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Yang L, Wang H. High-performance electrically responsive artificial muscle materials for soft robot actuation. Acta Biomater 2024; 185:24-40. [PMID: 39025393 DOI: 10.1016/j.actbio.2024.07.016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/02/2024] [Revised: 06/24/2024] [Accepted: 07/11/2024] [Indexed: 07/20/2024]
Abstract
Traditional robotic devices are often bulky and rigid, making it difficult for them to adapt to the soft and complex shapes of the human body. In stark contrast, soft robots, as a burgeoning class of robotic technology, showcase exceptional flexibility and adaptability, positioning them as compelling contenders for a diverse array of applications. High-performance electrically responsive artificial muscle materials (ERAMMs), as key driving components of soft robots, can achieve efficient motion and deformation, as well as more flexible and precise robot control, attracting widespread attention. This paper reviews the latest advancements in high-performance ERAMMs and their applications in the field of soft robot actuation, using ionic polymer-metal composites and dielectric elastomers as typical cases. Firstly, the definition, characteristics, and electro-driven working principles of high-performance ERAMMs are introduced. Then, the material design and synthesis, fabrication processes and optimization, as well as characterization and testing methods of the ERAMMs are summarized. Furthermore, various applications of two typical ERAMMs in the field of soft robot actuation are discussed in detail. Finally, the challenges and future directions in current research are analyzed and anticipated. This review paper aims to provide researchers with a reference for understanding the latest research progress in high-performance ERAMMs and to guide the development and application of soft robots. STATEMENT OF SIGNIFICANCE.
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Affiliation(s)
- Liang Yang
- School of Physics and Electronic Information, Yan'an University, Yan'an 716000, China
| | - Hong Wang
- School of Physics and Electronic Information, Yan'an University, Yan'an 716000, China.
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2
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Cai Y, Chen Z, Luo Y. Confining Nano-ZrO 2 in Nanodomains Leads to Electroactive Artificial Muscle with Large Deformation. Biomacromolecules 2024; 25:5019-5027. [PMID: 38982931 DOI: 10.1021/acs.biomac.4c00431] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/11/2024]
Abstract
Dielectric elastomers generate muscle-like electroactive actuation, which is applicable in soft machines, medical devices, etc. However, the actuation strain and energy density of most dielectric elastomers, in the absence of prestretch, have long been limited to ∼20% and ∼10 kJ m-3, respectively. Here, we report a dielectric elastomer with ZrO2 nanoparticles confined in nanodomains, which achieves an actuation strain >100% and an energy density of ∼150 kJ m-3 without prestretch. We decorate the surface of each nanoparticle with a layer of a diblock oligomer, poly(acrylic acid-b-styrene). The surface-decorated nanoparticles coassemble with a triblock copolymer elastomer, poly(styrene-b-(2-ethylhexyl acrylate)-b-styrene) during cosolvent casting. Consequently, the nanoparticles are confined in the polystyrene nanodomains, which results in a dielectric elastomer nanocomposite with a low modulus, high breakdown strength, and intense strain-hardening behavior. During the actuation, the nanocomposite avoids the snap-through instability that most elastomers would suffer and achieves a superior actuation performance.
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Affiliation(s)
- Yiting Cai
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou 310058, China
| | - Zheqi Chen
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou 310058, China
| | - Yingwu Luo
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou 310058, China
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Pan X, Pu W, Liu Y, Xiao Y, Pu J, Shi Y, Wu H, Wang H. Self-Perceptional Soft Robotics by a Dielectric Elastomer. ACS APPLIED MATERIALS & INTERFACES 2024; 16:26797-26807. [PMID: 38722638 DOI: 10.1021/acsami.4c04700] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/24/2024]
Abstract
Soft robotics has been a rapidly growing field in recent decades due to its advantages of softness, deformability, and adaptability to various environments. However, the separation of perception and actuation in soft robot research hinders its progress toward compactness and flexibility. To address this limitation, we propose the use of a dielectric elastomer actuator (DEA), which exhibits both an actuation capability and perception stability. Specifically, we developed a DEA array to localize the 3D spatial position of objects. Subsequently, we integrate the actuation and sensing properties of DEA into soft robots to achieve self-perception. We have developed a system that integrates actuation and sensing and have proposed two modes to achieve this integration. Furthermore, we demonstrated the feasibility of this system for soft robots. When the robots detect an obstacle or an approaching object, they can swiftly respond by avoiding or escaping the obstacle. By eliminating the need for separate perception and motion considerations, self-perceptional soft robots can achieve an enhanced response performance and enable applications in a more compact and flexible field.
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Affiliation(s)
- Xinghai Pan
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Wei Pu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yanling Liu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yuhang Xiao
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Junhong Pu
- School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Ye Shi
- ZJU-UIUC Institute, Zhejiang University, Zhejiang 314400, China
| | - Hui Wu
- State Key Laboratory of New Ceramics and Fine Processing, School of Materials Science and Engineering, Tsinghua University, Beijing 100084, China
| | - Haolun Wang
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
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Feng W, Sun L, Jin Z, Chen L, Liu Y, Xu H, Wang C. A large-strain and ultrahigh energy density dielectric elastomer for fast moving soft robot. Nat Commun 2024; 15:4222. [PMID: 38762507 PMCID: PMC11102557 DOI: 10.1038/s41467-024-48243-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/13/2023] [Accepted: 04/24/2024] [Indexed: 05/20/2024] Open
Abstract
Dielectric elastomer actuators (DEAs) with large actuation strain and high energy density are highly desirable for actuating soft robots. However, DEAs usually require high driving electric fields (>100 MV m-1) to achieve high performances due to the low dielectric constant and high stiffness of dielectric elastomers (DEs). Here, we introduce polar fluorinated groups and nanodomains aggregated by long alkyl side chains into DE design, simultaneously endowing DE with a high dielectric constant and desirable modulus. Our DE exhibits a maximum area strain of 253% at a low driving electric field of 46 MV m-1. Notably, it achieves an ultrahigh specific energy of 225 J kg-1 at only 40 MV m-1, around 6 times higher than natural muscle and twice higher than the state-of-the-art DE. Using our DE, soft robots reach an ultrafast running speed of 20.6 BL s-1, 60 times higher than that of commercial VHB 4910, representing the fastest DEA-driven soft robots ever reported.
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Affiliation(s)
- Wenwen Feng
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China
| | - Lin Sun
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China
| | - Zhekai Jin
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China
| | - Lili Chen
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China
| | - Yuncong Liu
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China
| | - Hao Xu
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China
| | - Chao Wang
- Key Lab of Organic Optoelectronics & Molecular Engineering, Department of Chemistry, Tsinghua University, 100084, Beijing, China.
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Tan MWM, Wang H, Gao D, Huang P, Lee PS. Towards high performance and durable soft tactile actuators. Chem Soc Rev 2024; 53:3485-3535. [PMID: 38411597 DOI: 10.1039/d3cs01017a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/28/2024]
Abstract
Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.
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Affiliation(s)
- Matthew Wei Ming Tan
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
| | - Hui Wang
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Dace Gao
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Peiwen Huang
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
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Zhang C, Chen G, Zhang K, Jin B, Zhao Q, Xie T. Repeatedly Programmable Liquid Crystal Dielectric Elastomer with Multimodal Actuation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2313078. [PMID: 38231117 DOI: 10.1002/adma.202313078] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/03/2023] [Revised: 01/11/2024] [Indexed: 01/18/2024]
Abstract
Dielectric elastomers (DEs) are actuatable under an electric field, whose large strain and fast response speed compare favorably with natural muscles. However, the actuation of DE-based devices is generally limited to a single mode and cannot be reconfigured after fabrication, which pales in comparison to biological counterparts given the ability to alter actuation modes according to external conditions. To address this, liquid crystal dielectric elastomers (LC-DEs) that can alter the dielectric actuation modes based on the thermally triggered shape-changing are prepared. Specifically, the two shapes through the LC phase transition possess different bending stiffness, which leads to distinct actuation modes after an electric field is applied. Moreover, the two shapes can be individually programmed/reprogrammed, that is, the one before the transition is regulated through force-directed solvent evaporation and the one after the transition is via bond exchange-enabled stress relaxation. As such, the multimodal dielectric actuation behaviors upon temperature change can be readily diversified. Meanwhile, the space charge mechanism endows LC-DEs with the significantly reduced driving e-field (8 V µm-1) and bidirectional actuation manners. It is believed this unique adaptivity in the actuation modes under a low electric field shall offer versatile designs for practical soft robots.
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Affiliation(s)
- Chengcheng Zhang
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Guancong Chen
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Kaihang Zhang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310058, China
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, 310058, China
| | - Binjie Jin
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310058, China
| | - Qian Zhao
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Tao Xie
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China
- Department of Colorectal Surgery and Oncology, Key Laboratory of Cancer Prevention and Intervention, Ministry of Education, The Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou, 310000, China
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Firoozan M, Baniassadi M, Baghani M, Chortos A. In silico optimization of aligned fiber electrodes for dielectric elastomer actuators. Sci Rep 2024; 14:4703. [PMID: 38409334 PMCID: PMC10897417 DOI: 10.1038/s41598-024-54931-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/15/2023] [Accepted: 02/19/2024] [Indexed: 02/28/2024] Open
Abstract
Dielectric elastomer actuators (DEAs) exhibit fast actuation and high efficiencies, enabling applications in optics, wearable haptics, and insect-scale robotics. However, the non-uniformity and high sheet resistance of traditional soft electrodes based on nanomaterials limit the performance and operating frequency of the devices. In this work, we computationally investigate electrodes composed of arrays of stiff fiber electrodes. Aligning the fibers along one direction creates an electrode layer that exhibits zero stiffness in one direction and is predicted to possess high and uniform sheet resistance. A comprehensive parameter study of the fiber density and dielectric thickness reveals that the fiber density primary determines the electric field localization while the dielectric thickness primarily determines the unit cell stiffness. These trends identify an optimal condition for the actuation performance of the aligned electrode DEAs. This work demonstrates that deterministically designed electrodes composed of stiff materials could provide a new paradigm with the potential to surpass the performance of traditional soft planar electrodes.
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Affiliation(s)
- Mohammadreza Firoozan
- School of Mechanical Engineering, Purdue University, West Lafayette, USA
- School of Mechanical Engineering, University of Tehran, Tehran, Iran
| | - Majid Baniassadi
- School of Mechanical Engineering, University of Tehran, Tehran, Iran
| | - Mostafa Baghani
- School of Mechanical Engineering, University of Tehran, Tehran, Iran
| | - Alex Chortos
- School of Mechanical Engineering, Purdue University, West Lafayette, USA.
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Tang J, Chen Z, Cai Y, Gao Y, He J, Xiao Y, Mao J, Zhao J, Gao X, Li T, Luo Y. Composite elastomers with on-demand convertible phase separations achieve large and healable electro-actuation. MATERIALS HORIZONS 2023; 10:4501-4509. [PMID: 37551443 DOI: 10.1039/d3mh00781b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/09/2023]
Abstract
Phase separation has been widely exploited for fabricating structured functional materials. Generally, after being fabricated, the phase structure in a hybrid material system has been set at a specific length scale and remains unchanged during the lifespan of the material. Herein, we report a strategy to construct on-demand and reversible phase switches among homogenous, nano- and macro-phase separation states in a composite elastomer during its lifespan. We trigger the nanophase separation by super-saturating an elastomer matrix with a carefully selected small-molecule organic compound (SMOC). The nanoparticles of SMOC that precipitate out upon quenching will stretch the elastomer network, yet remain stably arrested in the elastomer matrix at low temperatures for a long time. However, at elevated temperatures, the nano-phase separation will transform into the macro-one. The elastic recovery will drive the SMOC onto the elastomer surface. The phase-separated structures can be reconfigured through the homogeneous solution state at a further elevated temperature. Taking advantage of the reversible phase switches leads to a novel strategy for designing high-performance dielectric elastomers. The in situ formed nanoparticles can boost the electro-actuation performance by eliminating electro-mechanical instability and lead to a very large actuation strain (∼146%). Once the actuator broke down, SMOC could on-demand be driven to the breakdown holes and heal the actuator.
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Affiliation(s)
- Jiali Tang
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Zheqi Chen
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Yiting Cai
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Yang Gao
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Jin He
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Youhua Xiao
- School of Chemistry and Materials Engineering, Zhejiang A&F University, Hangzhou, 311300, China
| | - Jie Mao
- State Key Laboratory of High-Efficiency Utilization of Coal and Green Chemical Engineering School of Chemistry and Chemical Engineering, Ningxia University, Yinchuan, 750021, China
| | - Junjie Zhao
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Xiang Gao
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
| | - Tiefeng Li
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Yingwu Luo
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China.
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou 310027, China
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Feng Z, Feng G, Yue X, Zhang XH. Poly(thioether) grafted Ti3C2Tx MXenes: New dielectric elastomer nanocomposites with high area strain at low driving voltage. Eur Polym J 2023. [DOI: 10.1016/j.eurpolymj.2023.111945] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/05/2023]
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Zhang C, Jin B, Cao X, Chen Z, Miao W, Yang X, Luo Y, Li T, Xie T. Dielectric Polymer with Designable Large Motion under Low Electric Field. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2206393. [PMID: 36189869 DOI: 10.1002/adma.202206393] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/14/2022] [Revised: 09/28/2022] [Indexed: 06/16/2023]
Abstract
Dielectric elastomers (DEs) can demonstrate fast and large in-plane expansion/contraction due to electric field (e-field)-induced Maxwell stress. For robotic applications, it is often necessary that the in-plane actuation is converted into out-of-plane motions with mechanical frames. Despite their performance appeal, their high driving e-field (20-100 V µm-1 ) demands bulky power accessories and severely compromises their durability. Here, a dielectric polymer that can be programmed into diverse motions actuated under a low e-field (2-10 V µm-1 ) is reported. The material is a crystalline dynamic covalent network that can be reconfigured into arbitrary 3D geometries. This gives rise to a geometric effect that markedly amplifies the actuation, leading to designable large motions when the dielectric polymer is heated above its melting temperature to become a DE. Additionally, the crystallization transition enables dynamic multimodal motions and active deployability. These attributes result in unique design versatility for soft robots.
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Affiliation(s)
- Chengcheng Zhang
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Binjie Jin
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Xunuo Cao
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Zheqi Chen
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Wusha Miao
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Xuxu Yang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Yingwu Luo
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Tiefeng Li
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Tao Xie
- State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310027, China
- Department of Colorectal Surgery and Oncology, Key Laboratory of Cancer Prevention and Intervention, Ministry of Education, The Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou, 310027, China
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Enhanced Actuation Performance of Polymeric Composites by Simultaneously Incorporating Covalent-Bond-Functionalized Dielectric Nanoparticles and Polar Plasticizer. Polymers (Basel) 2022; 14:polym14194218. [PMID: 36236166 PMCID: PMC9572819 DOI: 10.3390/polym14194218] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/16/2022] [Revised: 09/24/2022] [Accepted: 09/27/2022] [Indexed: 11/17/2022] Open
Abstract
Dielectric elastomer actuators (DEAs), similar to artificial muscles, are widely applied in the fields of robotics and biomedical devices. In this work, 3-mercaptopropyl ethyoxyl di(tridecyl-pentaethoxy) silane (Si747)-modified BaTiO3 (BTO) nanoparticles (denoted as Si747@BTO) were utilized as dielectric filler to improve the dielectric constant while epoxy soybean oil (ESO) was employed as a plasticizer to decrease the elastic modulus, with the aim of improving the actuation performance of epoxy natural rubber (ENR) composites. The participation of Si747 in the vulcanization reaction of ENR led to the formation of covalent bonds between BTO and ENR chains, resulting in a uniform dispersion of BTO nanoparticles in the ENR matrix. Among obtained composites, the 50 phr ESO/Si747@BTO/ENR exhibited a relatively high actuated strain of 8.89% at 22 kV/mm, which is a value about 5.1-fold higher than that of pure ENR (1.45%) under the same electric field.
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