Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sens...Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines.展开更多
In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft...In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.展开更多
Soft magnetic alloys are extensively used in various power electronic devices due to their advantageous properties,including high saturation magnetic induction,low coercivity,and high permeability.In certain applicati...Soft magnetic alloys are extensively used in various power electronic devices due to their advantageous properties,including high saturation magnetic induction,low coercivity,and high permeability.In certain applications,complex-shaped components are increasingly required for performance enhancement.Additive manufacturing technique,particularly selective laser melting(SLM),has emerged as an effective method for fabricating such complex-shaped soft magnetic components.SLM,a laserbased additive manufacturing technique,employs high-power-density lasers to melt and fuse metal powders within a powder bed selectively.This approach enables rapid prototyping,precise geometrical control,and the integration of multi-material designs.This review highlights recent advancements in the application of SLM technique for the production of soft magnetic alloys,focusing on Fe-Si,Fe-Ni,Fe-Co,and amorphous alloy systems.Moreover,it explores the implementation of SLM in manufacturing processes and evaluates both the opportunities and challenges associated with SLM-based production of soft magnetic alloys.展开更多
In recent years,the addition of probiotics into non-dairy beverages has gained popularity.Probiotics offer a wider range of options for individuals who are sensitive to dairy products.Incorporating probiotics into wid...In recent years,the addition of probiotics into non-dairy beverages has gained popularity.Probiotics offer a wider range of options for individuals who are sensitive to dairy products.Incorporating probiotics into widely consumed beverages like carbonated soft drinks poses a notable challenge due to the detrimental impact of acidic pH.Herein,results demonstrate that chitosan-coated alginate/gellan gum microcapsules can enhance the viability of probiotics within carbonated soft drinks.The probiotics,Lactobacillus casei,are encapsulated in microcapsules and exposed to Pepsi,Fanta Strawberry,Sprite,and A&W Root Beer under 4 and 25℃for 60 days and simulated gastrointestinal tract.Microcapsules greatly improve the viability of adding probiotics in different beverages under simulated gastrointestinal tract.The probiotics had a gradual release from microcapsules,reaching maximum release within initial 2 h of simulated intestinal phase.During 4℃storage compared to storage at 25℃,it was found that the number of surviving cells is more than the recommended minimum(10^(6)CFU/g)at the end of the storage.The pH and soluble solids content of beverages containing microcapsules also signify little change.This work shows that the chitosan-coated alginate/gellan microcapsules have the potential to be used as protective microcapsules for probiotics in carbonated soft drinks.展开更多
In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the ...In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.展开更多
Air-permeable and ultrathin conductive electrodes are essential for next-generation soft electronics,including breathable wearables,on-skin devices and biointegrated electronics.However,conventional metallization stra...Air-permeable and ultrathin conductive electrodes are essential for next-generation soft electronics,including breathable wearables,on-skin devices and biointegrated electronics.However,conventional metallization strategies,such as sputtering and ink-printing,often suffer from severe vertical charge leakage due to the porous and ultrathin characteristics of nanofibrous networks,leading to device short-circuiting,operational failure and limited vertical integration.Here,we present a solvent-selective dissolutionassisted transfer printing strategy to achieve surface-confined metallization of ultrathin,lightweight,and gas-permeable nanofibrous networks,enabling lateral conductivity while maintaining vertical insulation.This transfer printing process facilitates not only the rapid formation of conductive patterns on the surface of nanofibrous networks but also mechanical reinforcement through solvent evaporation-induced interlocked fiber-fiber welding.Meanwhile,the strategy preserves the high permeability of the nanofibrous networks and imparts a unique combination of surface conductivity(2Ωcm)and vertical insulativity(10^(11)Ωcm).The resulting anisotropic conductive networks enable low-voltage wearable heaters,high-sensitive pressure sensors,and ultralight temperature sensors.A pressure-temperature dual-modal sensing patch is further fabricated for intelligent grasping classification.The proposed surface-confined metallization strategy enables rapid fabrication of an anisotropic conductive network as a building block to construct air-permeable,ultrathin and lightweight wearable electronics.展开更多
Soft-tissue motion introduces significant challenges in robotic teleoperation,especially in medical scenarios where precise target tracking is critical.Latency across sensing,computation,and actuation chains leads to ...Soft-tissue motion introduces significant challenges in robotic teleoperation,especially in medical scenarios where precise target tracking is critical.Latency across sensing,computation,and actuation chains leads to degraded tracking performance,particularly around high-acceleration segments and trajectory inflection points.This study investigates machine learning-based predictive compensation for latency mitigation in soft-tissue tracking.Three models—autoregressive(AR),long short-term memory(LSTM),and temporal convolutional network(TCN)—were implemented and evaluated on both synthetic and real datasets.By aligning the prediction horizon with the end-to-end system delay,we demonstrate that prediction-based compensation significantly reduces tracking errors.Among the models,TCN achieved superior robustness and accuracy on complex motion patterns,particularly in multi-step prediction tasks,and exhibited better latency–horizon compatibility.The results suggest that TCN is a promising candidate for real-time latency compensation in teleoperated robotic systems involving dynamic soft-tissue interaction.展开更多
This paper develops a semi-analytical solution for pile penetration in natural soft clays using the strain path method(SPM).The stress-strain behavior of soils is characterized by the S-CLAY1S model,which can capture ...This paper develops a semi-analytical solution for pile penetration in natural soft clays using the strain path method(SPM).The stress-strain behavior of soils is characterized by the S-CLAY1S model,which can capture the anisotropic evolution and destructuring nature of soft clays.By integrating the S-CLAY1S model into the theoretical framework of the SPM,a set of ordinary differential equations is formulated with respect to the vertical coordinate of soil particles.The distribution of excess pore water pressure(EPWP)following pile installation is approximated through one-dimensional(1D)radial integration around the pile shaft.The distribution of stresses and EPWP,along with the evolution of fabric anisotropy within the soil surrounding the pile,is presented to illustrate the response of pile penetration in natural soft clays.The proposed solution is validated against existing theoretical solutions using the SPM and cavity expansion method(CEM),along with experimental data.The findings demonstrate that the SPM reveals lower radial effective stresses and EPWP at the pile shaft than that of CEM.Pile penetration alters the soil's anisotropic properties,inducing rotational hardening and affecting post-installation stress distribution.Soil destructuration eliminates bonding among particles near the pile,resulting in a complete disruption of soil structure at the pile surface,which is particularly pronounced for higher initial soil structure ratios.Minimal variation was observed in the three principal stresses and shear stress on the cone side surface as the angle increased from 18°to 60°,except for a slight reduction in EPWP.展开更多
Polyurethane elastomers exhibit high dielectric constants owing to their polar groups,and can be used as energy storage capacitors.Energy storage depends not only on the dielectric constant but also on the dielectric ...Polyurethane elastomers exhibit high dielectric constants owing to their polar groups,and can be used as energy storage capacitors.Energy storage depends not only on the dielectric constant but also on the dielectric loss.However,the relationship between chain structure and dielectric properties is not yet clear.Ketal-containing crosslinked polyurethane elastomers were prepared using cyclic ketal diol as a chain extender.The effect of the soft segment length on the dielectric properties and energy storage was investigated.The cause of the change in the dipolar polarization with the soft segment length was analyzed.As the soft segment length increased,the hard-soft hydrogen bonding decreased,whereas the hard-hard hydrogen bonding increased.Under the action of an electric field,the polar bonds in the ketal-containing polyurethane elastomer overcome the hydrogen bonding between hard-soft segments to produce polarization;meanwhile,they also experience crankshaft motions to generate polarization.The former has a relatively high relaxation activation energy of approximately 10-20 k J·mol^(-1),resulting in a large dielectric loss.The latter has a relatively low relaxation activation energy,approximately 0.7-1.7 kJ·mol^(-1),leading to low dielectric loss.As a result,the dielectric constant showed a decreasing trend,and the dielectric loss gradually decreased.This study provides a theoretical foundation for improving the dielectric properties of polyurethane elastomers.展开更多
Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-t...Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in lo...Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in long-distance and miniaturized environments.Fuel-driven actuators offer a promising solution by enabling the conversion of chemical energy into mechanical energy,supporting selfsustaining operations.Chemical energy from fuel can be converted into mechanical energy either directly or indirectly through methods such as electron transfer-induced charge injection,structural changes,fuel-to-electricity conversion,fuel combustioninduced heat,or fuel-induced pneumatic actuation.This paper provides a comprehensive review of recent developments in fuel-powered actuators,covering their fundamental principles,advancements,and challenges.It concludes with an outlook for miniaturized and autonomous robots,highlighting the great potential of integrating fuel-powered actuators.展开更多
Soft clay treatment with all industrial by-product(IBP)binder has great economic and environmental benefits,yet its geomechanics and mechanisms still need to be well probed.With the activation by calcium carbide resid...Soft clay treatment with all industrial by-product(IBP)binder has great economic and environmental benefits,yet its geomechanics and mechanisms still need to be well probed.With the activation by calcium carbide residue(CCR)and phosphogypsum(PG),the strength,structure,and mechanisms of soft clay treated by aluminosilicate-rich IBP(AS-IBP,such as ground granulated blast furnace slag(GGBS),fly ash(FA),coal gangue(CG),Bayer red mud(BR),and sintered red mud(SR))are comparatively investigated.The strength characteristics of solidified clay exhibit significant differences as AS-IBP changes.When GGBS is adopted,the strength is sensitive to the change in PG content,while the impact of CCR is insignificant.After 90 d,the strength of the optimal sample(G23)reaches 1.40 MPa,35.9%higher than cement solidified clay(CSC),while that achieved by other AS-IBPs is less than 0.3 MPa.In the compression test,the structure's evolutionary trend of G23 has a sudden change as the strength increases from 1.81 MPa to 2.29 MPa,suggesting the transformation in material properties.Besides,the structure of G23 is stronger than CSC,which contributes more to the compressive performance.The total amount of main products(C-S-H and ettringite)of all-IBP solidified clay determines the strength,and ettringite is only significant when calcium-rich AS-IBP is adopted.The total amount of minor products(C-A-H and C-A-S-H)is similar for different samples,equivalent to 28.9%-46.3%of the main products.The relationship between the strength and the product amount can be presented using an exponential function.展开更多
Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stabi...Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.展开更多
This study proposes to use the unconfined compressive strength(UCS)and the bender element(BE)tests for determining the strength and the initial small-strain shear modulus of Bangkok soft marine clay improved by cement...This study proposes to use the unconfined compressive strength(UCS)and the bender element(BE)tests for determining the strength and the initial small-strain shear modulus of Bangkok soft marine clay improved by cement and polyester fibers.This study varies the content of admixed cement(1%–20%)and polyester fibers(0–20%),including the curing time(3–28 d)for preparing 360 samples.Moreover,this study uses the Michaelis-Menten kinetics concept to model cement hydration saturation.From the study,it is concluded as follows.The modelled results reveals that at least 10%cement and 1%polyester fiber are recommended to attain the 28-d UCS standards(294 kPa)for highway subgrade materials in Thailand.This also fulfils sustainable construction due to reducing normal-use cement from 20%to 10%.Unfortunately,the addition of polyester fibers into the Bangkok clay with at least 5%cement reduces shear modulus by 1.12–1.32 times.The Abram's relationship between shear modulus and the mixing-water-to-cement ratio is found time-dependent.From the composite theory,the BE detects the polyester fiber zone as a defect in the Bangkok clay(matrix)with 5%–20%cement.So,the 28-d shear modulus in the polyester fiber zone is negative(up to0.034 MPa for 20%fiber),similar to softening phenomenon in concrete cracking(negative stiffness).For the 28-d shear modulus of fiber zone,the optimum cement content is around 2%for the positive influences of polyester fibers.Experimentally,the timedependent normalized UCS for 10%and 20%cement is compatible with other studies,and its development rate increases with the cement content as 0.3017,0.3172 and 0.3204 for 5%,10%and 20%cement,respectively.The 28-d relationship between shear modulus and UCS shows that low-cement soft clay requires high polyester fiber content(5%–20%)to activate UCS improvement.However,the soft clay with enough cement(20%)causes the uniformly distributed UCS improvement.展开更多
The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to r...The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.展开更多
The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu...The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.展开更多
Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation ...Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.展开更多
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec...Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.52405267)the Jiangxi Provincial Natural Science Foundation(Grant Nos.20242BAB25257,20232BAB214050)+1 种基金the China Postdoctoral Science Foundation(Grant No.2024M760877)the Natural Science Foundation of Hunan Province(Grant No.2025JJ60369)。
文摘Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines.
文摘In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.
基金National Natural Science Foundation of China(52171191,52371198)Project of Constructing National Independent Innovation Demonstration Zones(XM2024XTGXQ05)。
文摘Soft magnetic alloys are extensively used in various power electronic devices due to their advantageous properties,including high saturation magnetic induction,low coercivity,and high permeability.In certain applications,complex-shaped components are increasingly required for performance enhancement.Additive manufacturing technique,particularly selective laser melting(SLM),has emerged as an effective method for fabricating such complex-shaped soft magnetic components.SLM,a laserbased additive manufacturing technique,employs high-power-density lasers to melt and fuse metal powders within a powder bed selectively.This approach enables rapid prototyping,precise geometrical control,and the integration of multi-material designs.This review highlights recent advancements in the application of SLM technique for the production of soft magnetic alloys,focusing on Fe-Si,Fe-Ni,Fe-Co,and amorphous alloy systems.Moreover,it explores the implementation of SLM in manufacturing processes and evaluates both the opportunities and challenges associated with SLM-based production of soft magnetic alloys.
基金Chulalongkorn University and the National Science and Technology Development Agency(NSTDA)for providing the Chulalongkorn University-NSTDA Doctoral Scholarship,which funded this articlesupport from the 90~(th)Anniversary of Chulalongkorn University Scholarship under the Ratchadaphisek Somphot Endowment Fund。
文摘In recent years,the addition of probiotics into non-dairy beverages has gained popularity.Probiotics offer a wider range of options for individuals who are sensitive to dairy products.Incorporating probiotics into widely consumed beverages like carbonated soft drinks poses a notable challenge due to the detrimental impact of acidic pH.Herein,results demonstrate that chitosan-coated alginate/gellan gum microcapsules can enhance the viability of probiotics within carbonated soft drinks.The probiotics,Lactobacillus casei,are encapsulated in microcapsules and exposed to Pepsi,Fanta Strawberry,Sprite,and A&W Root Beer under 4 and 25℃for 60 days and simulated gastrointestinal tract.Microcapsules greatly improve the viability of adding probiotics in different beverages under simulated gastrointestinal tract.The probiotics had a gradual release from microcapsules,reaching maximum release within initial 2 h of simulated intestinal phase.During 4℃storage compared to storage at 25℃,it was found that the number of surviving cells is more than the recommended minimum(10^(6)CFU/g)at the end of the storage.The pH and soluble solids content of beverages containing microcapsules also signify little change.This work shows that the chitosan-coated alginate/gellan microcapsules have the potential to be used as protective microcapsules for probiotics in carbonated soft drinks.
基金financially supported by the Natural Science Foundation of Jiangsu Province,China(No.BK 20221502)the National Natural Science Foundation of China(No.42477147)。
文摘In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.
基金supported by the National Natural Science Foundation of China(22434007,22104021,52303075,22404102)the Taishan Young Scholar Program of Shandong Province(tsqnz20231235)+2 种基金the Natural Science Foundation of Shandong Province(ZR2024QB338,ZR2023QB227)the Higher Education Institutions Youth Innovation Team Plan of Shandong Province(2024KJH046)the Shandong Postdoctora1 Science Foundation(SDCX-ZG-202400279)。
文摘Air-permeable and ultrathin conductive electrodes are essential for next-generation soft electronics,including breathable wearables,on-skin devices and biointegrated electronics.However,conventional metallization strategies,such as sputtering and ink-printing,often suffer from severe vertical charge leakage due to the porous and ultrathin characteristics of nanofibrous networks,leading to device short-circuiting,operational failure and limited vertical integration.Here,we present a solvent-selective dissolutionassisted transfer printing strategy to achieve surface-confined metallization of ultrathin,lightweight,and gas-permeable nanofibrous networks,enabling lateral conductivity while maintaining vertical insulation.This transfer printing process facilitates not only the rapid formation of conductive patterns on the surface of nanofibrous networks but also mechanical reinforcement through solvent evaporation-induced interlocked fiber-fiber welding.Meanwhile,the strategy preserves the high permeability of the nanofibrous networks and imparts a unique combination of surface conductivity(2Ωcm)and vertical insulativity(10^(11)Ωcm).The resulting anisotropic conductive networks enable low-voltage wearable heaters,high-sensitive pressure sensors,and ultralight temperature sensors.A pressure-temperature dual-modal sensing patch is further fabricated for intelligent grasping classification.The proposed surface-confined metallization strategy enables rapid fabrication of an anisotropic conductive network as a building block to construct air-permeable,ultrathin and lightweight wearable electronics.
基金Support by Sichuan Science and Technology Program[2023YFSY0026,2023YFH0004]Guangzhou Huashang University[2024HSZD01,HS2023JYSZH01].
文摘Soft-tissue motion introduces significant challenges in robotic teleoperation,especially in medical scenarios where precise target tracking is critical.Latency across sensing,computation,and actuation chains leads to degraded tracking performance,particularly around high-acceleration segments and trajectory inflection points.This study investigates machine learning-based predictive compensation for latency mitigation in soft-tissue tracking.Three models—autoregressive(AR),long short-term memory(LSTM),and temporal convolutional network(TCN)—were implemented and evaluated on both synthetic and real datasets.By aligning the prediction horizon with the end-to-end system delay,we demonstrate that prediction-based compensation significantly reduces tracking errors.Among the models,TCN achieved superior robustness and accuracy on complex motion patterns,particularly in multi-step prediction tasks,and exhibited better latency–horizon compatibility.The results suggest that TCN is a promising candidate for real-time latency compensation in teleoperated robotic systems involving dynamic soft-tissue interaction.
基金support from the National Natural Science Foundation of China(Grant No.42407256)the State Key Laboratory of Hydraulics and Mountain River Engineering,China(Grant No.SKHL2113)the Sichuan Science and Technology Program(Grant No.2024YFHZ0341).
文摘This paper develops a semi-analytical solution for pile penetration in natural soft clays using the strain path method(SPM).The stress-strain behavior of soils is characterized by the S-CLAY1S model,which can capture the anisotropic evolution and destructuring nature of soft clays.By integrating the S-CLAY1S model into the theoretical framework of the SPM,a set of ordinary differential equations is formulated with respect to the vertical coordinate of soil particles.The distribution of excess pore water pressure(EPWP)following pile installation is approximated through one-dimensional(1D)radial integration around the pile shaft.The distribution of stresses and EPWP,along with the evolution of fabric anisotropy within the soil surrounding the pile,is presented to illustrate the response of pile penetration in natural soft clays.The proposed solution is validated against existing theoretical solutions using the SPM and cavity expansion method(CEM),along with experimental data.The findings demonstrate that the SPM reveals lower radial effective stresses and EPWP at the pile shaft than that of CEM.Pile penetration alters the soil's anisotropic properties,inducing rotational hardening and affecting post-installation stress distribution.Soil destructuration eliminates bonding among particles near the pile,resulting in a complete disruption of soil structure at the pile surface,which is particularly pronounced for higher initial soil structure ratios.Minimal variation was observed in the three principal stresses and shear stress on the cone side surface as the angle increased from 18°to 60°,except for a slight reduction in EPWP.
基金financially supported by the Hubei Key Laboratory of Pollutant Analysis&Reuse Technology(No.PA230102)。
文摘Polyurethane elastomers exhibit high dielectric constants owing to their polar groups,and can be used as energy storage capacitors.Energy storage depends not only on the dielectric constant but also on the dielectric loss.However,the relationship between chain structure and dielectric properties is not yet clear.Ketal-containing crosslinked polyurethane elastomers were prepared using cyclic ketal diol as a chain extender.The effect of the soft segment length on the dielectric properties and energy storage was investigated.The cause of the change in the dipolar polarization with the soft segment length was analyzed.As the soft segment length increased,the hard-soft hydrogen bonding decreased,whereas the hard-hard hydrogen bonding increased.Under the action of an electric field,the polar bonds in the ketal-containing polyurethane elastomer overcome the hydrogen bonding between hard-soft segments to produce polarization;meanwhile,they also experience crankshaft motions to generate polarization.The former has a relatively high relaxation activation energy of approximately 10-20 k J·mol^(-1),resulting in a large dielectric loss.The latter has a relatively low relaxation activation energy,approximately 0.7-1.7 kJ·mol^(-1),leading to low dielectric loss.As a result,the dielectric constant showed a decreasing trend,and the dielectric loss gradually decreased.This study provides a theoretical foundation for improving the dielectric properties of polyurethane elastomers.
基金supported by National Natural Science Foundation of China(No.52103044)Double First-Class Initiative University of Science and Technology of China(KY2400000037)the Young Talent Programme(GG2400007009).
文摘Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
基金Financial support from the program of the National Natural Science Foundation of China(Grant no.52475059)Major Program of National Natural Science Founda-tion of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(92248301)+3 种基金the Postdoctoral Research Foundation of China(No.2024M751167)the Young Elite Scientists Sponsorship Program by CAST(2023QNRC001)Jiangsu Province Natural Science Foundation(No.BK20240155)supported by the Nano&Material Technology Development Program through the National Research Foundation of Korea(NRF),funded by the Ministry of Science and ICT(RS2024-00406534,RS-2025-25442809)。
文摘Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in long-distance and miniaturized environments.Fuel-driven actuators offer a promising solution by enabling the conversion of chemical energy into mechanical energy,supporting selfsustaining operations.Chemical energy from fuel can be converted into mechanical energy either directly or indirectly through methods such as electron transfer-induced charge injection,structural changes,fuel-to-electricity conversion,fuel combustioninduced heat,or fuel-induced pneumatic actuation.This paper provides a comprehensive review of recent developments in fuel-powered actuators,covering their fundamental principles,advancements,and challenges.It concludes with an outlook for miniaturized and autonomous robots,highlighting the great potential of integrating fuel-powered actuators.
基金supported by the National Natural Science Foundation of China(Grant No.U24A20183)Natural Science Fund for Distinguished Young Scholars of Hubei Province,China(Grant No.2024AFA051)Youth Science Fund(A-class)of Hunan Natural Science Foundation of China(Grant No.2025JJ20049).
文摘Soft clay treatment with all industrial by-product(IBP)binder has great economic and environmental benefits,yet its geomechanics and mechanisms still need to be well probed.With the activation by calcium carbide residue(CCR)and phosphogypsum(PG),the strength,structure,and mechanisms of soft clay treated by aluminosilicate-rich IBP(AS-IBP,such as ground granulated blast furnace slag(GGBS),fly ash(FA),coal gangue(CG),Bayer red mud(BR),and sintered red mud(SR))are comparatively investigated.The strength characteristics of solidified clay exhibit significant differences as AS-IBP changes.When GGBS is adopted,the strength is sensitive to the change in PG content,while the impact of CCR is insignificant.After 90 d,the strength of the optimal sample(G23)reaches 1.40 MPa,35.9%higher than cement solidified clay(CSC),while that achieved by other AS-IBPs is less than 0.3 MPa.In the compression test,the structure's evolutionary trend of G23 has a sudden change as the strength increases from 1.81 MPa to 2.29 MPa,suggesting the transformation in material properties.Besides,the structure of G23 is stronger than CSC,which contributes more to the compressive performance.The total amount of main products(C-S-H and ettringite)of all-IBP solidified clay determines the strength,and ettringite is only significant when calcium-rich AS-IBP is adopted.The total amount of minor products(C-A-H and C-A-S-H)is similar for different samples,equivalent to 28.9%-46.3%of the main products.The relationship between the strength and the product amount can be presented using an exponential function.
基金supported by the NSFC under Grant No.62474169the National Key Research and Development Program of China under Grant No.2024YFB3212200the funding from USTC under Grant Nos.WK2100000025,KY2190000003,and KY2190000006。
文摘Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.
基金allocated by National Science,Research and Innovation Fund(NSRF)King Mongkut's University of Technology North Bangkok(project no.KMUTNB-FF-67-B-44 and KMUTNB-FF-67-B-45)supported by the NSRF through the Program Management Unit for Human Resources&Institutional Development,Research and Innovation(grant no.B40G660036).
文摘This study proposes to use the unconfined compressive strength(UCS)and the bender element(BE)tests for determining the strength and the initial small-strain shear modulus of Bangkok soft marine clay improved by cement and polyester fibers.This study varies the content of admixed cement(1%–20%)and polyester fibers(0–20%),including the curing time(3–28 d)for preparing 360 samples.Moreover,this study uses the Michaelis-Menten kinetics concept to model cement hydration saturation.From the study,it is concluded as follows.The modelled results reveals that at least 10%cement and 1%polyester fiber are recommended to attain the 28-d UCS standards(294 kPa)for highway subgrade materials in Thailand.This also fulfils sustainable construction due to reducing normal-use cement from 20%to 10%.Unfortunately,the addition of polyester fibers into the Bangkok clay with at least 5%cement reduces shear modulus by 1.12–1.32 times.The Abram's relationship between shear modulus and the mixing-water-to-cement ratio is found time-dependent.From the composite theory,the BE detects the polyester fiber zone as a defect in the Bangkok clay(matrix)with 5%–20%cement.So,the 28-d shear modulus in the polyester fiber zone is negative(up to0.034 MPa for 20%fiber),similar to softening phenomenon in concrete cracking(negative stiffness).For the 28-d shear modulus of fiber zone,the optimum cement content is around 2%for the positive influences of polyester fibers.Experimentally,the timedependent normalized UCS for 10%and 20%cement is compatible with other studies,and its development rate increases with the cement content as 0.3017,0.3172 and 0.3204 for 5%,10%and 20%cement,respectively.The 28-d relationship between shear modulus and UCS shows that low-cement soft clay requires high polyester fiber content(5%–20%)to activate UCS improvement.However,the soft clay with enough cement(20%)causes the uniformly distributed UCS improvement.
基金The Central Government Guides Local Foundation for Science and Technology Development(Grant No.YDZJSX2024B004).
文摘The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.
文摘Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.
