Microfabricating conjugated polymer actuators

Subsurface Profiling of Ion Migration and Swelling in Conducting Polymer Actuators with Modulated Electrochemical Atomic Force Microscopy

Understanding the dynamics of ion migration and volume change is crucial to studying the functionality and long-term stability of soft polymeric materials operating at liquid interfaces, but the subsurface characterization of swelling processes in these systems remains elusive. In this work, we address the issue using modulated electrochemical atomic force microscopy as a depth-sensitive technique to study electroswelling effects in the high-performance actuator material polypyrrole doped with dodecylbenzenesulfonate (Ppy:DBS). We perform multidimensional measurements combining local electroswelling and electrochemical impedance spectroscopies on microstructured Ppy:DBS actuators. We interpret charge accumulation in the polymeric matrix with a quantitative model, giving access to both the spatiotemporal dynamics of ion migration and the distribution of electroswelling in the electroactive polymer layer. The findings demonstrate a nonuniform distribution of the effective ionic volume in the Ppy:DBS layer depending on the film morphology and redox state. Our findings indicate that the highly efficient actuation performance of Ppy:DBS is caused by rearrangements of the polymer microstructure induced by charge accumulation in the soft polymeric matrix, increasing the effective ionic volume in the bulk of the electroactive film for up to two times the value measured in free water.

Electrochemically actuated microelectrodes for minimally invasive peripheral nerve interfaces

Electrode arrays that interface with peripheral nerves are used in the diagnosis and treatment of neurological disorders; however, they require complex placement surgeries that carry a high risk of nerve injury. Here we leverage recent advances in soft robotic actuators and flexible electronics to develop highly conformable nerve cuffs that combine electrochemically driven conducting-polymer-based soft actuators with low-impedance microelectrodes. Driven with applied voltages as small as a few hundreds of millivolts, these cuffs allow active grasping or wrapping around delicate nerves. We validate this technology using in vivo rat models, showing that the cuffs form and maintain a self-closing and reliable bioelectronic interface with the sciatic nerve of rats without the use of surgical sutures or glues. This seamless integration of soft electrochemical actuators with neurotechnology offers a path towards minimally invasive intraoperative monitoring of nerve activity and high-quality bioelectronic interfaces.

Electrochemically-driven actuators: from materials to mechanisms and from performance to applications

Soft actuators, pivotal for converting external energy into mechanical motion, have become increasingly vital in a wide range of applications, from the subtle engineering of soft robotics to the demanding environments of aerospace exploration. Among these, electrochemically-driven actuators (EC actuators), are particularly distinguished by their operation through ion diffusion or intercalation-induced volume changes. These actuators feature notable advantages, including precise deformation control under electrical stimuli, freedom from Carnot efficiency limitations, and the ability to maintain their actuated state with minimal energy use, akin to the latching state in skeletal muscles. This review extensively examines EC actuators, emphasizing their classification based on diverse material types, driving mechanisms, actuator configurations, and potential applications. It aims to illuminate the complicated driving mechanisms of different categories, uncover their underlying connections, and reveal the interdependencies among materials, mechanisms, and performances. We conduct an in-depth analysis of both conventional and emerging EC actuator materials, casting a forward-looking lens on their trajectories and pinpointing areas ready for innovation and performance enhancement strategies. We also navigate through the challenges and opportunities within the field, including optimizing current materials, exploring new materials, and scaling up production processes. Overall, this review aims to provide a scientifically robust narrative that captures the current state of EC actuators and sets a trajectory for future innovation in this rapidly advancing field.

Advancing Cardiomyocyte Maturation: Current Strategies and Promising Conductive Polymer-Based Approaches

Cardiovascular diseases are a leading cause of mortality and pose a significant burden on healthcare systems worldwide. Despite remarkable progress in medical research, the development of effective cardiovascular drugs has been hindered by high failure rates and escalating costs. One contributing factor is the limited availability of mature cardiomyocytes (CMs) for accurate disease modeling and drug screening. Human induced pluripotent stem cell-derived CMs offer a promising source of CMs; however, their immature phenotype presents challenges in translational applications. This review focuses on the road to achieving mature CMs by summarizing the major differences between immature and mature CMs, discussing the importance of adult-like CMs for drug discovery, highlighting the limitations of current strategies, and exploring potential solutions using electro-mechano active polymer-based scaffolds based on conductive polymers. However, critical considerations such as the trade-off between 3D systems and nutrient exchange, biocompatibility, degradation, cell adhesion, longevity, and integration into wider systems must be carefully evaluated. Continued advancements in these areas will contribute to a better understanding of cardiac diseases, improved drug discovery, and the development of personalized treatment strategies for patients with cardiovascular disorders.

Ionic Solvent Shell Drives Electroactuation in Organic Mixed Ionic-Electronic Conductors

The conversion of electrochemical processes into mechanical deformation in organic mixed ionic-electronic conductors (OMIECs) enables artificial muscle-like actuators but is also critical for degradation processes affecting OMIEC-based devices. To provide a microscopic understanding of electroactuation, the modulated electrochemical atomic force microscopy (mEC-AFM) is introduced here as a novel in-operando characterization method for electroactive materials. The technique enables multidimensional spectroscopic investigations of local electroactuation and charge uptake giving access to the electroactuation transfer function. For poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) based microelectrodes, the spectroscopic measurements are combined with multichannel mEC-AFM imaging, providing maps of local electroactuation amplitude and phase as well as surface morphology. The results demonstrate that the amplitude and timescales of electroactuation are governed by the drift motion of hydrated ions. Accordingly, slower water diffusion processes are not limiting, and the results illustrate how OMIEC microactuators can operate at sub-millisecond timescales.

Materials for electronically controllable microactuators

Abstract

Electronically controllable actuators have shrunk to remarkably small dimensions, thanks to recent advances in materials science. Currently, multiple classes of actuators can operate at the micron scale, be patterned using lithographic techniques, and be driven by complementary metal oxide semiconductor (CMOS)-compatible voltages, enabling new technologies, including digitally controlled micro-cilia, cell-sized origami structures, and autonomous microrobots controlled by onboard semiconductor electronics. This field is poised to grow, as many of these actuator technologies are the firsts of their kind and much of the underlying design space remains unexplored. To help map the current state of the art and set goals for the future, here, we overview existing work and examine how key figures of merit for actuation at the microscale, including force output, response time, power consumption, efficiency, and durability are fundamentally intertwined. In doing so, we find performance limits and tradeoffs for different classes of microactuators based on the coupling mechanism between electrical energy, chemical energy, and mechanical work. These limits both point to future goals for actuator development and signal promising applications for these actuators in sophisticated electronically integrated microrobotic systems.

Graphical Abstract

Controllable Multimodal Actuation in Fully Printed Ultrathin Micro-Patterned Electrochemical Actuators

Submillimeter or micrometer scale electrically controlled soft actuators have immense potential in microrobotics, haptics, and biomedical applications. However, the fabrication of miniaturized and micropatterned open-air soft actuators has remained challenging. In this study, we demonstrate the microfabrication of trilayer electrochemical actuators (ECAs) through aerosol jet printing (AJP), a rapid prototyping method with a 10 μm lateral resolution. We make fully printed 1000 × 5000 × 12 μm3 ultrathin ECAs, each of which comprises a Nafion electrolyte layer sandwiched between two poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) electrode layers. The ECAs actuate due to the electric-field-driven migration of hydrated protons. Due to the thinness that gives rise to a low proton transport length and a low flexural rigidity, the printed ECAs can operate under low voltages (∼0.5 V) and have a relatively fast response (∼seconds). We print all the components of an actuator that consists of two individually controlled submillimeter segments and demonstrate its multimodal actuation. The convenience, versatility, rapidity, and low cost of our microfabrication strategy promise future developments in integrating arrays of intricately patterned individually controlled soft microactuators on compact stretchable electronic circuits.

Correlating Molar Mass, π-Conjugation, and Optical Properties of Narrowly Distributed Anionic Polythiophenes in Aqueous Solutions

Polythiophene-based conjugated polyelectrolytes (CPE) are attracting increasing attention as sensor or interface materials in chemistry and biology. While cationic polythiophenes are better understood, limited structural information is available on their anionic counterparts. Limited access to well-defined polymers has made the study of structure-property relationships difficult and clear correlations have remained elusive. By combining controlled Kumada catalyst transfer polymerization with a polymer-analog substitution, regioregular and narrowly distributed poly(6-(thiophen-3-yl)hexane-1-sulfonate)s (PTHS) with tailored chain length are prepared. Analysis of their aqueous solution structures by small-angle neutron scattering (SANS) revealed a cylindrical conformation for all polymers tested, with a length close to the contour length of the polymer chains, while the estimated radii remain too small (<1.5 nm) for extensive π-stacking of the chains. The latter is particularly interesting as the longest polymer exhibits a concentration-independent structured absorption typical of crystalline polythiophenes. Increasing the ionic strength of the solution diminishes these features as the Coulomb repulsion between the charged repeat units is shielded, allowing the polymer to adopt a more coiled conformation. The extended π-conjugation, therefore, appears to be a key parameter for these unique optical features, which are not present in the corresponding cationic polythiophenes.

Carbon-Based Nanomaterials Electrodes of Ionic Soft Actuators: From Initial 1D Structure to 3D Composite Structure for Flexible Intelligent Devices

With the rapid development of autonomous and intelligent devices driven by soft actuators, ion soft actuators in flexible intelligent devices have several advantages over other actuators, including their light weight, low voltage drive, large strain, good flexibility, fast response, etc. Traditional ionic polymer metal composites have received a lot of attention over the past decades, but they suffer from poor driving performance and short service lives since the precious metal electrodes are not only expensive, heavy, and labor-intensive, but also prone to cracking with repeated actuation. As excellent candidates for the electrode materials of ionic soft actuators, carbon-based nanomaterials have received a lot of interest because of their plentiful reserves, low cost, and excellent mechanical, electrical, and electrochemical properties. This research reviewed carbon-based nanomaterial electrodes of ion soft actuators for flexible smart devices from a fresh perspective from 1D to 3D combinations. The design of the electrode structure is introduced after the driving mechanism of ionic soft actuators. The details of ionic soft actuator electrodes made of carbon-based nanomaterials are then provided. Additionally, a summary of applications for flexible intelligent devices is provided. Finally, suggestions for challenges and prospects are made to offer direction and inspiration for further development.

Oxidative-Reductive Near-Infrared Electrochromic Switching Enabled by Porous Vertically Stacked Multilayer Devices

Here, we demonstrate for the first time the ability of a porous π-conjugated semiconducting polymer film to enable facile electrolyte penetration through vertically stacked redox-active polymer layers, thereby enabling electrochromic switching between p-type and/or n-type polymers. The polymers P1 and P2, with structures diketopyrrolopyrrole (DPP)-π_bridge-3,4,-ethylenedioxythiophene (EDOT)-π_bridge [π_bridge = 2,5-thienyl for P1 and π_bridge = 2,5-thiazolyl for P2] are selected as the p-type polymers and N2200 (a known naphthalenediimide-dithiophene semiconductor) as the n-type polymer. Single-layer porous and dense (control) polymer films are fabricated and extensively characterized using optical microscopy, atomic force microscopy, scanning electron microscopy, and grazing incidence wide-angle X-ray scattering. The semiconducting films are then incorporated into single and multilayer electrochromic devices (ECDs). It is found that when a p-type (P2) porous top layer is used in a multilayer ECD, it enables electrolyte penetration to the bottom layer, enabling oxidative electrochromic switching of the P1 bottom layer at low potentials (+0.4 V versus +1.2 V with dense P2). Importantly, when using a porous P1 as the top layer with an n-type N2200 bottom layer, dynamic oxidative-reductive electrochromic switching is also realized. These results offer a proof of concept for development of new types of multilayer electrochromic devices where precise control of the semiconductor film morphology and polymer electronic structure is essential.

The effect of vacancy defects on the electromechanical properties of monolayer NiTe2 from first principles calculations

The electromechanical properties of monolayer 1-T NiTe₂ under charge actuation were investigated using first-principles density functional theory (DFT) calculations. Monolayer 1-T NiTe₂ in its pristine form has a work area density per cycle of up to 5.38 MJ m^-3 nm upon charge injection and it can generate a strain and a stress of 1.51% and 0.96 N m^-1, respectively. We found that defects in the form of vacancies can be exploited to modulate the electromechanical properties of this material. The presence of Ni-vacancies can further enhance the generated stress by 22.5%. On the other hand, with Te-vacancies, it is possible to improve the work area density per cycle by at least 145% and also to enhance the induced strain from 1.51% to 2.92%. The effect of charge polarity on the contraction and expansion of monolayer 1T-NiTe₂ was investigated. Due to its excellent environmental stability and good electromechanical properties, monolayer NiTe₂ is considered to be a promising electrode material for electroactive polymer (EAP) based actuators.

Association of two polyelectrolytes in salt solutions

The association of polyelectrolytes (PEs) in solution affects a wealth of structural and dynamic behaviors, and is also fundamentally important for an understanding of protein association and aggregation. Here, we theoretically study the association of two PE chains by addressing the stability and morphology of the non-spherical associates. Our theory predicts that an elongated pearl-necklace (PN) associate can be stable at high salt concentrations due to the screened electrostatic repulsion. This contradicts the implication of scaling theory. In addition, there is no one-to-one correspondence between the morphology of the associate and its constituting unimers, which is demonstrated by the existence of different association modes.

Exploiting mixed conducting polymers in organic and bioelectronic devices

Efficient transport of both ionic and electronic charges in conjugated polymers (CPs) has enabled a wide range of novel electrochemical devices spanning applications from energy storage to bioelectronic devices. In this Perspective, we provide an overview of the fundamental physical processes which underlie the operation of mixed conducting polymer (MCP) devices. While charge injection and transport have been studied extensively in both ionic and electronic conductors, translating these principles to mixed conducting systems proves challenging due to the complex relationships among the individual materials properties. We break down the process of electrochemical (de)doping, the basic feature exploited in mixed conducting devices, into its key steps, highlighting recent advances in the study of these physical processes in the context of MCPs. Furthermore, we identify remaining challenges in further extending fundamental understanding of MCP-based device operation. Ultimately, a deeper understanding of the elementary processes governing operation in MCPs will drive the advancement in both materials design and device performance.

Elastically-mediated collective organisation of magnetic microparticles

Gels are soft elastic materials made of a three-dimensional cross-linked polymer network and featuring both elastic and dissipative responses under external mechanical stimuli. Here we investigate how such gels mediate the organization of embedded magnetic microparticles when driven by an external field. By constructing a continuum theory, we demonstrate that the collective dynamics of the embedded particles result from the delicate balance between magnetic dipole-dipole interactions, thermal fluctuations and elasticity of the polymer network, verified by our experiments. The proposed model could be extended to other soft magnetic composites in order to predict how the elastic interactions mediate the aggregation of the embedded elements, fostering technological implications for multifunctional hydrogel materials.

Tuning Conjugated Polymer Chain Packing for Stretchable Semiconductors

In order to apply polymer semiconductors to stretchable electronics, they need to be easily deformed under strain without being damaged. A small number of conjugated polymers, typically with semicrystalline packing structures, have been reported to exhibit mechanical stretchability. Herein, a method is reported to modify polymer semiconductor packing-structure using a molecular additive, dioctyl phthalate (DOP), which is found to act as a molecular spacer, to be inserted between the amorphous chain networks and disrupt the crystalline packing. As a result, large-crystal growth is suppressed while short-range aggregations of conjugated polymers are promoted, which leads to an improved mechanical stretchability without affecting charge-carrier transport. Due to the reduced conjugated polymer intermolecular interactions, strain-induced chain alignment and crystallization are observed. By adding DOP to a well-known conjugated polymer, poly[2,5-bis(4-decyltetradecyl)pyrrolo[3,4-c]pyrrole-1,4-(2H,5H)-dione-(E)-1,2-di(2,2'-bithiophen-5-yl)ethene] (DPPTVT), stretchable transistors are obtained with anisotropic charge-carrier mobilities under strain, and stable current output under strain up to 100%.

Advanced Materials and Sensors for Microphysiological Systems: Focus on Electronic and Electrooptical Interfaces

Advanced in vitro cell culture systems or microphysiological systems (MPSs), including microfluidic organ-on-a-chip (OoC), are breakthrough technologies in biomedicine. These systems recapitulate features of human tissues outside of the body. They are increasingly being used to study the functionality of different organs for applications such as drug evolutions, disease modeling, and precision medicine. Currently, developers and endpoint users of these in vitro models promote how they can replace animal models or even be a better ethically neutral and humanized alternative to study pathology, physiology, and pharmacology. Although reported models show a remarkable physiological structure and function compared to the conventional 2D cell culture, they are almost exclusively based on standard passive polymers or glass with none or minimal real-time stimuli and readout capacity. The next technology leap in reproducing in vivo-like functionality and real-time monitoring of tissue function could be realized with advanced functional materials and devices. This review describes the currently reported electronic and optical advanced materials for sensing and stimulation of MPS models. In addition, an overview of multi-sensing for Body-on-Chip platforms is given. Finally, one gives the perspective on how advanced functional materials could be integrated into in vitro systems to precisely mimic human physiology.

Biohybrid Variable-Stiffness Soft Actuators that Self-Create Bone

Inspired by the dynamic process of initial bone development, in which a soft tissue turns into a solid load-bearing structure, the fabrication, optimization, and characterization of bioinduced variable-stiffness actuators that can morph in various shapes and change their properties from soft to rigid are hereby presented. Bilayer devices are prepared by combining the electromechanically active properties of polypyrrole with the compliant behavior of alginate gels that are uniquely functionalized with cell-derived plasma membrane nanofragments (PMNFs), previously shown to mineralize within 2 days, which promotes the mineralization in the gel layer to achieve the soft to stiff change by growing their own bone. The mineralized actuator shows an evident frozen state compared to the movement before mineralization. Next, patterned devices show programmed directional and fixated morphing. These variable-stiffness devices can wrap around and, after the PMNF-induced mineralization in and on the gel layer, adhere and integrate onto bone tissue. The developed biohybrid variable-stiffness actuators can be used in soft (micro-)robotics and as potential tools for bone repair or bone tissue engineering.

Polypyrrole Polyethylene Composite for Controllable Linear Actuators in Different Organic Electrolytes

Controllable linear actuation of polypyrrole (PPy) is the envisaged goal where only one ion dominates direction (here anions) in reversible redox cycles. PPy with polyethylene oxide (PEO) doped with dodecylbenzenesulfonate forms PPy-PEO/DBS films (PPy-PEO), which are applied in propylene carbonate (PC) solvent with electrolytes such as 1-ethyl-2,3-dimethylimidazolium trifluoromethanesulfonate (EDMICF₃SO₃), sodium perchlorate (NaClO₄) and tetrabutylammonium hexafluorophosphate (TBAPF₆) and compared in their linear actuation properties with pristine PPy/DBS samples. PPy-PEO showed for all applied electrolytes that only expansion at oxidation appeared in cyclic voltammetric studies, while pristine PPy/DBS had mixed-ion actuation in all electrolytes. The electrolyte TBAPF₆-PC revealed for PPy-PEO best results with 18% strain (PPy/DBS had 8.5% strain), 2 times better strain rates, 1.8 times higher electronic conductivity, 1.4 times higher charge densities and 1.5 times higher diffusion coefficients in comparison to PPy/DBS. Long-term measurements up to 1000 cycles at 0.1 Hz revealed strain over 4% for PPy-PEO linear actuators, showing that combination of PPy/DBS with PEO gives excellent material for artificial muscle-like applications envisaged for smart textiles and soft robotics. FTIR and Raman spectroscopy confirmed PEO content in PPy. Electrochemical impedance spectroscopy (EIS) of PPy samples revealed 1.3 times higher ion conductivity of PPy-PEO films in PC solvent. Scanning electron microscopy (SEM) was used to investigate morphologies of PPy samples, and EDX spectroscopy was conducted to determine ion contents of oxidized/reduced films.

Superelasticity of a photo-actuating chiral salicylideneamine crystal

Superelasticity is a type of elastic response to an applied external force, caused by a phase transformation. Actuation of materials is also an elastic response to external stimuli such as light and heat. Although both superelasticity and actuation are deformations resulting from stimulus-induced stress, there is a phenomenological difference between the two with respect to whether force is an input or an output. Here, we report that a molecular crystal manifests superelasticity during photo-actuation under light irradiation. The crystal exhibits stepwise twisted actuation due to two effects, photoisomerization and photo-triggered phase transition, and the actuation behavior is simulated based on a dynamic multi-layer model. The simulation, in turn, reveals how the photoisomerization and phase transition progress in the crystal, indicating superelasticity induced by modest stress due to the formation of photoproducts. This work provides not only a successful simulation of stepwise twisted actuation, but also to the best of our knowledge the first indication of superelasticity induced by light.

Responsive materials architected in space and time

Rationally designed architected materials have attained previously untapped territories in materials property space. The properties and behaviours of architected materials need not be stagnant after fabrication; they can be encoded with a temporal degree of freedom such that they evolve over time. In this Review, we describe the variety of materials architected in both space and time, and their responses to various stimuli, including mechanical actuation, changes in temperature and chemical environment, and variations in electromagnetic fields. We highlight the additive manufacturing methods that can precisely prescribe complex geometries and local inhomogeneities to make such responsiveness possible. We discuss the emergent physics phenomena observed in architected materials that are analogous to those in classical materials, such as the formation and behaviour of defects, phase transformations and topologically protected properties. Finally, we offer a perspective on the future of architected materials that have a degree of intelligence through mechanical logic and artificial neural networks.

Nanotextured Soft Electrothermo-Pneumatic Actuator for Constructing Lightweight, Integrated, and Untethered Soft Robotics

In this study, we fabricated a nanofiber-based electrothermo-pneumatic soft actuator (ETPSA) using electrospinning technique. The actuator uses liquid-vapor phase transition. The ETPSA developed in the present study goes beyond the limitations of the existing pneumatic soft actuators. The present ETPSA has a built-in source of heat (Joule heating from an embedded metal wire) and allows the smooth anthropomorphic movement of the actuator and, in particular, eliminates the use of external pumping systems that are indispensable in the existing pneumatic soft actuators and robots. In addition, since the present ETPSA can be operated effectively even using a portable miniature battery, it holds great promise as an adaptable soft actuator for various robotic applications with high energy efficiency and programmable motions.

Micropatterned PEDOT with Enhanced Electrochromism and Electrochemical Tunable Diffraction

Micro-nanofabrication of conductive polymers (CPs) with functional structures is in great demand in organic electronic devices, micro-optics, and flex sensors. Here, we report the fabrication of micropatterned poly(3,4-ethylenedioxythiophene) (PEDOT) and its applications on flexible electrochromic devices and tunable diffractive optics. The localized electropolymerization of 3,4-ethylenedioxythiophene at the electrode/agarose gel stamping interface through an electrochemical wet stamping (E-WETS) technique is used to fabricate PEDOT with functional microstructures. PEDOT microdots, micro-rectangles, and interdigitated array microelectrodes are fabricated with submicron tolerance and ∼2 μm smallest feature size. Furthermore, the flexible PEDOT electrochromic devices consisting of the logo of Xiamen University are fabricated with a reversible switch of absorptivity. The improved optical and coloration-amperometric responses of electrochromism are demonstrated because of the enhanced charge transport rate of the micropatterned PEDOT. The electrochromism of the 2D PEDOT micropatterns is further used as a binary diffractive optical element to modulate the intensity and efficiency of diffracted 2D structural light because of the switchable absorptivity during doping and dedoping processes. When the potential is switched from 1 to -1 V to tune the absorptivity at ∼600 nm from low to high, the intensity of zero-order diffraction light spot decreases with the intensity of other order diffraction light spots increasing dramatically. The results demonstrate that E-WETS provides an alternative method for the fabrication of CPs with functional micro-nanostructures. The electrochemical tunable diffraction with high reversibility and fast response is of potential applications in micro-optics and flex sensors.

Directional, Low-Energy Driven Thermal Actuating Bilayer Enabled by Coordinated Submolecular Switching

The authors reveal a thermal actuating bilayer that undergoes reversible deformation in response to low-energy thermal stimuli, for example, a few degrees of temperature increase. It is made of an aligned carbon nanotube (CNT) sheet covalently connected to a polymer layer in which dibenzocycloocta-1,5-diene (DBCOD) actuating units are oriented parallel to CNTs. Upon exposure to low-energy thermal stimulation, coordinated submolecular-level conformational changes of DBCODs result in macroscopic thermal contraction. This unique thermal contraction offers distinct advantages. It's inherently fast, repeatable, low-energy driven, and medium independent. The covalent interface and reversible nature of the conformational change bestow this bilayer with excellent repeatability, up to at least 70 000 cycles. Unlike conventional CNT bilayer systems, this system can achieve high precision actuation readily and can be scaled down to nanoscale. A new platform made of poly(vinylidene fluoride) (PVDF) in tandem with the bilayer can harvest low-grade thermal energy and convert it into electricity. The platform produces 86 times greater energy than PVDF alone upon exposure to 6 °C thermal fluctuations above room temperature. This platform provides a pathway to low-grade thermal energy harvesting. It also enables low-energy driven thermal artificial robotics, ultrasensitive thermal sensors, and remote controlled near infrared (NIR) driven actuators.

Self-sufficient self-oscillating microsystem driven by low power at low Reynolds numbers

Oscillations at several hertz are a key feature of dynamic behavior of various biological entities, such as the pulsating heart, firing neurons, or the sperm-beating flagellum. Inspired by nature’s fundamental self-oscillations, we use electroactive polymer microactuators and three-dimensional microswitches to create a synthetic electromechanical parametric relaxation oscillator (EMPRO) that relies on the shape change of micropatterned polypyrrole and generates a rhythmic motion at biologically relevant stroke frequencies of up to ~95 Hz. We incorporate an Ag-Mg electrochemical battery into the EMPRO for autonomous operation in a nontoxic environment. Such a self-sufficient self-oscillating microsystem offers new opportunities for artificial life at low Reynolds numbers by, for instance, mimicking and replacing nature’s propulsion and pumping units.

Polypyrrole with Phosphor Tungsten Acid and Carbide-Derived Carbon: Change of Solvent in Electropolymerization and Linear Actuation

Linear actuators based on polypyrrole (PPy) are envisaged to have only one ion that triggers the actuation direction, either at oxidation (anion-driven) or at reduction (cation-driven). PPy doped with dodecylbenzenesulfonate (PPy/DBS) is the most common applied conducting polymer having cation-driven actuation in aqueous solvent and mainly anion-driven actuation in an organic electrolyte. It is somehow desired to have an actuator that is independent of the applied solvent in the same actuation direction. In this research we made PPy/DBS with the addition of phosphorus tungsten acid, forming PPyPT films, as well with included carbide derived carbon (CDC) resulting in PPyCDC films. The solvent in electropolymerization was changed from an aqueous ethylene glycol mixture to pure EG forming PPyPT-EG and PPyCDC-EG composites. Our goal in this study was to investigate the linear actuation properties of PPy composites applying sodium perchlorate in aqueous (NaClO₄-aq) and propylene carbonate (NaClO₄-PC) electrolytes. Cyclic voltammetry and square potential steps in combination with electro-chemo-mechanical-deformation (ECMD) measurements of PPy composite films were performed. The PPyPT and PPyCDC had mixed ion-actuation in NaClO₄-PC while in NaClO4-aq expansion at reduction (cation-driven) was observed. Those novel PPy composites electropolymerized in EG solvent showed independently which solvent applied mainly expansion at reduction (cation-driven actuator). Chronopotentiometric measurements were performed on all composites, revealing excellent specific capacitance up to 190 F g^-1 for PPyCDC-EG (best capacitance retention of 90 % after 1000 cycles) and 130 F g^-1 for PPyPT-EG in aqueous electrolyte. The films were characterized by scanning electron microscopy (SEM), Raman, Fourier-transform infrared (FTIR) and energy dispersive X-ray spectroscopy (EDX).

Ion Mobility in Thick and Thin Poly-3,4 Ethylenedioxythiophene Films-From EQCM to Actuation

Conductive polymer actuators and sensors rely on controlled ion transport coupled to a potential/charge change. In order to understand and control such devices, it is of paramount importance to understand the factors that determine ion flux at various conditions, including the synthesis potential. In this work, the ion transport in thinner poly-3,4-ethylenedioxythiophene (PEDOT) films during charge/discharge driven by cyclic voltammetry is studied by consideration of the electrochemical quartz crystal microbalance (EQCM) and the results are compared to the actuation responses of thicker films that have been synthesized with the same conditions in the bending and linear expansion modes. The effects of polymerization potentials of 1.0 V, 1.2 V, and 1.5 V are studied to elucidate how polymerization potential contributes to actuation, as well the involvement of the EQCM. In this work, it is revealed that there is a shift from anion-dominated to mixed to cation-dominated activity with increased synthesis potential. Scanning electron microscopy shows a decrease in porosity for the PEDOT structure with increasing synthesis potential. EQCM analysis of processes taking place at various potentials allows the determination of appropriate potential windows for increased control over devices.

Structures and strategies for enhanced sensitivity of polydiacetylene(PDA) based biosensor platforms

Polydiacetylene (PDA) is a versatile polymer that has been studied in numerous fields because of its unique optical properties derived from alternating multiple bonds in the polymer backbone. The conjugated structure in the polymer backbone enables PDA to possess the ability of blue-red colorimetric transition when π-π interactions in the PDA backbone chain are disturbed by the external environment. The chromatic property of PDA disturbed by external stimuli can also emit fluorescence in the red region. Owing to the unique characteristics of PDA, it has been widely studied in facile and label-free sensing applications based on colorimetric or fluorescence signals for several decades. Among the various PDA structures, membrane structures assembled by amphiphilic molecules are widely used as a versatile platform because facile modification of the synthetic membrane provides extensive applications, such as receptor-ligand interactions, resulting in potent biosensors. To use PDA as a sensory material, several methods have been studied to endow the specificity to PDA molecules and to amplify the signal from PDA supramolecules. This is because selective and sensitive detection of target materials is required at an appropriate level corresponding to each material for applicable sensor applications. This review focuses on factors that affect the sensitivity of PDA composites and several strategies to enhance the sensitivity of the PDA sensor to various structures. Owing to these strategies, the PDA sensor system has achieved a higher level of sensitivity and selectivity, enabling it to detect multiple target materials for a full field of application.

A microfluidic field-effect transistor biosensor with rolled-up indium nitride microtubes

Field-effect-transistor (FET) biosensors capable of rapidly detecting disease-relevant biomarkers have long been considered as a promising tool for point-of-care (POC) diagnosis. Rolled-up nanotechnology, as a batch fabrication strategy for generating three-dimensional (3D) microtubes, has been demonstrated to possess unique advantages for constructing FET biosensors. In this paper, we report a new approach combining the two fascinating technologies, the FET biosensor and the rolled-up microtube, to develop a microfluidic diagnostic biosensor. We integrated an excellent biosensing III-nitride material-indium nitride (InN)-into a rolled-up microtube and used it as the FET channel. The InN possesses strong, intrinsic, and stable electron accumulation (~10¹³ cm^-2) on its surface, thereby providing a high device sensitivity. Multiple rolled-up InN microtube FET biosensors fabricated on the same substrate were integrated with a microfluidic channel for convenient fluids handling, and shared the same external electrode (inserted into the microchannel outlet) for gating voltage modulation. Using human immunodeficiency virus (HIV) antibody as a model disease marker, we characterized the analytical performance of the developed biosensor and achieved a limit of detection (LOD) of 2.5 pM for serum samples spiked with HIV gp41 antibodies. The rolled-up InN microtube FET biosensor represents a new type of III-nitride-based FET biosensor and holds significant potential for practical POC diagnosis.

Printing Multi-Material Organic Haptic Actuators

Haptic actuators generate touch sensations and provide realism and depth in human-machine interactions. A new generation of soft haptic interfaces is desired to produce the distributed signals over large areas that are required to mimic natural touch interactions. One promising approach is to combine the advantages of organic actuator materials and additive printing technologies. This powerful combination can lead to devices that are ergonomic, readily customizable, and economical for researchers to explore potential benefits and create new haptic applications. Here, an overview of emerging organic actuator materials and digital printing technologies for fabricating haptic actuators is provided. In particular, the focus is on the challenges and potential solutions associated with integration of multi-material actuators, with an eye toward improving the fidelity and robustness of the printing process. Then the progress in achieving compact, lightweight haptic actuators by using an open-source extrusion printer to integrate different polymers and composites in freeform designs is reported. Two haptic interfaces-a tactile surface and a kinesthetic glove-are demonstrated to show that printing with organic materials is a versatile approach for rapid prototyping of various types of haptic devices.

CHARMM-GUI Polymer Builder for Modeling and Simulation of Synthetic Polymers

Molecular modeling and simulations are invaluable tools for polymer science and engineering, which predict physicochemical properties of polymers and provide molecular-level insight into the underlying mechanisms. However, building realistic polymer systems is challenging and requires considerable experience because of great variations in structures as well as length and time scales. This work describes Polymer Builder in CHARMM-GUI (http://www.charmm-gui.org/input/polymer), a web-based infrastructure that provides a generalized and automated process to build a relaxed polymer system. Polymer Builder not only provides versatile modeling methods to build complex polymer structures, but also generates realistic polymer melt and solution systems through the built-in coarse-grained model and all-atom replacement. The coarse-grained model parametrization is generalized and extensively validated with various experimental data and all-atom simulations. In addition, the capability of Polymer Builder for generating relaxed polymer systems is demonstrated by density calculations of 34 homopolymer melt systems, characteristic ratio calculations of 170 homopolymer melt systems, a morphology diagram of poly(styrene-b-methyl methacrylate) block copolymers, and self-assembly behavior of amphiphilic poly(ethylene oxide-b-ethylethane) block copolymers in water. We hope that Polymer Builder is useful to carry out innovative and novel polymer modeling and simulation research to acquire insight into structures, dynamics, and underlying mechanisms of complex polymer-containing systems.

Antagonist Concepts of Polypyrrole Actuators: Bending Hybrid Actuator and Mirrored Trilayer Linear Actuator

Following the natural muscle antagonist actuation principle, different adaptations for "artificial muscles" are introduced in this work. Polypyrrole (PPy) films of different polymerization techniques (potentiostatic and galvanostatic) were analyzed and their established responses were combined in several ways, resulting in beneficial actuation modes. A consecutive "one-pot" electrosynthesis of two layers with the different deposition regimes resulted in an all-PPy bending hybrid actuator. While in most cases the mixed-ion activity of conductive polymers has been considered a problem or a drawback, here for the first time, the nearly equal expansions upon oxidation and reduction of carefully selected conditions further allowed to fabricate a "mirrored" trilayer laminate, which behaved as a linear actuator.

3D printing of functional microrobots

3D printing (also called "additive manufacturing" or "rapid prototyping") is able to translate computer-aided and designed virtual 3D models into 3D tangible constructs/objects through a layer-by-layer deposition approach. Since its introduction, 3D printing has aroused enormous interest among researchers and engineers to understand the fabrication process and composition-structure-property correlation of printed 3D objects and unleash its great potential for application in a variety of industrial sectors. Because of its unique technological advantages, 3D printing can definitely benefit the field of microrobotics and advance the design and development of functional microrobots in a customized manner. This review aims to present a generic overview of 3D printing for functional microrobots. The most applicable 3D printing techniques, with a focus on laser-based printing, are introduced for the 3D microfabrication of microrobots. 3D-printable materials for fabricating microrobots are reviewed in detail, including photopolymers, photo-crosslinkable hydrogels, and cell-laden hydrogels. The representative applications of 3D-printed microrobots with rational designs heretofore give evidence of how these printed microrobots are being exploited in the medical, environmental, and other relevant fields. A future outlook on the 3D printing of microrobots is also provided.

Graphitic Carbon Nitride Films: Emerging Paradigm for Versatile Applications

Graphitic carbon nitride (g-C₃N₄) is a well-known two-dimensional conjugated polymer semiconductor that has been broadly applied in photocatalysis-related fields. However, further developments of g-C₃N₄, especially in device applications, have been constrained by the inherent limitations of its insoluble nature and particulate properties. Recent breakthroughs in fabrication methods of g-C₃N₄ films have led to innovative and inspiring applications in many fields. In this review, we first summarize the fabrication of continuous and thin films, either supported on substrates or as free-standing membranes. Then, the novel properties and application of g-C₃N₄ films are the focus of the current review. Finally, some underlying challenges and the future developments of g-C₃N₄ films are tentatively discussed. This review is expected to provide a comprehensive and timely summary of g-C₃N₄ film research to the wide audience in the field of conjugated polymer semiconductor-based materials.

Multifunctionality of Polypyrrole Polyethyleneoxide Composites: Concurrent Sensing, Actuation and Energy Storage

In films of conducting polymers, the electrochemical reaction(s) drive the simultaneous variation of different material properties (reaction multifunctionality). Here, we present a parallel study of actuation-sensing-energy storage triple functionality of polypyrrole (PPy) blends with dodecylbenzenesulfonate (DBS-), PPy/DBS, without and with inclusion of polyethyleneoxide, PPy-PEO/DBS. The characterization of the response of both materials in aqueous solutions of four different salts indicated that all of the actuating, sensing and charge storage responses were, independent of the electrolyte, present for both materials, but stronger for the PPy-PEO/DBS films: 1.4× higher strains, 1.3× higher specific charge densities, 2.5× higher specific capacitances and increased ion-sensitivity towards the studied counterions. For both materials, the reaction energy, the material potential and the strain variations adapt to and sense the electrical and chemical (exchanged cation) conditions. The driving and the response of actuation, sensing and charge can be controlled/read, simultaneously, via just two connecting wires. Only the cooperative actuation of chemical macromolecular motors from functional cells has such chemical multifunctionality.

Giant electrochemical actuation in a nanoporous silicon-polypyrrole hybrid material

The absence of piezoelectricity in silicon makes direct electromechanical applications of this mainstream semiconductor impossible. Integrated electrical control of the silicon mechanics, however, would open up new perspectives for on-chip actuorics. Here, we combine wafer-scale nanoporosity in single-crystalline silicon with polymerization of an artificial muscle material inside pore space to synthesize a composite that shows macroscopic electrostrain in aqueous electrolyte. The voltage-strain coupling is three orders of magnitude larger than the best-performing ceramics in terms of piezoelectric actuation. We trace this huge electroactuation to the concerted action of 100 billions of nanopores per square centimeter cross section and to potential-dependent pressures of up to 150 atmospheres at the single-pore scale. The exceptionally small operation voltages (0.4 to 0.9 volts), along with the sustainable and biocompatible base materials, make this hybrid promising for bioactuator applications.

Electronically integrated, mass-manufactured, microscopic robots

Fifty years of Moore's law scaling in microelectronics have brought remarkable opportunities for the rapidly evolving field of microscopic robotics^1-5. Electronic, magnetic and optical systems now offer an unprecedented combination of complexity, small size and low cost^6,7, and could be readily appropriated for robots that are smaller than the resolution limit of human vision (less than a hundred micrometres)^8-11. However, a major roadblock exists: there is no micrometre-scale actuator system that seamlessly integrates with semiconductor processing and responds to standard electronic control signals. Here we overcome this barrier by developing a new class of voltage-controllable electrochemical actuators that operate at low voltages (200 microvolts), low power (10 nanowatts) and are completely compatible with silicon processing. To demonstrate their potential, we develop lithographic fabrication-and-release protocols to prototype sub-hundred-micrometre walking robots. Every step in this process is performed in parallel, allowing us to produce over one million robots per four-inch wafer. These results are an important advance towards mass-manufactured, silicon-based, functional robots that are too small to be resolved by the naked eye.

Template-Assisted Self-Assembly of Conductive Polymer Electrodes for Ionic Electroactive Polymers

Ionic electroactive polymers (ionic EAPs) can greatly aid in biomedical applications where micro-sized actuators are required for delicate procedures. Since these types of actuators generally require platinum or gold metallic electrodes, they tend to be expensive and susceptible to delamination. Previous research has solved this problem by replacing the metallic electrodes with conductive polymers (CP) and forming an interpenetrating polymer network (IPN) between the conductive polymer (CP) and the solid polymer electrolyte (SPE). Since these actuators contain toxic ionic liquids, they are unsuitable for biological applications. In this study, we present a novel and facile method of fabricating a biocompatible and ionic liquid-free actuator that uses semi-IPN to hold the CP and Nafion-based SPE layers together. Surface activated fabrication treatment (SAFT) is applied to the precursor-Nafion membrane in order to convert the sulfonyl fluoride groups on the surface to sulfonate. Through template-assisted self-assembly, the CP electrodes from either polyaniline (PANI) or poly(3,4-ethylenedioxythiophene) (PEDOT) interlock with the surface treated precursor-Nafion membrane so that no delamination can occur. The electrodes growth pattern, interfacial layer's thickness, and shape can be controlled by adjusting the SAFT concentration and duration.

A Biomimetic Approach to Increasing Soft Actuator Performance by Friction Reduction

While increasing power output is the most straight-forward solution for faster and stronger motion in technology, sports, or elsewhere, efficiency is what separates the best from the rest. In nature, where the possibilities of power increase are limited, efficiency of motion is particularly important; the same principle can be applied to the emerging biomimetic and bio-interacting technologies. In this work, by applying hints from nature, we consider possible approaches of increasing the efficiency of motion through liquid medium of bilayer ionic electroactive polymer actuations, focusing on the reduction of friction by means of surface tension and hydrophobicity. Conducting polyethylene terephthalate (PET) bilayers were chosen as the model actuator system. The actuation medium consisted of aqueous solutions containing tetramethylammonium chloride and sodium dodecylbenzenesulfonate in different ratios. The roles of ion concentrations and the surface tension are discussed. Hydrophobicity of the PET support layer was further tuned by adding a spin-coated silicone layer to it. As expected, both approaches increased the displacement-the best results having been obtained by combining both, nearly doubling the bending displacement. The simple approaches for greatly increasing actuation motion efficiency can be used in any actuator system operating in a liquid medium.

3D Printing Microactuators for Soft Microrobots

Current additive manufacturing, including three-dimensional (3D) and so-called four-dimensional printing, of soft robotic devices is limited to millimeter sizes. In this study, we present additive manufacturing of soft microactuators and microrobots to fabricate even smaller structures in the micrometer domain. Using a custom-built extrusion 3D printer, microactuators are scaled down to a size of 300 × 1000 μm², with minimum thickness of 20 μm. Microactuators combined with printed body and electroactive polymers to drive the actuators are fabricated from computer-aided design model of the device structure. To demonstrate the ease and versatility of 3D printing process, microactuators with varying lengths ranging from 1000 to 5000 μm are fabricated and operated. Likewise, microrobotic devices consisting of a rigid body and individually controlled free-moving arms or legs are 3D printed to explore the microfabrication of soft grippers, manipulators, or microrobots through simple additive manufacturing technique.