machines the ability to move, manipulate, and deform actively. This article provides a focused review of various high-performance and novel electrically driven soft actuators due to their fast response, controllability, softness, and compactness. Furthermore, this review aims to act as a reference guide for building electrically driven soft machines. The focus of this paper lies on the actuation principle of each type of actuator, comprehensive performance comparison across different actuators, and up-to-date applications of each actuator. The range of actuators includes electro-static soft actuators, electro-thermal soft actuators, and electrically driven soft pumps.

Preparation and Properties of SBR Composites Containing Graphene Nanoplatelets Modified with Pyridinium Derivative

The goal of this work was to study the effect of graphene nanoplatelets (GnPs) modified with ionic liquid (IL) on properties of styrene–butadiene rubber (SBR) composites. GnPs were decorated with IL or were modified in bulk directly during rubber mix preparation. The ionic liquid used was 1-butyl-4-methylpyridinium tetrafluoroborate (BMPFB). The textural properties were studied to confirm surface modification of GnPs with BMPFB. In these investigations, the impact of the concentration of GnPs and the effect of the method of GnPs’ modification with IL on elastomers properties are described. Some thermal measurements (e.g., differential scanning calorimetry and thermogravimetry) were conducted to characterize the thermal stability or the vulcanization process of the investigated samples. Complementary experimental techniques were used to investigate the properties of the obtained elastomers, specifically tensile testing, and electrical and barrier property measurements. The deposition of IL on the GnPs’ surface positively influenced the mechanical and barrier properties of elastomers. However, samples containing graphene nanoplatelets modified from solution were characterized by less electrical conductivity. SEM analysis was additionally performed to investigate GnPs’ dispersion within SBR composites.

Building a Novel Chemically Modified Polyaniline/Thermally Reduced Graphene Oxide Hybrid through π-π Interaction for Fabricating Acrylic Resin Elastomer-Based Composites with Enhanced Dielectric Property

Sustainability urgently demands low dielectric loss and low elastic modulus as fostering high permittivity (Hi-K) conductor/polymer composites. This work introduces a ternary composite system, consisting of acrylic resin elastomer (AR), chemically modified polyaniline (HBSiPA), and the thermally reduced graphene oxides (TrGOs), for applying to actuators, of which AR was fabricated by free radical polymerization. The unique hybridized graphene (HBSiPA-TrGO) was prepared by a two-step procedure, including the doped polyaniline modified by the hyperbranched polysiloxane via a ring opening reaction, followed by the decoration of HBSiPA on the surface of TrGO, the conductivity of which is desired to be the same as that of graphene. Afterward, diverse filler contents of HBSiPA-TrGO were put into the AR matrix to fabricate composites with the solution casting method and TrGO/AR composites were fabricated as well for comparison. Unlike TrGO, HBSiPA has plenty of polyaniline chain segments that ensure better dispersion of graphene hybrids in the AR, and thus the composites inherit the excellent electrical property of graphene. The permittivity and dielectric loss of the HBSiPA-TrGO/AR composite at 100 Hz are 3.5 and 0.27 times that of the TrGO/AR composite, respectively, when the loading of fillers approaches the percolation threshold (f_c), which originates from the HBSiPA anchored onto the graphene serving as spacer and thus decreases the leakage currents induced by the contact of graphene sheets. Besides, the elastic modulus of 2.83 vol % HBSiPA-TrGO/AR composite was lower than 5 MPa.