Humidity- and light-driven actuators based on carbon nanotube-coated paper and polymer composite

Bismuth-Tin Core-Shell Particles From Liquid Metals: A Novel, Highly Efficient Photothermal Material that Combines Broadband Light Absorption with Effective Light-to-Heat Conversion

This study presents a pioneering investigation of hybrid bismuth-tin (BiSn) liquid metal particles for photothermal applications. It is shown that the intrinsic core-shell structure of liquid metal particles can be instrumentalized to combine the broadband absorption characteristics of defect-rich nano-oxides and the high light-to-heat conversion efficiency of metallic particles. Even though bismuth or tin does not show any photothermal characteristics alone, optimization of the core-shell structure of BiSn particles leads to the discovery of novel, highly efficient photothermal materials. Particles with optimized structures can absorb 85% of broadband light and achieve over 90% photothermal conversion efficiency. It is demonstrated that these particles can be used as a solar absorber for solar water evaporation systems owing to their broadband absorption capability and become a non-carbon alternative enabling scalable applications. We also showcased their use in polymer actuators in which a near-infrared (NIR) response stems from their oxide shell, and fast heating/cooling rates achieved by the metal core enable rapid response and local movement. These findings underscore the potential of BiSn liquid metal-derived core-shell particles for diverse applications, capitalizing on their outstanding photothermal properties as well as their facile and scalable synthesis conditions.

Research Progress on Moisture-Sorption Actuators Materials

Actuators based on moisture-sorption-responsive materials can convert moisture energy into mechanical/electrical energy, making the development of moisture-sorption materials a promising pathway for harnessing green energy to address the ongoing global energy crisis. The deformability of these materials plays a crucial role in the overall energy conversion performance, where moisture sorption capacity determines the energy density. Efforts to boost the moisture absorption capacity and rate have led to the development of a variety of moisture-responsive materials in recent years. These materials interact with water molecules in different manners and have shown diverse application scenarios. Here, in this review, we summarize the recent progress on moisture-sorption-responsive materials and their applications. We begin by categorizing moisture-sorption materials-biomaterials, polymers, nanomaterials, and crystalline materials-according to their interaction modes with water. We then review the correlation between moisture-sorption and energy harvesting performance. Afterwards, we provide examples of the typical applications using these moisture-sorption materials. Finally, we explore future research directions aimed at developing next-generation high-performance moisture-sorption materials with higher water uptake, tunable water affinity, and faster water absorption.

N-DMBI Doping of Carbon Nanotube Yarns for Achieving High n-Type Thermoelectric Power Factor and Figure of Merit

The application of carbon nanotube (CNT) yarns as thermoelectric materials for harvesting energy from low-grade waste heat including that generated by the human body, is attracting considerable attention. However, the lack of efficient n-type CNT yarns hinders their practical implementation in thermoelectric devices. This study reports efficient n-doping of CNT yarns, employing 4-(1, 3-dimethyl-2, 3-dihydro-1H-benzimidazole-2-yl) phenyl) dimethylamine (N-DMBI) in alternative to conventional n-dopants, with o-dichlorobenzene emerging as the optimal solvent. The small molecular size of N-DMBI enables highly efficient doping within a remarkably short duration (10 s) while ensuring prolonged stability in air and at high temperature (150 °C). Furthermore, Joule annealing of the yarns significantly improves the n-doping efficiency. Consequently, thermoelectric power factors (PFs) of 2800, 2390, and 1534 µW m-1 K-2 are achieved at 200, 150, and 30 °C, respectively. The intercalation of N-DMBI molecules significantly suppresses the thermal conductivity, resulting in the high figure of merit (ZT) of 1.69×10-2 at 100 °C. Additionally, a π-type thermoelectric module is successfully demonstrated incorporating both p- and n-doped CNT yarns. This study offers an efficient doping strategy for achieving CNT yarns with high thermoelectric performance, contributing to the realization of lightweight and mechanically flexible CNT-based thermoelectric devices.

A tough, reversible and highly sensitive humidity actuator based on cellulose nanofiber films by intercalation modulated plasticization

Cellulose nanofiber was an ideal candidate for humidity actuators based on its wide availability, biocompatibility and excellent hydrophilicity. However, conventional cellulose nanofiber-based actuators faced challenges like poor water resistance, flexibility, and sensitivity. Herein, water-resistant, flexible, and highly sensitive cross-linked cellulose nanofibers (CCNF) single-layer humidity actuators with remarkable reversible humidity responsiveness were prepared by combining the green click chemistry modification and intercalation modulated plasticization (IMP). The incorporation of phenyl ring and the crosslinked network structure in CCNF films contributed to its improved water resistance and mechanical properties (with a stress increased from 85.9 ± 3.1 MPa to 141.2 ± 21.5 MPa). SEM analysis confirmed enhanced interlaminar sliding properties facilitated by IMP. This resulted in increased flexibility and toughness of CCNF films, with a strain of 11.5 % and toughness of 9.9 MJ/m3. These improvements efficiently enhanced humidity sensitivity for cellulose nanofiber, with a 4.8-fold increase in bending curvature and a response time of only 3.4 ± 0.1 s. Finally, the good humidity sensitivity of modified CNF can be easily imparted to carbon nanotubes (CNTs) via simple self-assembly method, thus leading to a high-performance humidity-responsive actuator. The click chemistry modification and IMP offer a new avenue to fabricate tough, reversible and highly sensitive humidity actuator based on cellulose nanofiber.

Ultrafast Bi-Directional Bending Moisture-Responsive Soft Actuators through Superfine Silk Rod Modified Bio-Mimicking Hierarchical Layered Structure

Development of stimulus-responsive materials is crucial for novel soft actuators. Among these actuators, the moisture-responsive actuators are known for their accessibility, eco-friendliness, and robust regenerative attributes. A major challenge of moisture-responsive soft actuators (MRSAs) is achieving significant bending curvature within short response times. Many plants naturally perform large deformation through a layered hierarchical structure in response to moisture stimuli. Drawing inspiration from the bionic structure of Delosperma nakurense (D. nakurense) seed capsule, here the fabrication of an ultrafast bi-directional bending MRSAs is reported. Combining a superfine silk fibroin rod (SFR) modified graphene oxide (GO) moisture-responsive layer with a moisture-inert layer of reduced graphene oxide (RGO), this actuator demonstrated large bi-directional bending deformation (-4.06 ± 0.09 to 10.44 ± 0.00 cm-1) and ultrafast bending rates (7.06 cm-1 s-1). The high deformation rate is achieved by incorporating the SFR into the moisture-responsive layers, facilitating rapid water transmission within the interlayer structure. The complex yet predictable deformations of this actuator are demonstrated that can be utilized in smart switch, robotic arms, and walking device. The proposed SFR modification method is simple and versatile, enhancing the functionality of hierarchical layered actuators. It holds the potential to advance intelligent soft robots for application in confined environments.

Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots. Nonetheless, current research predominantly focuses on isolated actuation and sensing capabilities, often neglecting the critical integration of these 2 domains to achieve intelligent functionality. In this review, we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion. We emphasize the importance of integrating actuation and sensing in soft robotics, presenting 3 integration methodologies, namely, sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. Furthermore, we highlight the challenges in the field and suggest compelling directions for future research. Through this comprehensive synthesis, we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.

Multistimuli-Responsive Actuators Derived from Natural Materials for Entirely Biodegradable and Programmable Untethered Soft Robots

Untethered soft robots have attracted growing attention due to their safe interaction with living organisms, good flexibility, and accurate remote control. However, the materials involved are often nonbiodegradable or are derived from nonrenewable resources, leading to serious environmental problems. Here, we report a biomass-based multistimuli-responsive actuator based on cuttlefish ink nanoparticles (CINPs), wood-derived cellulose nanofiber (CNF), and bioderived polylactic acid (PLA). Taking advantage of the good photothermal conversion performance and exceptionally hygroscopic sensitivity of the CINPs/CNF composite (CICC) layer and the opposite thermally induced deformation behavior between the CICC layer and PLA layer, the soft actuator exhibits reversible deformation behaviors under near-infrared (NIR) light, humidity, and temperature stimuli, respectively. By introducing patterned or alignment structures and combining them with a macroscopic reassembly strategy, diverse programmable shape-morphing from 2D to 3D such as letter-shape, coiling, self-folding, and more sophisticated 3D deformations have been demonstrated. All of these deformations can be successfully predicted by finite element analysis (FEA) . Furthermore, this actuator has been further applied as an untethered grasping robot, weightlifting robot, and climbing robot capable of climbing a vertical pole. Such actuators consisting entirely of biodegradable materials will offer a sustainable future for untethered soft robots.

Study of a Multiple Responses, High Deformation, and Programmable PLA-PPC/PVA-PDA Actuator

The intelligent response actuators based on bilayer polymer can deform under the stimulation of temperature, humidity, light, and other external environment, which is the focus of research. However, achieving multiple responses, high deformation, and programmability is still one of the challenges for these actuators. Herein, a nondetachable bilayer structure, polylactic acid-polypropylene carbonate/polyvinyl alcohol-polydopamine (PLA-PPC/PVA-PDA) multiresponse programmable actuator is prepared by a simple scraping film method. Using PLA-PPC as the solvent-driven response layer, the effects of length, thickness, shape, and solvent vapor on the deformation of PLA-PPC/PVA-PDA actuators are studied. Among them, the high curvature of the film stimulated by ethyl acetate (EA) solution is 29.85 cm-1 . Using PVA-PDA as the response layer to water molecules and infrared (IR) light, the bilayer film shows excellent curling performance. Moreover, the dynamic processes of human clothing and biomimetic squid under solvent stimulation, the picture rolling motion under water molecule stimulation, the biomimetic flower blooming and merging under the synergistic of water molecules and IR light, and the deformation process of biomimetic mimosa under the competition between water molecules and IR light are simulated, which broadens the road for the development of intelligent driving materials.

Paper-Based Humidity Sensors as Promising Flexible Devices, State of the Art, Part 2: Humidity-Sensor Performances

This review article covers all types of paper-based humidity sensor, such as capacitive, resistive, impedance, fiber-optic, mass-sensitive, microwave, and RFID (radio-frequency identification) humidity sensors. The parameters of these sensors and the materials involved in their research and development, such as carbon nanotubes, graphene, semiconductors, and polymers, are comprehensively detailed, with a special focus on the advantages/disadvantages from an application perspective. Numerous technological/design approaches to the optimization of the performances of the sensors are considered, along with some non-conventional approaches. The review ends with a detailed analysis of the current problems encountered in the development of paper-based humidity sensors, supported by some solutions.

Self-Healing Polymeric Soft Actuators

Natural evolution has provided multicellular organisms with sophisticated functionalities and repair mechanisms for surviving and preserve their functions after an injury and/or infection. In this context, biological systems have inspired material scientists over decades to design and fabricate both self-healing polymeric materials and soft actuators with remarkable performance. The latter are capable of modifying their shape in response to environmental changes, such as temperature, pH, light, electrical/magnetic field, chemical additives, etc. In this review, we focus on the fusion of both types of materials, affording new systems with the potential to revolutionize almost every aspect of our modern life, from healthcare to environmental remediation and energy. The integration of stimuli-triggered self-healing properties into polymeric soft actuators endow environmental friendliness, cost-saving, enhanced safety, and lifespan of functional materials. We discuss the details of the most remarkable examples of self-healing soft actuators that display a macroscopic movement under specific stimuli. The discussion includes key experimental data, potential limitations, and mechanistic insights. Finally, we include a general table providing at first glance information about the nature of the external stimuli, conditions for self-healing and actuation, key information about the driving forces behind both phenomena, and the most important features of the achieved movement.

Advances in artificial muscles: A brief literature and patent review

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

Ultrafast Photothermal Actuators with a Large Helical Curvature Based on Ultrathin GO and Biaxially Oriented PE Films

In nature, there are some amazing superfast actuations (Venus flytrap) and large-curvature helical deformations (the awn of Erodium). Although many bionic actuators have been made (electrothermal, hygroscopic, photoinduced), most of their actuations are slow and small, not comparable to the wonderful ones in nature. Here, we report an ultrafast photothermal actuator with large-curvature curling based on an ultrathin graphene oxide (GO) and biaxially oriented polyethylene (BOPE) bilayer film (thickness ∼11 μm). By virtue of the fast temperature changing rate (peak: 900 °C s^-1 during infrared heating and -1200 °C s^-1 during cooling) and the great difference in the coefficient of thermal expansion of GO and BOPE layers, the actuator deforms rapidly and greatly. The maximum bending speed and curvature can reach 5300° s^-1 and 22 cm^-1, respectively, which are comparable to those of wonderful natural actuators and far exceed the performances of the reported artificial actuators. Different from ordinary helical actuators made of uniaxial anisotropic materials, our actuator is based on a typical biaxial anisotropic material of BOPE. However, the morphing behaviors of this type of actuator have not been reported before. So for the first time, we systematically studied this problem through experiments and simulations using the GO-BOPE actuator as a prototype and have drawn clear conclusions. In addition, functional GO-BOPE actuators capable of winding around and manipulating tiny objects were also designed and developed. We think this ultrafast large-curvature photothermal actuator will have wide application prospects in bionic actuations and dexterous robots.

Piezoresistive Sensor Containing Lamellar MXene-Plant Fiber Sponge Obtained with Aqueous MXene Ink

Sustainable biomass materials are promising for low-cost wearable piezoresistive pressure sensors, but these devices are still produced with time-consuming manufacturing processes and normally display low sensitivity and poor mechanical stability at low-pressure regimes. Here, an aqueous MXene ink obtained by simply ball-milling is developed as a conductive modifier to fabricate the multiresponsive bidirectional bending actuator and compressible MXene-plant fiber sponge (MX-PFS) for durable and wearable pressure sensors. The MX-PFS is fabricated by physically foaming MXene ink and plant fibers. It possesses a lamellar porous structure composed of one-dimensional (1D) MXene-coated plant fibers and two-dimensional (2D) MXene nanosheets, which significantly improves the compression capacity and elasticity. Consequently, the encapsulated piezoresistive sensor (PRS) exhibits large compressible strain (60%), excellent mechanical durability (10 000 cycles), low detection limit (20 Pa), high sensitivity (435.06 kPa^-1), and rapid response time (40 ms) for practical wearable applications.

Photoinduced Dual Shape Programmability of Covalent Adaptable Networks with Remarkable Mechanical Properties

As classic shape memory polymers featuring shape reconfiguration of temporary state, covalent adaptable networks containing reversible bonds can enable permanent-state reconfigurability through topological rearrangement via dynamic bond exchange. Yet, such an attractive dual shape programmability is limited by the actuation mode of direct heat transfer and poor mechanical properties, restricting its control precision and functionality. Herein, we presented a method to create nanocomposites with photomodulated dual shape programmability and remarkable mechanical properties leading the fields of covalent adaptable networks. MXene, whose photothermal efficiency was revealed to be regulated by the etching method and delamination, was introduced into polyurethane networks. Upon adjusting the light intensity, the dual shape programmability of both permanent and temporary states could be accomplished, which exhibited potential in information recognition, photowriting paper, etc. Furthermore, owing to the dynamic transcarbamoylation at elevated temperatures, such a phototriggered dual shape programmability could be maintained after the self-healing and reprocessing.

Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications

Compared to traditional rigid-bodied robots, soft robots are constructed using physically flexible/elastic bodies and electronics to mimic nature and enable novel applications in industry, healthcare, aviation, military, etc. Recently, the fabrication of robots on soft matter with great flexibility and compliance has enabled smooth and sophisticated 'multi-degree-of-freedom' 3D actuation to seamlessly interact with humans, other organisms and non-idealized environments in a highly complex and controllable manner. Herein, we summarize the fabrication approaches, driving strategies, novel applications, and future trends of soft robots. Firstly, we introduce the different fabrication approaches to prepare soft robots and compare and systematically discuss their advantages and disadvantages. Then, we present the actuator-based and material-based driving strategies of soft robotics and their characteristics. The representative applications of soft robotics in artificial intelligence, medicine, sensors, and engineering are summarized. Also, some remaining challenges and future perspectives in soft robotics are provided. This work highlights the recent advances of soft robotics in terms of functional material selection, structure design, control strategies and biomimicry, providing useful insights into the development of next-generation functional soft robotics.

Smart Film Actuators for Biomedical Applications

Taking inspiration from the extremely flexible motion abilities in natural organisms, soft actuators have emerged in the past few decades. Particularly, smart film actuators (SFAs) demonstrate unique superiority in easy fabrication, tailorable geometric configurations, and programmable 3D deformations. Thus, they are promising in many biomedical applications, such as soft robotics, tissue engineering, delivery system, and organ-on-a-chip. In this review, the latest achievements of SFAs applied in biomedical fields are summarized. The authors start by introducing the fabrication techniques of SFAs, then shift to the topology design of SFAs, followed by their material selections and distinct actuating mechanisms. After that, their biomedical applications are categorized in practical aspects. The challenges and prospects of this field are finally discussed. The authors believe that this review can boost the development of soft robotics, biomimetics, and human healthcare.

Development and challenges of smart actuators based on water-responsive materials

Water-responsive (WR) materials, due to their controllable mechanical response to humidity without energy actuation, have attracted lots of attention to the development of smart actuators. WR material-based smart actuators can transform natural humidity to a required mechanical motion and have been widely used in various fields, such as soft robots, micro-generators, smart building materials, and textiles. In this paper, the development of smart actuators based on different WR materials has been reviewed systematically. First, the properties of different biological WR materials and the corresponding actuators are summarized, including plant materials, animal materials, and microorganism materials. Additionally, various synthetic WR materials and their related applications in smart actuators have also been introduced in detail, including hydrophilic polymers, graphene oxide, carbon nanotubes, and other synthetic materials. Finally, the challenges of the WR actuator are analyzed from the three perspectives of actuator design, control methods, and compatibility, and the potential solutions are also discussed. This paper may be useful for the development of not only soft actuators that are based on WR materials, but also smart materials applied to renewable energy.

Ultrafast Response and Programmable Locomotion of Liquid/Vapor/Light-Driven Soft Multifunctional Actuators

External-stimuli-driven soft actuators overcome several limitations inherent in traditional mechanical-driven technology considering the coming age of flexible robots, which might face harsh working conditions and rigorous multifunctional requirements. However, how to achieve multi-external-stimuli response, fast speed, and precise control of the position and angle of the actuator, especially working in a toxic liquid or vapor environment, still requires long-term efforts. Here, we report a multi-external-stimuli-driven sandwich actuator with aligned carbon nanotubes as the constructive subject, which can respond to various types of liquids (organic solvents), vapor, and solar light. The actuator has an ultrafast response speed (<10 ms) and can accurately adjust the bending angle range from 0° to 180°. Through manipulating the stimuli positions, actuators can be wound into varied turns when simulating a flexible robotic arm. Hence, liquid/vapor/light-driven actuators are able to support diverse programmable motions, such as periodic blooming, gesture variations, caterpillar crawling, toxic surface evading, and bionic phototaxis. We believe that this multifunctional actuator is promising in supporting a complex scenario to complete a variety of tasks in the fields of healthcare, bioengineering, chip technology, and mobile sensors.

Soft Actuators Based On Carbon Nanomaterials

Inspired by the sophisticated design of biological systems, interest in soft intelligent actuators has increased significantly in recent years, providing attractive strategies for the design of elaborate soft mechanical systems. For the construction of those soft actuators, carbon nanomaterials were extensively and successfully explored for the properties of highly conductive, electrothermal, and photothermal conversion. This review aims to trace the recent achievements for the material and structural design as well as the general mechanisms of the soft actuators, paying particular attention to the contribution of carbon nanomaterials resulted from their diversified interplaying properties, which realized the flexible and dexterous deformation responding to various environmental stimuli, including light, electricity and humidity. The properties and mechanisms of soft actuators are summarized and the potential for future applications and research are presented.

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.

Ethanol Phase Change Actuator Based on Thermally Conductive Material for Fast Cycle Actuation

Artificial muscle actuator has been devoted to replicate the function of biological muscles, playing an important part of an emerging field at inter-section of bionic, mechanical, and material disciplines. Most of these artificial muscles possess their own unique functionality and irreplaceability, but also have some disadvantages and shortcomings. Among those, phase change type artificial muscles gain particular attentions, owing to the merits of easy processing, convenient controlling, non-toxic and fast-response. Herein, we prepared a silicon/ethanol/(graphene oxide/gold nanoparticles) composite elastic actuator for soft actuation. The functional properties are discussed in terms of microstructure, mechanical properties, thermal imaging and mechanical actuation characteristics, respectively. The added graphene oxide and Au nanoparticles can effectively accelerate the heating rate of material and improve its mechanical properties, thus increasing the vaporization rate of ethanol, which helps to accelerate the deformation rate and enhance the actuation capability. As part of the study, we also tested the performance of composite elastomers containing different concentrations of graphene oxide to identify GO-15 (15 mg of graphene oxide per 7.2 mL of material) flexible actuators as the best composition with a driving force up to 1.68 N.

Highly sensitive humidity-driven actuators based on metal-organic frameworks incorporating thermoplastic polyurethane with gradient polymer distribution

Ambient humidity plays an important role in the fields of industrial and agricultural production, food and drug storage, climate monitoring, and maintenance of precision instruments. To sense and control humidity, humidity-responsive actuators that mimick humidity responsive behavior existing in nature, have attracted intense attention. The most common and important class of humidity actuators is active bilayer structures. However, such bilayer structures generally show weak interfacial adhesion, tending to delaminate during frequent bending and restoration cycles. In this work, to address this problem, a novel monolayer humidity-driven actuator with no adhesive issue is developed by integrating the swellable metal-organic frameworks (MIL-88A) into thermoplastic polyurethane films. The proposed actuators display excellent humidity response that under the conditions of relative humidity simulated with saturated salt solution, the MIL-88A/polyurethane composite films show good self-folding response and stability for recycling use. In addition, a deep insight into the self-folding of the composite films is also provided and a new response mechanism is proposed. In this case, the results show that both the preparation method and response properties of the humidity actuators are improved. Therefore, it suggests a new promising way to develop and design flexible humidity actuators.

Multi-Wavelength Optical Patterning for Multiscale Materials Design

Laser interferometry is a consolidated technique for materials structuring, enabling single step and large area patterning. Here we report the investigation of the morphological modification encoded on a thin film of a photosensitive material by the light interference pattern obtained from a laser operating in multiline mode. Four lines with equal intensity are retained, with the same p linear polarization. An azopolymer is exploited as medium for the holographic recording. Optical microscopy and profilometer measurements analyze the modification induced in the bulk and on the surface of the irradiated area. We show that the intensity profile of the interference patterns of two laser beams is the one obtained assuming each line of the laser as an independent oscillator of given intensity and wavelength, and how these light structures are faithfully replicated in the material bulk and on the topography of the free surface. Patterns at different length scales are achievable in a single step, that can be traced back to both interference fringes and wave envelopes. The proposed multi-wavelength holographic patterning provides a simple tool to generate complex light structures, able to perform multiscale modifications of photoresponsive materials

Green and sustainable cellulose-derived humidity sensors: A review

Cellulose, as the most abundant natural polysaccharide, is an excellent material for developing green humidity sensors, especially due to its humidity responsiveness as a result of its rich hydrophilic groups. In combination with other components including carbon materials and polymers, cellulose and its derivatives can be used to design high-performance humidity sensors that meet various application requirements. This review summarizes the recent advances in the field of various cellulose-derived humidity sensors, with particular attention paid to different sensing mechanisms including resistance, capacitance, colorimetry and gravity, and so on. Furthermore, the roles of cellulose and its derivatives are highlighted. This work may promote the development of cellulose-derived humidity sensors, as well as other cellulose-based intelligent materials.

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.

Intelligent Polymers, Fibers and Applications

Intelligent materials, also known as smart materials, are capable of reacting to various external stimuli or environmental changes by rearranging their structure at a molecular level and adapting functionality accordingly. The initial concept of the intelligence of a material originated from the natural biological system, following the sensing–reacting–learning mechanism. The dynamic and adaptive nature, along with the immediate responsiveness, of the polymer- and fiber-based smart materials have increased their global demand in both academia and industry. In this manuscript, the most recent progress in smart materials with various features is reviewed with a focus on their applications in diverse fields. Moreover, their performance and working mechanisms, based on different physical, chemical and biological stimuli, such as temperature, electric and magnetic field, deformation, pH and enzymes, are summarized. Finally, the study is concluded by highlighting the existing challenges and future opportunities in the field of intelligent materials.

Multiresponsive Soft Actuators Based on a Thermoresponsive Hydrogel and Embedded Laser-Induced Graphene

The method of converting insulating polymers into conducting 3D porous graphene structures, so-called laser-induced graphene (LIG) with a commercially available CO₂ laser engraving system in an ambient atmosphere, resulted in several applications in sensing, actuation, and energy. In this paper, we demonstrate a combination of LIG and a smart hydrogel (poly(N-vinylcaprolactam)-pNVCL) for multiresponsive actuation in a humid environment. Initiated chemical vapor deposition (iCVD) was used to deposit a thin layer of the smart hydrogel onto a matrix of poly(dimethylsiloxane) (PDMS) and embedded LIG tracks. An intriguing property of smart hydrogels, such as pNVCL, is that the change of an external stimulus (temperature, pH, magnetic/electric fields) induces a reversible phase transition from a swollen to a collapsed state. While the active smart hydrogel layer had a thickness of only 300 nm (compared to the 500 times thicker actuator matrix), it was possible to induce a reversible bending of over 30° in the humid environment triggered by Joule heating. The properties of each material were investigated by means of scanning electron microscopy (SEM), Raman spectroscopy, tensile testing, and ellipsometry. The actuation performances of single-responsive versions were investigated by creating a thermoresponsive PDMS/LIG actuator and a humidity-responsive PDMS/pNVCL actuator. These results were used to tune the properties of the multiresponsive PDMS/LIG/pNVCL actuator. Furthermore, its self-sensing capabilities were investigated. By getting a feedback from the piezoresistive change of the PMDS/LIG composite, the bending angle could be tracked by measuring the change in resistance. To highlight the possibilities of the processing techniques and the combination of materials, a demonstrator in the shape of an octopus with four independently controllable arms was developed.

A multi-functional light-driven actuator with an integrated temperature-sensing function based on a carbon nanotube composite

Actuators play an important role in the fields of intelligent robots and wearable electronics. Temperature has a great impact on the performances of many actuators. However, most of the traditional actuators only have an actuating function, failing to monitor and send real-time feedback of the temperature of the actuator. To solve the existing problem and break the single-function limit of traditional actuators, we propose a multi-functional light-driven actuator integrated with a temperature-sensing function, which is based on a carbon nanotube (CNT) and methylcellulose (MC) composite. When the CNT-MC film is assembled with biaxially oriented polypropylene (BOPP) to form a bilayer structure, the CNT-MC/BOPP actuator can be driven by near-infrared (NIR) light. Its morphing is based on thermal expansion differences between two layers and shrinkage of MC induced by water loss. The maximal bending curvature is up to 1.03 cm^-1. Meanwhile, the resistance of the actuator can change by about 10%, which realizes real-time temperature monitoring and feedback. Furthermore, we demonstrate two practical applications. First, the CNT-MC film can work as a temperature sensor, as its resistance changes with the temperature in real time. Second, we design an intelligent gripper, which can monitor the temperature during the entire working process. This multi-functional CNT-based device is expected to have a broad application prospect in artificial muscles, soft robotics and wearable electronics.

Light-driven bimorph soft actuators: design, fabrication, and properties

Soft robots that can move like living organisms and adapt to their surroundings are currently in the limelight from fundamental studies to technological applications, due to their advances in material flexibility, human-friendly interaction, and biological adaptation that surpass conventional rigid machines. Light-fueled smart actuators based on responsive soft materials are considered to be one of the most promising candidates to promote the field of untethered soft robotics, thereby attracting considerable attention amongst materials scientists and microroboticists to investigate photomechanics, photoswitch, bioinspired design, and actuation realization. In this review, we discuss the recent state-of-the-art advances in light-driven bimorph soft actuators, with the focus on bilayer strategy, i.e., integration between photoactive and passive layers within a single material system. Bilayer structures can endow soft actuators with unprecedented features such as ultrasensitivity, programmability, superior compatibility, robustness, and sophistication in controllability. We begin with an explanation about the working principle of bimorph soft actuators and introduction of a synthesis pathway toward light-responsive materials for soft robotics. Then, photothermal and photochemical bimorph soft actuators are sequentially introduced, with an emphasis on the design strategy, actuation performance, underlying mechanism, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research Frontier.

Asymmetrically Patterned Cellulose Nanofibers/Graphene Oxide Composite Film for Humidity Sensing and Moist-Induced Electricity Generation

The exploration of advanced functional materials from natural resources is significantly important to green and sustainable development. Herein, we design an ultrafast humidity-driven bending response system using asymmetrically patterned cellulose nanofiber (CNF)/graphene oxide (GO) composite films. The CNF/GO composite films are fabricated by vacuum-assisted filtration, followed by a surface imprinting technique. The results reveal that the composite films possess excellent linear response to humidity change and cycle stability in the relative humidity (RH) range from 25 to 85%. The curvature of the film varies from 0.012 to 0.260 cm^-1 as the RH changes from 25 to 85%, and the response time is only 3-5 s. The outstanding humidity response is attributed to the addition of GO that actively interacts with water, enhancing the flexibility and humidity sensitivity of the composite films. In addition, asymmetrical patterning improves the water transfer rate by confinement and renders an easy deformation of composite films under the same stress. Molecular dynamics simulation and finite element analysis are used to further elucidate the mechanism therein. Furthermore, this CNF/GO composite film is also an effective hygroelectric generator, with an output voltage as high as 286 mV. This smart CNF/GO film with responsive humidity-driven deformation shows potential applications as a biomimetic leaf, a proximity sensor, and a moisture-driven electricity generator. This work inspires a new approach of smart material design with nanocellulose and GO and promotes their further applications.

Asymmetric elastoplasticity of stacked graphene assembly actualizes programmable untethered soft robotics

There is ever-increasing interest yet grand challenge in developing programmable untethered soft robotics. Here we address this challenge by applying the asymmetric elastoplasticity of stacked graphene assembly (SGA) under tension and compression. We transfer the SGA onto a polyethylene (PE) film, the resulting SGA/PE bilayer exhibits swift morphing behavior in response to the variation of the surrounding temperature. With the applications of patterned SGA and/or localized tempering pretreatment, the initial configurations of such thermal-induced morphing systems can also be programmed as needed, resulting in diverse actuation systems with sophisticated three-dimensional structures. More importantly, unlike the normal bilayer actuators, our SGA/PE bilayer, after a constrained tempering process, will spontaneously curl into a roll, which can achieve rolling locomotion under infrared lighting, yielding an untethered light-driven motor. The asymmetric elastoplasticity of SGA endows the SGA-based bi-materials with great application promise in developing untethered soft robotics with high configurational programmability.

An intelligent film actuator with multi-level deformation behaviour

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

Ultrarobust Ti3C2Tx MXene-Based Soft Actuators via Bamboo-Inspired Mesoscale Assembly of Hybrid Nanostructures

Soft actuation materials are highly desirable in flexible electronics, soft robotics, etc. However, traditional bilayered actuators usually suffer from poor mechanical properties as well as deteriorated performance reliability. Here, inspired by the delicate architecture of natural bamboo, we present a hierarchical gradient structured soft actuator via mesoscale assembly of micro-nano-scaled two-dimentional MXenes and one-dimentional cellulose nanofibers with molecular-scaled strong hydrogen bonding. The resultant actuator integrates high tensile strength (237.1 MPa), high Young's modulus (8.5 GPa), superior toughness (10.9 MJ/m³), and direct and fast hygroscopic actuation within a single body, which is difficult to achieve by traditional bilayered actuators. The proof-of-concept prototype robot is demonstrated to emphasize its high mechanical robustness even after bending 100 000 times, kneading, or being trampled by an adult (7 500 000 times heavier than a crawling robot). This bioinspired mesoscale assembly strategy provides an approach for soft materials to the application of next-generation robust robotics.

Controlling Long-Distance Photoactuation with Protein Additives

Long-distance wireless actuation indicates precise remote control over materials, sensors, and devices that are widely utilized in biomedical, defence, disaster relief, deep ocean, and outer space applications to replace human work. Unlike radio frequency (RF) control, which has low tolerance toward electromagnetic interference (EMI), light control represents a promising method to overcome EMI. Nonetheless, long-distance light-controlled wireless actuation able to compete with RF control has not been achieved until now due to the lack of highly light-sensitive actuator designs. Here, it is demonstrate that amyloid-like protein aggregates can organize photomodule single-layer reduced graphene oxide (rGO) into a well-defined multilayer stack to display long-distance photoactuation. The amyloid-like proteinaceous component docks the rGO layers together to form a hybrid film, which can reliably adhere onto various material surfaces with robust interfacial adhesion. The sensitive photothermal effect and a fast bending in 1 s to switch a circuit are achieved after forming the film on a plastic substrate and irradiating the bilayer film with a blue laser from 100 m away. A photoactuation distance of 50 km can be further extrapolated based on a commercial high-power laser. This study reveals the great potential of amyloid-like aggregates in remote light control of robots and devices.

Flexible and Super-Sensitive Moisture-Responsive Actuators by Dispersing Graphene Oxide into Three-Dimensional Structures of Nanofibers and Silver Nanowires

Smart actuators with excellent flexibility, sensitive responsiveness, large-scale bending-deformation, and rapid deformation-recovery performance have been sought after by researchers. Two-dimensional graphene oxide (GO) is considered as an ideal candidate for humidity-responsive actuators because of its excellent moisture sensitivity. Herein, a flexible membrane-based actuator was prepared by evenly dispersing GO sheets into a three-dimensional network formed by one-dimensional PVA-co-PE nanofibers (NFs) and silver nanowires (AgNWs). The three-dimensional interlaced pore structure of the AgNWs/NFs/GO composite membrane ensured its larger contact area (19.33 m²/g), faster moisture exchange rate, and large bending deformation under moisture stimulation. In addition, a new explanation for the spatial distribution of adsorbed water molecules and their actuating effect on the bending behaviors of composite membranes is proposed. The adsorbed water lies between the interlayer and surface layer of the composite membrane. The interlayer water molecules make the film volume expand, resulting in a large bending angle of the membrane. On the other hand, the water on the surface layers of the membrane only leads to the change in film weight, having little effect on the bending behavior. Moreover, to make the soft actuator more practical and multifunctional, a conductive AgNWs-NFs/GO bilayer membrane-based actuator was prepared by layered spraying of a AgNW on the NFs/GO membrane, which can be directly used in switching control circuits. The novel flexible membrane-based actuators are of great significance for the soft robot and intelligent control systems in the future.

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.

An ultra-large deformation bidirectional actuator based on a carbon nanotube/PDMS composite and a chitosan film

Actuating materials can convert external stimuli (humidity, light, electricity, etc.) into mechanical energy and realize multiple forms of movements. However, a majority of current actuating materials are driven by a single stimulus with a small degree of actuation and rough control which is unfavorable for practical applications. Here, a new type of bidirectional actuating material based on carbon nanotube/PDMS composites and chitosan films is proposed. Thanks to the robust mechanical support by PDMS, due to the ultra-large water capacity in between chitosan chains and strong near-infrared light absorption by carbon nanotube layers, the actuator can be driven by humidity and light for an ultra-large actuation curvature (3.91 cm^-1 in humidity actuation, 3.84 cm^-1 in light actuation). The well-established light power-curvature, relative humidity-curvature profiles and a fine mechanic modelling of the actuator show the possibility of controlling the actuator's bending. A lab application as a cargo-moving device preliminarily demonstrates a robust mechanical functionality of this actuator with a low body weight.

Harnessing the Day-Night Rhythm of Humidity and Sunlight into Mechanical Work Using Recyclable and Reprogrammable Soft Actuators

Toward a sustainable society, soft actuators driven by environmentally friendly energy from nature are of great social and economic significance. Meanwhile, recyclability, repeated reconfiguration for other use, and complex three-dimensional (3D) geometries are also essential for mitigating the energy crisis and practical application demands. Here, we integrate all of the above features in one actuator using vitrimers with exchangeable disulfide links. By reconfiguration, welding, patterning, and kirigami techniques, complex 3D actuators can be easily fabricated, which can be repeatedly reconfigured for other applications to save cost in new material preparation. These actuators operate synergistically with the day-night rhythm of humidity and sunlight without the need of extra energy input.

Oleylamine-assisted and temperature-controlled synthesis of ZnO nanoparticles and their application in encryption

A temperature-controlled synthesis process for ZnO nanoparticles (NPs) with the assist of oleylamine (OAm) has been demonstrated, and the ZnO NPs show bright fluorescence under ultraviolet illumination. In this process, zinc nitrate was firstly converted to zinc nitrate hydroxide (Zn₅(OH)₈(NO₃)₂) sheets with the assist of OAm, then the Zn₅(OH)₈(NO₃)₂ was decomposed into fluorescent ZnO NPs by increasing the ambient temperature. Furthermore, information encryption has been realized based on this process. For encryption, the encrypted information cannot be observed, while the encrypted information appears when they are proceeded in the temperature of 120 °C for about one minute. The results shown in this work provide a controllable way for the synthesis of ZnO NPs by adjusting the reaction temperature, and this may inspire wide applications of ZnO in information encryption.

An Artificial Nocturnal Flower via Humidity-Gated Photoactuation in Liquid Crystal Networks

Beyond their colorful appearances and versatile geometries, flowers can self-shape-morph by adapting to environmental changes. Such responses are often regulated by a delicate interplay between different stimuli such as temperature, light, and humidity, giving rise to the beauty and complexity of the plant kingdom. Nature inspires scientists to realize artificial systems that mimic their natural counterparts in function, flexibility, and adaptation. Yet, many of the artificial systems demonstrated to date fail to mimic the adaptive functions, due to the lack of multi-responsivity and sophisticated control over deformation directionality. Herein, a new class of liquid-crystal-network (LCN) photoactuators whose response is controlled by delicate interplay between light and humidity is presented. Using a novel deformation mechanism in LCNs, humidity-gated photoactuation, an artificial nocturnal flower is devised that is closed under daylight conditions when the humidity level is low and/or the light level is high, while it opens in the dark when the humidity level is high. The humidity-gated photoactuators can be fueled with lower light intensities than conventional photothermal LCN actuators. This, combined with facile control over the speed, geometry, and directionality of movements, renders the "nocturnal actuator" promising for smart and adaptive bioinspired microrobotics.