Bioinspired helical-artificial fibrous muscle structured tubular soft actuators

3D Printing of Near-Ambient Responsive Liquid Crystal Elastomers with Enhanced Nematic Order and Pluralized Transformation

Liquid crystal elastomers with near-ambient temperature-responsiveness (NAT-LCEs) have been extensively studied for building biocompatible, low-power consumption devices and robotics. However, conventional manufacturing methods face limitations in programmability (e.g., molding) or low nematic order (e.g., DIW printing). Here, a hybrid cooling strategy is proposed for programmable three-dimensional (3D) printing of NAT-LCEs with enhanced nematic order, intricate shape forming, and morphing capability. By integrating a low-temperature nozzle and a cooling platform into a 3D printer, the resulting temperature field synergistically facilitates mesogen alignment during extrusion and disruption-free ultraviolet (UV) cross-linking. This method achieves a nematic order 3000% higher than NAT-LCEs fabricated using traditional room temperature 3D printing. Enabled by shifting of transition temperature during hybrid cooling printing, printed sheets spontaneously turn into 3D structures after release from the platform, exhibiting bidirectional deformation with heating and cooling. By adjusting the nozzle and plate temperatures, NAT-LCEs with graded properties can be fabricated for intricate shape morphing. A wristband system with enhanced heart rate monitoring is also developed based on 3D-printed NAT-LCE. Our method facilitates developments in soft robotics, biomedical devices, and wearable electronics.

Untethered Soft Robots Based on 1D and 2D Nanomaterials

Biological structures exhibit autonomous and intelligent behaviors, such as movement, perception, and responses to environmental changes, through dynamic interactions with their surroundings. Inspired by natural organisms, future soft robots are also advancing toward autonomy, sustainability, and interactivity. This review summarizes the latest achievements in untethered soft robots based on 1D and 2D nanomaterials. First, the performance of soft actuators designed with different structures is compared. Then, the development of basic locomotion forms, including crawling, jumping, swimming, rolling, gripping, and multimodal, mimicking biological motion mechanisms under dynamic stimuli, is discussed. Subsequently, various self-sustained movements based on imbalance mechanisms under static stimuli are introduced, including light tracking, self-oscillating, self-crawling, self-rolling, and flying. Following that, the progress in soft actuators integrated with additional functionalities such as sensing, energy harvesting, and storage is summarized. Finally, the challenges faced in this field and the prospects for future development are discussed.

Stimuli-Responsive Polymers for Tubal Actuators

Stimuli-responsive polymers for tubal actuators have garnered significant attention due to their potential applications in soft robotics, artificial blood vessels, controlled liquid transportation, and microchemical reactors. This perspective emphasizes the advantages, response mechanisms, and fundamental design principles of stimuli-responsive polymers for tubal actuators. It also addresses the biological and engineering applications, current challenges, and future prospects of stimuli-responsive polymers for tubal actuators. The discussion categorizes stimuli-responsive polymers for tubal actuators based on various properties, including liquid crystal elastomer actuators, hydrogel actuators, and shape memory polymer actuators. The subsequent sections focuses on the structural features, design principles, and biological applications of stimuli-responsive polymers for tubal actuator, elucidating their potential interrelationships. The molecular architectures and design principles are intricately linked to the stimuli-responsive mechanisms. Finally, this perspective outlines the challenges faced by stimuli-responsive polymers for tubal actuators. This article aims to facilitate broader applications of stimuli-responsive polymers for tubal actuators, thereby promoting progress across multiple fields.

Tri-Prism Origami Enabled Soft Modular Actuator for Reconfigurable Robots

Soft actuators hold great potential for applications in surgical operations, robotic manipulation, and prosthetic devices. However, they are limited by their structures, materials, and actuation methods, resulting in disadvantages in output force and dynamic response. This article introduces a soft pneumatic actuator capable of bending based on triangular prism origami. The origami creases are crafted by utilizing fabrics to gain swift response and fatigue-resistant properties. By connecting two actuators in series, combined motions including extension and diversified compound bending can be achieved, facilitating control in complex scenarios. After modularizing the soft actuator via mortise and tenon structures, several actuators can be programmed to execute a variety of intricate tasks by adjusting the timing sequences of their contraction and expansion. We showcase its applications in reconfigurable robots, and the results confirm that such a design is adequate for flexibly performing tasks such as soft gripping, navigational movement, and obstacle avoidance. These findings highlight the significance of our actuator in developing soft robots for versatile tasks.

A review of advanced helical fibers: formation mechanism, preparation, properties, and applications

As a unique structural form, helical structures have a wide range of application prospects. In the field of biology, helical structures are essential for the function of biological macromolecules such as proteins, so the study of helical structures can help to deeply understand life phenomena and develop new biotechnology. In materials science, helical structures can give rise to special physical and chemical properties, such as in the case of spiral nanotubes, helical fibers, etc., which are expected to be used in energy, environment, medical and other fields. The helical structure also has unique charm and application value in the fields of aesthetics and architecture. In addition, helical fibers have attracted a lot of attention because of their tendrils' vascular geometry and indispensable structural properties. In this paper, the development of helical fibers is briefly reviewed from the aspects of mechanism, synthesis process and application. Due to their good chemical and physical properties, helical fibers have a good application prospect in many fields. Potential problems and future opportunities for helical fibers are also presented for future studies.

Submillimeter fiber robots capable of decoupled macro-micro motion for endoluminal manipulation

Endoluminal and endocavitary intervention via natural orifices of the body is an emerging trend in medicine, further underpinning the future of early intervention and precision surgery. This motivates the development of small continuum robots to navigate freely in confined and tortuous environment. The trade-off between a large range of motion and high precision with concomitant actuation cross-talk poses a major challenge. Here, we present a submillimeter-scale fiber robot (~1 mm) capable of decoupled macro and micro manipulations for intervention and operation. The thin optical fibers, working both as mechanical tendons and light waveguides, can be pulled/pushed to actuate the macro tendon-driven continuum robot and transmit light to actuate the liquid crystal elastomer-based micro built-in light-driven parallel robot. The combination of the decoupled macro and micro motions can accomplish accurate cross-scale motion from several millimeters down to tens of micrometers. In vivo animal studies are performed to demonstrate its positioning accuracy of precise micro operations in endoluminal or endocavitary intervention.

Bioinspired Hydro- and Hydrothermally Responsive Tubular Soft Actuators

Soft actuators made of thermoresponsive polymers have great potential for intelligent robotics and biomedical devices due to their reversible deformation capability in response to temperature fluctuations. However, they are constrained by a predefined phase transition temperature, limited directional deformation, and nonbiocompatible formulations, thereby restricting their practical utility. Herein a new biomimicry approach is presented to overcome these limitations by developing hydro- and hydrothermally responsive soft actuators made of biocompatible and pliable materials i.e. cotton yarn and polyurethane. We mimic the tubular shape of elephant trunks with their unique muscle orientation by embedding a helical cotton yarn within a hydrophilic polyurethane tube, followed by targeted surface patterning. Unlike the narrow-range shape morphing across the phase transition temperature boundary of typical thermoresponsive hydrogel actuators, we harness hydrothermal stiffness variations in polyurethane to obtain consistent morphing capabilities over a much wider temperature range. The developed actuators can perform versatile activities such as linear, bending, curvilinear, and rotating movements, overcoming the unidirectional motion limitations of conventional soft actuators. The cell viability assay on the building block materials also confirms the high biocompatibility of the actuators. The reported facile fabrication strategy provides new insights for designing complex yet free-standing soft actuators from readily available supple materials.

Highly-Aligned All-Fiber Actuator with Asymmetric Photothermal-Humidity Response and Autonomous Perceptivity

Soft robots adapt to complex environments for autonomous locomotion, manipulation, and perception are attractive for robot-environment interactions. Strategies to reconcile environment-triggered actuation and self-powered sensing responses to different stimuli remain challenging. By tuning the in situ vapor phase solvent exchange effect in continuous electrospinning, an asymmetric highly-aligned all-fiber membrane (HAFM) with a hierarchical "grape-like" nanosphere-assembled microfiber structure (specific surface area of 13.6 m2 g-1) and excellent mechanical toughness (tensile stress of 5.5 MPa, and fracture toughness of 798 KJ m-3) is developed, which shows efficient asymmetric actuation to both photothermal and humidity stimuli. The HAFM consists of a metal-organic framework (MOF)-enhanced moisture-responsive layer and an MXene-improved photothermal-responsive layer, which achieves substantial actuation with a bending curvature up to ≈7.23 cm-1 and a fast response of 0.60 cm-1 s-1. By tailoring the fiber alignment and bi-layer thickness ratio, different types of micromanipulators, automatic walking robots, and plant robots with programmable structures are demonstrated, which are realized for self-powered information perception of material type, object moisture, and temperature by integrating the autonomous triboelectric effect induced by photothermal-moisture actuation. This work presents fiber materials with programable hierarchical asymmetries and inspires a common strategy for self-powered organism-interface robots to interact with complex environments.

Integrated Design and Fabrication of Pneumatic Soft Robot Actuators in a Single Casting Step

Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly, and highly supervised design-fabrication processes, often based on resource-intensive iterative workflows. Here, we propose an integrated approach targeting the design and fabrication of pneumatic soft actuators in a single casting step. Molds and sacrificial water-soluble hollow cores are printed using fused filament fabrication. A heated water circuit accelerates the dissolution of the core's material and guarantees its complete removal from the actuator walls, while the actuator's mechanical operability is defined through finite element analysis. This enables the fabrication of actuators with non-uniform cross-sections under minimal supervision, thereby reducing the number of iterations necessary during the design and fabrication processes. Three actuators capable of bending and linear motion were designed, fabricated, integrated, and demonstrated as 3 different bio-inspired soft robots, an earthworm-inspired robot, a 4-legged robot, and a robotic gripper. We demonstrate the availability, versatility, and effectiveness of the proposed methods, contributing to accelerating the design and fabrication of soft robots. This study represents a step toward increasing the accessibility of soft robots to people at a lower cost.

Fiber Actuators Based on Reversible Thermal Responsive Liquid Crystal Elastomer

Soft actuators inspired by the movement of organisms have attracted extensive attention in the fields of soft robotics, electronic skin, artificial intelligence, and healthcare due to their excellent adaptability and operational safety. Liquid crystal elastomer fiber actuators (LCEFAs) are considered as one of the most promising soft actuators since they can provide reversible linear motion and are easily integrated or woven into complex structures to perform pre-programmed movements such as stretching, rotating, bending, and expanding. The research on LCEFAs mainly focuses on controllable preparation, structural design, and functional applications. This review, for the first time, provides a comprehensive and systematic review of recent advances in this important field by focusing on reversible thermal response LCEFAs. First, the thermal driving mechanism, and direct and indirect heating strategies of LCEFAs are systematically summarized and analyzed. Then, the fabrication methods and functional applications of LCEFAs are summarized and discussed. Finally, the challenges and technical difficulties that may hinder the performance improvement and large-scale production of LCEFAs are proposed, and the development opportunities of LCEFAs are prospected.

Liquid crystalline elastomer self-oscillating fiber actuators fabricated from soft tubular molds

The self-oscillation of objects that perform continuous and periodic motions upon unchanging and constant stimuli is highly important for intelligent actuators, advanced robotics, and biomedical machines. Liquid crystalline elastomer (LCE) materials are superior to traditional stimuli-responsive polymeric materials in the development of self-oscillators because of their reversible, large and anisotropic shape-changing ability, fast response ability and versatile structural design. In addition, fiber-shaped oscillators have attracted much interest due to their agility, flexibility and diverse oscillation modes. Herein, we present a strategy for fabricating fiber-shaped LCE self-oscillators using soft tubes as molds. Through the settlement of different configuration states of the soft tubes, the prepared fiber-shaped LCE oscillators can perform continuous rotational self-oscillation or up-and-down shifting self-oscillation under constant light stimuli, which are realized by photoinduced repetitive self-winding motion and self-waving motion, respectively. The mechanism of self-oscillating movements is attributed to the local temperature oscillation of LCE fibers caused by repetitive self-shadowing effects. LCE self-oscillators can operate stably over many oscillating cycles without obvious performance attenuation, revealing good robustness. Our work offers a versatile way by which LCE self-oscillators can be conveniently designed and fabricated in bulk and at low cost, and broadens the road for developing self-oscillating materials for biological robotics and health care machines.

Untethered soft actuators for soft standalone robotics

Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.

Multifunctional flexible magnetic drive gripper for target manipulation in complex constrained environments

Soft actuators capable of remote-controlled guidance and manipulation within complex constrained spaces hold great promise in various fields, especially in medical fields such as minimally invasive surgery. However, most current magnetic drive soft actuators only have the functions of position control and guidance, and it is still challenging to achieve more flexible operations on different targets within constrained spaces. Herein, we propose a multifunctional flexible magnetic drive gripper that can be steered within complex constrained spaces and operate on targets of various shapes. On the one hand, changing the internal pressure of the magnetic gripper can achieve functions such as suction or injection of liquid and transportation of targets with smooth surfaces. On the other hand, with the help of slit structures in the constrained environment, by simply changing the position and orientation of the permanent magnet in the external environment, the magnetic gripper can be controlled to clamp and release targets of linear, flaked, and polyhedral shapes. The full flexibility and multifunctionality of the magnetic gripper suggest new possibilities for precise remote control and object transportation in constrained spaces, so it could serve as a direct contact operation tool for hazardous drugs in enclosed spaces or a surgical tool in human body cavities.

Highly Efficient Fabrication of Biomimetic Nanoscaled Tendrils for High-Performance PM0.3 Air Filters

Particulate matter pollution has become a serious public health issue, especially with the outbreak of new infectious diseases. However, most existing air filtration materials face challenges such as being too bulky, having high resistance, and a trade-off between filtration efficiency and air permeability. Here, a unique electro-blown spinning technique is used to prepare an air filter made of biomimetic nanoscaled tendril nonwovens (Nano-TN). The introduction of an airflow field significantly increases the whipping frequency and the strain mismatch of composite jets, achieving large-scale and highly efficient preparation of Nano-TN. The resultant Nano-TN has an ultrahigh porosity (97%) and a small pore size (2.9 μm). At the same filtration level, its air resistance is 37% lower than that of traditional straight nanofibrous nonwovens and has a higher dust-holding capacity. Moreover, compared with traditional three-dimensional air filters, the Nano-TN filter is thinner, offering tremendous application prospects in various environmental purification and personal protection fields.

Flexible Actuators with Hygroscopic Adaptability for Smart Wearables and Soft Grippers

Flexible actuators have garnered significant interest in the domains of biomedical devices, human-machine interfaces, and smart wearables. However, the mechanical properties of existing materials are not sufficiently robust, and the expensive and time-consuming pretreatment process and the ambiguous high-degree-of-freedom deformation mechanism make it difficult to meet the demands of industrialized production. Hence, drawing inspiration from the adaptable movement of living organisms in the natural world, this research created and engineered a fully textile-based humidity-sensitive flexible actuator (TbHs-FA) using high-cost-effective viscose/PET fibers as raw materials. The breakthrough development in actuation performance is covered, including substantial contraction force (92.53 cN), high actuation curvature (16.78 cm-1), and fast response (264 cN s-1 and 46.61 cm-1 s-1). Additionally, the programmable stiffness system and weave structure give TbHs-FAs low hysteresis and fatigue resistance, narrowing the gap between the conceptual laboratory-scale design of existing fully textile-based humidity-sensitive flexible actuators and actual textiles. The high-degree-of-freedom and large bending deformation mechanisms are elucidated for the first time by combining microscopic mechanical structure simulation and macroscopic energy conversion analysis. The novel humidity-sensitive flexible actuator possesses strong mechanical qualities, making it suitable for applications such as flexible robots, medicinal devices, and smart wearables.