Multimodal Soft Robotic Actuation and Locomotion

Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.

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.

Light-Responsive Soft Robot Integrating Actuation and Function Based on Laser Cutting

Soft robots with good deformability and adaptability have important prospects in the bionics and intelligence field. However, current research into soft robots is primarily limited to the study of actuators and ignores the integrated use of functional devices and actuators. To enrich the functions of soft robots and expand their application fields, it is necessary to integrate various functional electronic devices into soft robots to perform diverse functions during dynamic deformation. Therefore, this paper discusses methods and strategies to manufacture optical stimuli-responsive soft actuators and integrate them into functional devices for soft robots. Specifically, laser cutting allows us to fabricate an optically responsive actuator structure, e.g., the curling direction can be controlled by adjusting the direction of the cutting line. Actuators with different bending curvatures, including nonbending, can be obtained by adjusting the cutting depth, cutting width, and the spacing of the cutting line, which makes it easy to obtain a folded structure. Thus, various actuators with complex shape patterns can be obtained. In addition, we demonstrate a fabrication scheme for a worm-like soft robot integrated with functional devices (LEDs are used in this paper). The local nonbending design provides an asymmetric structure that provides driving power and avoids damage to the functional circuit caused by the large deformation during movement. The integration of drive and function provides a new path for the application of soft robots in the intelligence and bionics field.

Single-step precision programming of decoupled multiresponsive soft millirobots

Stimuli-responsive soft robots offer new capabilities for the fields of medical and rehabilitation robotics, artificial intelligence, and soft electronics. Precisely programming the shape morphing and decoupling the multiresponsiveness of such robots is crucial to enable them with ample degrees of freedom and multifunctionality, while ensuring high fabrication accuracy. However, current designs featuring coupled multiresponsiveness or intricate assembly processes face limitations in executing complex transformations and suffer from a lack of precision. Therefore, we propose a one-stepped strategy to program multistep shape-morphing soft millirobots (MSSMs) in response to decoupled environmental stimuli. Our approach involves employing a multilayered elastomer and laser scanning technology to selectively process the structure of MSSMs, achieving a minimum machining precision of 30 μm. The resulting MSSMs are capable of imitating the shape morphing of plants and hand gestures and resemble kirigami, pop-up, and bistable structures. The decoupled multistimuli responsiveness of the MSSMs allows them to conduct shape morphing during locomotion, perform logic circuit control, and remotely repair circuits in response to humidity, temperature, and magnetic field. This strategy presents a paradigm for the effective design and fabrication of untethered soft miniature robots with physical intelligence, advancing the decoupled multiresponsive materials through modular tailoring of robotic body structures and properties to suit specific applications.

Laser-induced transient conversion of rhodochrosite/polyimide into multifunctional MnO2/graphene electrodes for energy storage applications

Laser-induced graphene (LIG) has been extensively investigated for electrochemical energy storage due to its easy synthesis and highly conductive nature. However, the limited charge accumulation in LIG usually leads to significantly low energy densities. In this work, we report a novel strategy to directly transform natural rhodochrosite into ultrafine manganese dioxide (MnO2) nanoparticles (NPs) in the polyimide (PI) substrate for high-performance micro-supercapacitors (MSCs) and lithium-ion batteries (LIBs) through a scalable and cost-effective laser processing method. Specifically, laser treatment on rhodochrosite/polyimide precursors induces the thermal explosion, which splits rhodochrosite (10 μm) into MnO2 NPs (12-16 nm) on the carbon matrix of LIG due to the sputtering effect. Benefiting from largely exposed active sites from the ultrafine MnO2 and the synergetic effect from highly conductive LIG, the MnO2/LIG MSCs show a high specific capacitance of 544.0 F g-1 (154.3 mF cm-2; 14.16 F cm-3) at 3 A/g and 82.1% capacitance retention after 10,000 cycles at 5A/g, in contrast to pure LIG (<100 F g-1). Moreover, the MnO2/LIG-based LIBs show the highest reversible discharge capacity of ∼1097 mAh g-1 at 0.2 A/g and ∼ 866.4 mAh g-1 at 1.0 A/g. This study opens a new route for synthesizing novel LIG-based composites from natural minerals.

Self-Rotation of Electrothermally Responsive Liquid Crystal Elastomer-Based Turntable in Steady-State Circuits

Self-excited motions, characterized by their ability to harness energy from a consistent environment and self-regulate, exhibit significant potential in micro-devices, autonomous robotics, sensor technology, and energy generation. This study introduces an innovative turntable system based on an electrothermally responsive liquid crystal elastomer (LCE). This system facilitates self-rotation within a steady-state circuit. Employing an electrothermal LCE model, we have modeled and numerically analyzed the nonlinear dynamics of an LCE-rope within steady-state circuits, utilizing the four-order Runge-Kutta method for calculations. The numerical results reveal the emergence of two distinct motion patterns in the turntable system under steady-state conditions: a self-rotation pattern and a static pattern. The self-rotation is initiated when the system's absorbed energy surpasses the energy lost due to damping effects. Furthermore, this paper delves into the critical conditions necessary for initiating self-rotation and examines the influence of various key dimensionless parameters on the system's rotation amplitude and frequency. These parameters include gravitational acceleration, the initial position of the mass ball, elastic stiffness of the LCE and spring, limiting temperature, heating zone angle, thermal shrinkage coefficient, and damping factor. Our computational findings establish that these parameters exert a modulatory impact on the rotation amplitude and period. This research enhances the understanding of self-excited motions and offers promising avenues for applications in energy harvesting, monitoring, soft robotics, medical devices, and micro- and nano-devices.

Different Roles of Surface Chemistry and Roughness of Laser-Induced Graphene: Implications for Tunable Wettability

The control of surface wettability is a technological key aspect and usually poses considerable challenges connected to high cost, nanostructure, and durability, especially when aiming at surface patterning with high and extreme wettability contrast. This work shows a simple and scalable approach by using laser-induced graphene (LIG) and a locally inert atmosphere to continuously tune the wettability of a polyimide/LIG surface from hydrophilic to superhydrophobic (Φ ∼ 160°). This is related to the reduced amount of oxygen on the LIG surface, influenced by the local atmosphere. Furthermore, the influence of the roughness pattern of LIG on the wettability is investigated. Both approaches are combined, and the influence of surface chemistry and roughness is discussed. Measurements of the roll-off angle show that LIG scribed in an inert atmosphere with a low roughness has the highest droplet mobility with a roll-off angle of ΦRO = (1.7 ± 0.3)°. The superhydrophobic properties of the samples were maintained for over a year and showed no degradation after multiple uses. Applications of surfaces with extreme wettability contrast in millifluidics and fog basking are demonstrated. Overall, the proposed processing allows for the continuous tuning and patterning of the surface properties of LIG in a very accessible fashion useful for "lab-on-chip" applications.

Wearable Sensor: An Emerging Data Collection Tool for Plant Phenotyping

The advancement of plant phenomics by using optical imaging-based phenotyping techniques has markedly improved breeding and crop management. However, there remains a challenge in increasing the spatial resolution and accuracy due to their noncontact measurement mode. Wearable sensors, an emerging data collection tool, present a promising solution to address these challenges. By using a contact measurement mode, wearable sensors enable in-situ monitoring of plant phenotypes and their surrounding environments. Although a few pioneering works have been reported in monitoring plant growth and microclimate, the utilization of wearable sensors in plant phenotyping has yet reach its full potential. This review aims to systematically examine the progress of wearable sensors in monitoring plant phenotypes and the environment from an interdisciplinary perspective, including materials science, signal communication, manufacturing technology, and plant physiology. Additionally, this review discusses the challenges and future directions of wearable sensors in the field of plant phenotyping.

Self-Sustained Oscillation of Electrothermally Responsive Liquid Crystal Elastomer Film in Steady-State Circuits

Self-excited oscillations have the advantages of absorbing energy from a stable environment and Self-control; therefore, Self-excited motion patterns have broader applications in micro devices, autonomous robots, sensors and energy-generating devices. In this paper, a Self-sustained curling liquid crystal elastomer (LCE) film-mass system is proposed on the basis of electrothermally responsive materials, which can realize Self-oscillation under a steady-state current. Based on the contact model and dynamic LCE model, a nonlinear dynamics model of LCE film in steady-state circuits is developed and numerical calculations are carried out using the Runge-Kutta method. Through numerical calculations, it is demonstrated that LCE film-mass systems have two motion patterns in steady-state circuits: namely, a Self-oscillation pattern and a stationary pattern. Self-sustained curling of LCE film originates from the fact that the energy absorbed by the system exceeds the energy dissipated due to the damping effect. In addition, the critical conditions for triggering Self-oscillation and the effects of several key dimensionless system parameters on the amplitude and period of Self-oscillation are investigated in detail. Calculation results show that the height of electrolyte solution, gravitational acceleration, elastic modulus of LCE film, limit temperature, curvature coefficient, thermal shrinkage coefficient and damping factor all have a modulating effect on the amplitude and period of Self-oscillation. This research may deepen the understanding of Self-excited oscillation, with promising applications in energy harvesting, power generation, monitoring, soft robotics, medical devices, and micro and nano devices.

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

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

Self-Oscillating Curling of a Liquid Crystal Elastomer Beam under Steady Light

Self-oscillation absorbs energy from a steady environment to maintain its own continuous motion, eliminating the need to carry a power supply and controller, which will make the system more lightweight and promising for applications in energy harvesting, soft robotics, and microdevices. In this paper, we present a self-oscillating curling liquid crystal elastomer (LCE) beam-mass system, which is placed on a table and can self-oscillate under steady light. Unlike other self-sustaining systems, the contact surface of the LCE beam with the tabletop exhibits a continuous change in size during self-sustaining curling, resulting in a dynamic boundary problem. Based on the dynamic LCE model, we establish a nonlinear dynamic model of the self-oscillating curling LCE beam considering the dynamic boundary conditions, and numerically calculate its dynamic behavior using the Runge-Kutta method. The existence of two motion patterns in the LCE beam-mass system under steady light are proven by numerical calculation, namely self-curling pattern and stationary pattern. When the energy input to the system exceeds the energy dissipated by air damping, the LCE beam undergoes self-oscillating curling. Furthermore, we investigate the effects of different dimensionless parameters on the critical conditions, the amplitude and the period of the self-curling of LCE beam. Results demonstrate that the light source height, curvature coefficient, light intensity, elastic modulus, damping factor, and gravitational acceleration can modulate the self-curling amplitude and period. The self-curling LCE beam system proposed in this study can be applied to autonomous robots, energy harvesters, and micro-instruments.

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.

Design, fabrication and application of self-spiraling pattern-driven 4D-printed actuator

Self-spiraling actuators are widely found in nature and have high research and actuator-application value in self-lock and self-assembly. Four-dimensional (4D) printing is a new generation additive manufacturing of smart materials and has shown great potential for the fabrication of multi-functional and customized structures. The microarchitecture design of a bilayer actuator could bring flexible and diversified self-spiraling behaviors and more possibilities for practical application by combing 4D printing. This work investigates the stimuli effects of fiber patterns and fabrication parameters on self-spiraling behaviors of the bilayer actuator via both experimental and theoretical methods. This work may potentially provide pattern design guidance for 4D-printed self-spiraling actuators to meet different application requirements.

Freestanding Laser-Induced Graphene Ultrasensitive Resonative Viral Sensors

Early and reliable detection of an infectious viral disease is critical to accurately monitor outbreaks and to provide individuals and health care professionals the opportunity to treat patients at the early stages of a disease. The accuracy of such information is essential to define appropriate actions to protect the population and to reduce the likelihood of a possible pandemic. Here, we show the fabrication of freestanding laser-induced graphene (FLIG) flakes that are highly sensitive sensors for high-fidelity viral detection. As a case study, we show the detection of SARS-CoV-2 spike proteins. FLIG flakes are nonembedded porous graphene foams ca. 30 μm thick that are generated using laser irradiation of polyimide and can be fabricated in seconds at a low cost. Larger pieces of FLIG were cut forming a cantilever, used as suspended resonators, and characterized for their electromechanics behavior. Thermomechanical analysis showed FLIG stiffness comparable to other porous materials such as boron nitride foam, and electrostatic excitation showed amplification of the vibrations at frequencies in the range of several kilo-hertz. We developed a protocol for aqueous biological sensing by characterizing the wetting dynamic response of the sensor in buffer solution and in water, and devices functionalized with COVID-19 antibodies specifically detected SARS-CoV-2 spike protein binding, while not detecting other viruses such as MS2. The FLIG sensors showed a clear mass-dependent frequency response shift of ∼1 Hz/pg, and low nanomolar concentrations could be detected. Ultimately, the sensors demonstrated an outstanding limit of detection of 2.63 pg, which is equivalent to as few as ∼5000 SARS-CoV-2 viruses. Thus, the FLIG platform technology can be utilized to develop portable and highly accurate sensors, including biological applications where the fast and reliable protein or infectious particle detection is critical.

Multistable shape programming of variable-stiffness electromagnetic devices

Programmable shape morphing enables soft machines to safely and effectively interact with the environment. Stimuli-responsive materials can transform 2D sheets into 3D geometries. However, most solutions cannot hold their shape at zero power, are limited to predetermined configurations, or lack sufficient mechanical stiffness to manipulate common objects. We demonstrate here segmented soft electromagnetic actuators integrated with shape memory polymer (SMP) films, capable of deforming and latching into a broad range of configurations. The device consists of liquid metal (LM) coils in an elastomer shell, laminated between two SMP films. The coils are linked by narrow joints, on which stretchable heaters are patterned. Heating the SMP greatly reduces its stiffness. Driving current through an LM coil in the presence of a magnetic field then leads to large bending or twisting. Cooling the SMP locks in the shape, leading to load-bearing capacity. Complex shapes are obtained from an initially flat device.

One-Step Ultraviolet Laser-Induced Fluorine-Doped Graphene Achieving Superhydrophobic Properties and Its Application in Deicing

Joule heaters based on flexible thin films have attracted a significant amount of attention in both academia and the industry. However, it has been highly challenging to fabricate such heaters. In this study, a one-step laser induction method was proposed to prepare fluorine-doped laser-induced graphene (F-LIG) with stable and superhydrophobic properties by confining a 355 nm ultraviolet laser at the interface between the fluorinated ethylene propylene (FEP) film and polyimide (PI) film. The superhydrophobic properties of the F-LIG composite films could be attributed to the doping of fluorine elements and the laser-processed microstructures, which could be tuned by laser processing parameters. Based on the processed F-LIG films, Joule deicing heaters were developed and their deicing efficiencies are 7 times higher than that of the undoped LIG-based deicing heater. The method will provide new means and ideas to develop LIG-based flexible devices.

Electro-responsive actuators based on graphene

Electro-responsive actuators (ERAs) hold great promise for cutting-edge applications in e-skins, soft robots, unmanned flight, and in vivo surgery devices due to the advantages of fast response, precise control, programmable deformation, and the ease of integration with control circuits. Recently, considering the excellent physical/chemical/mechanical properties (e.g., high carrier mobility, strong mechanical strength, outstanding thermal conductivity, high specific surface area, flexibility, and transparency), graphene and its derivatives have emerged as an appealing material in developing ERAs. In this review, we have summarized the recent advances in graphene-based ERAs. Typical the working mechanisms of graphene ERAs have been introduced. Design principles and working performance of three typical types of graphene ERAs (e.g., electrostatic actuators, electrothermal actuators, and ionic actuators) have been comprehensively summarized. Besides, emerging applications of graphene ERAs, including artificial muscles, bionic robots, human-soft actuators interaction, and other smart devices, have been reviewed. At last, the current challenges and future perspectives of graphene ERAs are discussed.

Interfacial Laser-Induced Graphene Enabling High-Performance Liquid-Solid Triboelectric Nanogenerator

Laser-induced graphene (LIG) has emerged as a promising and versatile method for high-throughput graphene patterning; however, its full potential in creating complex structures and devices for practical applications is yet to be explored. In this study, an in-situ growing LIG process that enables to pattern superhydrophobic fluorine-doped graphene on fluorinated ethylene propylene (FEP)-coated polyimide (PI) is demonstrated. This method leverages on distinct spectral responses of FEP and PI during laser excitation to generate the environment preferentially for LIG formation, eliminating the need for multistep processes and specific atmospheres. The structured and water-repellant structures rendered by the spectral-tuned interfacial LIG process are suitable as the electrode for the construction of a flexible droplet-based electricity generator (DEG), which exhibits high power conversion efficiency, generating a peak power density of 47.5 W m^-2 from the impact of a water droplet 105 µL from a height of 25 cm. Importantly, the device exhibits superior cyclability and operational stability under high humidity and various pH conditions. The facile process developed can be extended to realize various functional devices.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

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.

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.

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.

Laser-induced graphene for bioelectronics and soft actuators

Laser-assisted process can enable facile, mask-free, large-area, inexpensive, customizable, and miniaturized patterning of laser-induced porous graphene (LIG) on versatile carbonaceous substrates (e.g., polymers, wood, food, textiles) in a programmed manner at ambient conditions. Together with high tailorability of its porosity, morphology, composition, and electrical conductivity, LIG can find wide applications in emerging bioelectronics (e.g., biophysical and biochemical sensing) and soft robots (e.g., soft actuators). In this review paper, we first introduce the methods to make LIG on various carbonaceous substrates and then discuss its electrical, mechanical, and antibacterial properties and biocompatibility that are critical for applications in bioelectronics and soft robots. Next, we overview the recent studies of LIG-based biophysical (e.g., strain, pressure, temperature, hydration, humidity, electrophysiological) sensors and biochemical (e.g., gases, electrolytes, metabolites, pathogens, nucleic acids, immunology) sensors. The applications of LIG in flexible energy generators and photodetectors are also introduced. In addition, LIG-enabled soft actuators that can respond to chemicals, electricity, and light stimulus are overviewed. Finally, we briefly discuss the future challenges and opportunities of LIG fabrications and applications.

Wireless Control of Two- and Three-Dimensional Actuations of Kirigami Patterns Composed of Magnetic-Particles-Polymer Composites

We demonstrate wireless remote control of two-dimensional (2D) and three-dimensional (3D) shape transformations of specially designed kirigami patterns by application of static magnetic fields. The kirigami patterns consist of hinge-linked periodic unit blocks composed of magnetic-particle-elastomer composites. By designing the axis of magnetic anisotropy in each unit block and determining the placement of the hinges that link the individual unit blocks, 2D and 3D transformations of the patterns were demonstrated under application of uniform magnetic fields with specific field directions. Magnetic nanoparticles in an elastomer matrix within unit blocks were aligned in-plane or out-of-plane with respect to the frame of the individual unit blocks by application of magnetic fields. Such 2D and 3D actuations of kirigami patterns might offer a first step toward the development of spatiotemporal actuation and transformation of more complex 3D shapes using magnetic-particle-elastomer composites.

Laser reprogramming magnetic anisotropy in soft composites for reconfigurable 3D shaping

Responsive soft materials capable of exhibiting various three-dimensional (3D) shapes under the same stimulus are desirable for promising applications including adaptive and reconfigurable soft robots. Here, we report a laser rewritable magnetic composite film, whose responsive shape-morphing behaviors induced by a magnetic field can be digitally and repeatedly reprogrammed by a facile method of direct laser writing. The composite film is made from an elastomer and magnetic particles encapsulated by a phase change polymer. Once the phase change polymer is temporarily melted by transient laser heating, the orientation of the magnetic particles can be re-aligned upon change of a programming magnetic field. By the digital laser writing on selective areas, magnetic anisotropies can be encoded in the composite film and then reprogrammed by repeating the same procedure, thus leading to multimodal 3D shaping under the same actuation magnetic field. Furthermore, we demonstrated their functional applications in assembling multistate 3D structures driven by the magnetic force-induced buckling, fabricating multistate electrical switches for electronics, and constructing reconfigurable magnetic soft robots with locomotion modes of peristalsis, crawling, and rolling.

Responsive soft materials which can exhibit various three-dimensional (3D) shapes under the same stimulus are desirable for applications in adaptive and reconfigurable soft robots. Here, the authors report a laser rewritable magnetic composite film, whose responsive shape-morphing behaviors induced by a magnetic field can be digitally and repeatedly reprogrammed by a facile method of direct laser writing.

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.

Laser Fabrication of Graphene-Based Flexible Electronics

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

Deterministic Self-Morphing of Soft-Stiff Hybridized Polymeric Films for Acoustic Metamaterials

We reported a soft-stiff hybridized polymeric film that can self-morph to dedicated three-dimensional (3D) structures for application in acoustic metamaterials. The hybridized film was fabricated by laterally adhering a soft and responsive poly(N-isopropylacrylamide) (PNIPAM) hydrogel to stiff and passive SU-8 patterns. Upon thermal stimulation, deformation of the tough PNIPAM hydrogel was locally constrained by the stiff SU-8 patterns, thereby causing laterally nonuniform strain to their interfaces for mechanically buckling the hybridized films to 3D structures. Combined with finite element analysis, we demonstrated that the stiff SU-8 patterns effectively alleviated the uncontrollability and uncertainty during the self-morphing process, which was caused by unexpected mutual deformation between the active and passive domains in the self-morphing materials. Therefore, deterministic self-buckling to dedicated 3D structures was physically realized such as a wave-shaped peak-valley structure, 3D checkerboard patterns, and Gaussian curved surfaces from the hybridized polymeric films. Finally, we demonstrated that the self-morphed 3D structures with predesigned patterns can be used as acoustic materials for subwavelength noise control. This transformative way of constructing 3D structures by self-morphing of the hybridized polymeric films will be a substantial progress in fabricating smart and multifunctional materials for widespread applications in metamaterials, soft robotics, and 3D electronics.

Reprogrammable 3D Shaping from Phase Change Microstructures in Elastic Composites

Herein, we demonstrate reprogrammable 3D structures that are assembled from elastic composite sheets made from elastic materials and phase change microparticles. By controlling the phase change of the microparticles by localized thermal patterning, anisotropic residual strain is generated in the pre-stretched composite sheets and then triggers 3D structure assembly when the composite sheets are released from the external stress. Modulation of the geometries and location of the thermal patterns leads to complex 2D-3D shaping behaviors such as bending, folding, buckling, and wrinkling. Because of the reversible phase change of the microparticles, these programmed 3D structures can later be recovered to 2D sheets once they are heated for reprogramming different 3D structures. To predict the 3D structures assembled from the 2D composite sheets, finite element modeling was employed, which showed reasonable agreement with the experiments. The demonstrated strategy of reversibly programming 3D shapes by controlling the phase change microstructures in the elastic composites offers unique capabilities in fabricating functional devices such as a rewritable "paper" and a shape reconfigurable pneumatic actuator.

Stimulus Responsive 3D Assembly for Spatially Resolved Bifunctional Sensors

3D electronic/optoelectronic devices have shown great potentials for various applications due to their unique properties inherited not only from functional materials, but also from 3D architectures. Although a variety of fabrication methods including mechanically guided assembly have been reported, the resulting 3D devices show no stimuli-responsive functions or are not free standing, thereby limiting their applications. Herein, the stimulus responsive assembly of complex 3D structures driven by temperature-responsive hydrogels is demonstrated for applications in 3D multifunctional sensors. The assembly driving force, compressive buckling, arises from the volume shrinkage of the responsive hydrogel substrates when they are heated above the lower critical solution temperature. Driven by the compressive buckling force, the 2D-formed membrane materials, which are pre-defined and selectively bonded to the substrates, are then assembled to 3D structures. They include "tent," "tower," "two-floor pavilion," "dome," "basket," and "nested-cages" with delicate geometries. Moreover, the demonstrated 3D bifunctional sensors based on laser induced graphene show capability of spatially resolved tactile sensing and temperature sensing. These multifunctional 3D sensors would open new applications in soft robotics, bioelectronics, micro-electromechanical systems, and others.

Tunable-Deformed Graphene Layers for Actuation

Benefiting from unique planar structure, high flexibility, splendid thermal, and electric properties; graphene as a crucial component has been widely applied into smart materials and multi-stimulus responsive actuators. Moreover, graphene with easy processing and modification features can be decorated with various functional groups through covalent or non-covalent bonds, which is promising in the conversion of environmental energy from single and/or multi-stimuli, to mechanical energy. In this review, we present the actuating behaviors of graphene, regulated by chemical bonds or intermolecular forces under multi-stimuli and summarize the recent advances on account of the unique nanostructures in various actuation circumstances such as thermal, humidity, electrochemical, electro-/photo-thermal, and other stimuli.

Flexible Temperature Sensor Integrated with Soft Pneumatic Microactuators for Functional Microfingers

The integration of a flexible temperature sensor with a soft microactuator (a pneumatic balloon actuator) for a functional microfinger is presented herein. A sensor integrated with a microactuator can actively approach a target for contact detection when a distance exists from the target or when the target moves. This paper presents a microfinger with temperature sensing functionality. Moreover, thermocouples, which detect temperature based on the Seebeck effect, are designed for use as flexible temperature sensors. Thermocouples are formed by a pair of dissimilar metals or alloys, such as copper and constantan. Thin-film metals or alloys are patterned and integrated in the microfinger. Two typical thermocouples (K-type and T-type) are designed in this study. A 2.0 mm × 2.0 mm sensing area is designed on the microfinger (3.0 mm × 12 mm × 400 μm). Characterization indicates that the output voltage of the sensor is proportional to temperature, as designed. It is important to guarantee the performance of the sensor against actuation effects. Therefore, in addition to the fundamental characterization of the temperature sensors, the effect of bending deformation on the characteristics of the temperature sensors is examined with a repeated bending test consisting of 1000 cycles.

Light-Responsive Actuators Based on Graphene

As a typical 2D carbon material, graphene, that possesses outstanding physical/chemical properties, has revealed great potential for developing soft actuators. Especially, the unique properties of graphene, including the excellent light absorption property, softness, and thermal conductivity, play very important roles in the development of light-responsive graphene actuators. At present, various light-driven actuators have been successfully developed based on graphene and its derivatives. In this mini review, we reviewed the recent advances in this field. The unique properties of graphene or graphene-related materials that are of benefit to the development of light-driven actuators have been summarized. Typical smart actuators based on different photothermal/photochemical effects, including photothermal expansion, photothermal desorption, photoisomerization, and photo-triggered shape memory effect, have been introduced. Besides, current challenges, and future perspective have been discussed. The rapid progress of light-responsive actuators based on graphene has greatly stimulated the development of graphene-based soft robotics.

Laser-Induced Graphene Triboelectric Nanogenerators

Triboelectric nanogenerators (TENGs) show exceptional promise for converting wasted mechanical energy into electrical energy. This study investigates the use of laser-induced graphene (LIG) composites as an exciting class of triboelectric materials in TENGs. Infrared laser irradiation is used to convert the surfaces of the two carbon sources, polyimide (PI) and cork, into LIG. This gives the bilayer composite films the high conductivity associated with LIG and the triboelectric properties of the carbon source. A LIG/PI composite is used to fabricate TENGs based on conductor-to-dielectric and metal-free dielectric-to-dielectric device geometries with open-circuit voltages >3.5 kV and peak power >8 mW. Additionally, a single sheet of PI is converted to a metal-free foldable TENG. The LIG is also embedded within a PDMS matrix to form a single-electrode LIG/PDMS composite TENG. This single-electrode TENG is highly flexible and stretchable and was used to generate power from mechanical contact with skin. The LIG composites present a class of triboelectric materials that can be made from naturally occurring and synthetic carbon sources.

Programmable Polymer Actuators Perform Continuous Helical Motions Driven by Moisture

Powerful soft actuators that can perform programmable actuations are highly desired for the development of soft robotics. Herein, we report a moisture-driven polymer actuator, PPA, which is a composite of poly(3,4-ethylenedioxythiophene)/polyvinyl alcohol/copolymer of acrylic acid and 2-acrylanmido-2-methylpropanesulfonic acid. PPA can not only generate powerful actuation with a contractile stress up to 13 MPa, but can also perform programmable helical motions. PPA films with internal stress along the radial directions were prepared by a simple solution-casting method. Driven by moisture, rectangular strips cut from the same PPA film but with different cutting angles (the oblique angle between the long axis of the PPA strip and the radial axis of the PPA film) can perform direct bending and left-handed or right-handed helical motions, demonstrating the generation of chirality from asymmetric internal stress. By modulating the distribution of internal stress in PPA strips, their moving direction and speed are readily prescribed. The powerful and programmable PPA strips can be used to make soft devices, such as moisture-responsive switches and transporters. Our strategy of generating and utilizing internal stress in responsive polymers represents a promising platform for fabricating smart soft actuators.

Soft Three-Dimensional Robots with Hard Two-Dimensional Materials

Inspired by biological organisms, soft engineered robots seek to augment the capabilities of rigid robots by providing safe, compliant, and flexible interfaces for human-machine interactions. Soft robots provide significant advantages in applications ranging from pick-and-place, prostheses, wearables, and surgical and drug-delivery devices. Conventional soft robots are typically composed of elastomers or gels, where changes in material properties such as stiffness or swelling control actuation. However, soft materials have limited electronic and optical performance, mechanical rigidity, and stability against environmental damage. Atomically thin two-dimensional layered materials (2DLMs) such as graphene and transition metal dichalcogenides have excellent electrical, optical, mechanical, and barrier properties and have been used to create ultrathin interconnects, transistors, photovoltaics, photocatalysts, and biosensors. Importantly, although 2DLMs have high in-plane stiffness and rigidity, they have high out-of-plane flexibility and are soft from that point of view. In this Perspective, we discuss the use of 2DLMs either in their continuous monolayer state or as composites with elastomers and hydrogels to create soft three-dimensional (3D) robots, with a focus on origami-inspired approaches. We classify the field, outline major methods, and highlight challenges toward seamless integration of hybrid materials to create multifunctional robots with the characteristics of soft devices.

Laser-Induced Graphene Composites as Multifunctional Surfaces

Laser-induced graphene (LIG) is a platform material for numerous applications. Despite its ease in synthesis, LIG's potential for use in some applications is limited by its robustness on substrates. Here, using a simple infiltration method, we develop LIG composites (LIGCs) with physical properties that are engineered on various substrate materials. The physical properties include surface properties such as superhydrophobicity and antibiofouling; the LIGCs are useful in antibacterial applications and Joule-heating applications and as resistive memory device substrates.

Mechanically Guided Assembly of Monolithic Three-Dimensional Structures from Elastomer Composites

Mechanically guided assembly is considered a facile and scalable methodology for fabrication of three-dimensional (3D) structures. However, most of the previous methods require multistep processes for bonding bi- or multilayers and only result in non-freestanding 3D structures because of usage of a supporting elastomer substrate. Herein, we report a functional elastomer composite that can be transformed to a freestanding and monolithic 3D structure driven by the mechanically guided assembly. Photolithography can be used to selectively tune the mechanical properties of UV-exposed regions which exhibit enhanced ductility compared with the nonexposed regions. Thus, a gradient of the residual strain in the thickness direction makes the films assemble into 3D structures. These 3D structures are also predicted by our computational models using finite element simulations, which yields a reasonable agreement with the experiments. The systematically designed 2D structures with varied patterns can be transformed to various 3D structures with the control of the residual strain gradient, via key processing parameters including pre-strain, film thickness, and UV exposure time. By integrating different active electronic components on the fabricated 3D structures, potential applications of this 3D platform in electronics were demonstrated. This study offers a unique capability in constructing monolithic and freestanding 3D assembly, paving new routes to many applications such as wearable electronics, smart textiles, soft robotics, and structural health monitoring.