As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progres...As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.展开更多
In nature,many living organisms exhibiting unique structural coloration and soft-bodied actuation have inspired scientists to develop advanced structural colored soft actuators toward biomimetic soft robots.However,it...In nature,many living organisms exhibiting unique structural coloration and soft-bodied actuation have inspired scientists to develop advanced structural colored soft actuators toward biomimetic soft robots.However,it is challenging to simultaneously biomimic the angle-independent structural color and shape-morphing capabilities found in the plum-throated cotinga flying bird.Herein,we report biomimetic MXene-based soft actuators with angle-independent structural color that are fabricated through controlled self-assembly of colloidal SiO_(2) nanoparticles onto highly aligned MXene films followed by vacuum-assisted infiltration of polyvinylidene fluoride into the interstices.The resulting soft actuators are found to exhibit brilliant,angle-independent structural color,as well as ultrafast actuation and recovery speeds(a maximum curvature of 0.52 mm−1 can be achieved within 1.16 s,and a recovery time of~0.24 s)in response to acetone vapor.As proof-of-concept illustrations,structural colored soft actuators are applied to demonstrate a blue gripper-like bird’s claw that can capture the target,artificial green tendrils that can twine around tree branches,and an artificial multicolored butterfly that can flutter its wings upon cyclic exposure to acetone vapor.The strategy is expected to offer new insights into the development of biomimetic multifunctional soft actuators for somatosensory soft robotics and next-generation intelligent machines.展开更多
Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators d...Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.展开更多
Laser-assisted process can enable facile,mask-free,large-area,inexpensive,customizable,and miniaturized patterning of laser-induced porous graphene(LIG)on versatile carbonaceous substrates(e.g.,polymers,wood,food,text...Laser-assisted process can enable facile,mask-free,large-area,inexpensive,customizable,and miniaturized patterning of laser-induced porous graphene(LIG)on versatile carbonaceous substrates(e.g.,polymers,wood,food,textiles)in a programmed manner at ambient conditions.Together with high tailorability of its porosity,morphology,composition,and electrical conductivity,LIG can find wide applications in emerging bioelectronics(e.g.,biophysical and biochemical sensing)and soft robots(e.g.,soft actuators).In this review paper,we first introduce the methods to make LIG on various carbonaceous substrates and then discuss its electrical,mechanical,and antibacterial properties and biocompatibility that are critical for applications in bioelectronics and soft robots.Next,we overview the recent studies of LIG-based biophysical(e.g.,strain,pressure,temperature,hydration,humidity,electrophysiological)sensors and biochemical(e.g.,gases,electrolytes,metabolites,pathogens,nucleic acids,immunology)sensors.The applications of LIG in flexible energy generators and photodetectors are also introduced.In addition,LIG-enabled soft actuators that can respond to chemicals,electricity,and light stimulus are overviewed.Finally,we briefly discuss the future challenges and opportunities of LIG fabrications and applications.展开更多
Liquid crystal elastomers are active materials that combine the anisotropic properties of liquid crystals with the elasticity of polymer networks.The LCEs exhibit remarkable reversible contraction and elongation capab...Liquid crystal elastomers are active materials that combine the anisotropic properties of liquid crystals with the elasticity of polymer networks.The LCEs exhibit remarkable reversible contraction and elongation capabilities in response to external stimuli,rendering them highly promising for diverse applications,such as soft robotics,haptic devices,shape morphing structures,etc,However,the predominant reliance on heating as the driving stimulus for LCEs has limited their practical applications.This drawback can be effectively addressed by incorporating fllers,which can generate heat under various stimuli.The recent progress in LCE composites has significantly expanded the application potential of LCEs.In this minireview,we present the design strategies for soft actuators with LCE composites,followed by a detailed exploration of photothermal and electrothermal LCE.composites as prominent examples.Furthermore,we provide an outlook on the challenges and opportunities in the feld of LCE composites.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
Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily living.Besides the necessary medical treatment,correct and scientifc rehabilitation...Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily living.Besides the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper limb.Conventional upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor portability.In this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was developed.Driven by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow joints.In this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied experimentally.The results provide a reference for the development and application of wearable upper limb rehabilitation robots.An experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical model.The process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation training.This work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.展开更多
As mechanical devices for moving or controlling mechanisms or systems,actuators have attracted increasing attention in various fields.Compared to traditional actuators with rigid structures,soft actuators made up of s...As mechanical devices for moving or controlling mechanisms or systems,actuators have attracted increasing attention in various fields.Compared to traditional actuators with rigid structures,soft actuators made up of stimulus-responsive soft materials are more adaptable to complex working conditions due to soft bodies and diverse control styles.Different from plate-shaped soft actuators,which have the limited deformations between two dimensional(2D)and 3D-configurations such as bending and twisting,fiber-shaped soft actuators(FSAs)own intriguing deformation modes to satisfy diverse practical applications.In this mini review,the recent progress on the controlled fabrication of the FSAs is presented.The advantages and disadvantages of each fabrication method are also demonstrated.Subsequently,the as-developed actuation mechanisms of the FSAs are displayed.Additionally,typical examples of the related applications of the FSAs in different fields have been discussed.Finally,an outlook on the development tendency of the FSAs is put forward as well.展开更多
Photonic fibrous soft actuators that can modulate light and produce responsive deformation would have broad technological implications in areas,ranging from smart textiles and intelligent artificial muscles to medical...Photonic fibrous soft actuators that can modulate light and produce responsive deformation would have broad technological implications in areas,ranging from smart textiles and intelligent artificial muscles to medical devices.However,creating such multifunctional soft actuators has proved tremendously challenging.Here,we report novel cholesteric liquid crystal elastomer(CLCE)based photonic fibrous soft actuators(PFSAs).CLCE can serve as chiral photonic soft active material and allow for multiresponse in shapes and colors.We leveraged a tubularmold-based processing technology to prepare fibrous CLCE actuators,and the prepared actuators exhibit the capabilities to dynamically switch structural colors and geometrical shapes by mechanical,temperature,or light stimuli.CLCE-based PFSAs demonstrate diverse functionalities,including visual weight feedback,optically driven object manipulation,and light driven locomotion.It is anticipated that our PFSAs would offer many new possibilities for developing advanced soft actuators.展开更多
Soft robotics,compared with their rigid counterparts,are able to adapt to uncharted environments,are superior in safe human-robot interactions,and have low cost,owing to the native compliance of the soft materials.How...Soft robotics,compared with their rigid counterparts,are able to adapt to uncharted environments,are superior in safe human-robot interactions,and have low cost,owing to the native compliance of the soft materials.However,customized complex structures,as well as the nonlinear and viscoelastic soft materials,pose a great challenge to accurate modeling and control of soft robotics,and impose restrictions on further applications.In this study,a unified modeling strategy is proposed to establish a complete dynamic model of the most widely used pneumatic soft bending actuator.First,a novel empirical nonlinear model with parametric and nonlinear uncertainties is identified to describe the nonlinear behaviors of pneumatic soft bending actuators.Second,an inner pressure dynamic model of a pneumatic soft bending actuator is established by introducing a modified valve flow rate model of the unbalanced pneumatic proportional valves.Third,an adaptive robust controller is designed using a backstepping method to handle and update the nonlinear and uncertain system.Finally,the experimental results of comparative trajectory tracking control indicate the validity of the proposed modeling and control method.展开更多
Soft bellows-type pneumatic actuators(SBPAs),which consist of two cavities with small chambers embedded in elastomeric structures,are an essential embranchment in the field of soft actuators.However,more analytical mo...Soft bellows-type pneumatic actuators(SBPAs),which consist of two cavities with small chambers embedded in elastomeric structures,are an essential embranchment in the field of soft actuators.However,more analytical modeling and analysis of SBPAs need to be studied.In this article,we first present the structure design,fabrication method,and material property test of the SBPA.Then,based on the plate bending theory,an analytical model and the corresponding design approach for SBPAs are established,which consider both geometric complexity and material nonlinearity.The verification results indicate that the predicted analytical results coincide well with the physical experimental measurement and simulation results.The decision coefficient is R^(2)=0.9720.The impacts of geometric dimensions and silicone material characteristics on the bending deformation of SBPAs are also explored.We further demonstrate the bionic utility of SBPAs.Such an approach can be used as a tool for the design optimization of bellows-type actuators and save the designer lots of finite element analysis with its low computational cost.This work provides a detailed investigation of the performance of SBPAs,which can be a basic module for various types of soft robots such as soft snake robots,crawling robots,and robotic arms in the future.展开更多
Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and a...Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working ability.Recent development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation performance.Despite the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple scenarios.Here,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS nanosheets.Results show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical activities.At a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 mN.Using these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical signal.This work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.展开更多
Bioinspired Soft Bending Actuators (SBA) are increasingly being used in rehabilitation, assistant robots, and grippers. Despite many investigations on free motion modeling, understanding how these actuators interact w...Bioinspired Soft Bending Actuators (SBA) are increasingly being used in rehabilitation, assistant robots, and grippers. Despite many investigations on free motion modeling, understanding how these actuators interact with the environment requires more detailed research. It is caused by high compliance and nonlinearity of bioinspired soft material, which leads to serious challenges in contact conditions. In this paper, a continuous deformation analysis is presented to describe the free motion nonlinear behavior of the actuator. Based on the achieved result, this study proposes static modeling of SBA affected by a concentrated external force. For this purpose, the finite rigid element method is utilized, which is based on discretizing the actuator into smaller parts and assuming these parts as rigid serial links connected by nonlinear torsional springs. To verify the proposed model, two kinds of forces are considered to be acting on the actuator, i.e. following force and constant direction force. In addition, the effect of gravity on the actuator configuration is also investigated. The validity of the model has been demonstrated through experiments in free motion, contact conditions and the presence of gravity. It generally shows that the prediction error of robot configuration is lower than 7.5%.展开更多
The soft robotics display huge advantages over their rigid counterparts when interacting with living organisms and fragile objects.As one of the most efficient actuators toward soft robotics,the soft pneumatic actuato...The soft robotics display huge advantages over their rigid counterparts when interacting with living organisms and fragile objects.As one of the most efficient actuators toward soft robotics,the soft pneumatic actuator(SPA)can produce large,complex responses with utilizing pressure as the only input source.In this work,a new approach that combines digital light processing(DLP)and injection-assisted post-curing is proposed to create SPAs that can realize different functionalities.To enable this,we develop a new class of photo-cross linked elastomers with tunable mechanical properties,good stretchability,and rapid curing speed.By carefully designing the geometry of the cavities embedded in the actuators,the resulting actuators can realize contracting,expanding,flapping,and twisting motions.In addition,we successfully fabricate a soft self-sensing bending actuator by injecting conductive liquids into the three-dimensional(3D)printed actuator,demonstrating that the present method has the potential to be used to manufacture intelligent soft robotic systems.展开更多
Developing flexible actuators with high transport efficiency is of great significance for the emerging applications of micro-robots in various industrial and biomedical environments.Despite recent advancements have en...Developing flexible actuators with high transport efficiency is of great significance for the emerging applications of micro-robots in various industrial and biomedical environments.Despite recent advancements have enabled soft materials to achieve complex functionalities unattainable by traditional rigid robots,achieving high-speed transport performance for solid particles remains a significant challenge.Magnetic materials,as an integral component of scientific applications,have demonstrated substantial potential in areas such as biological imaging,catalysis,and energy storage.Inspired by the flexible,soft,and elastic microciliary structures of many organisms,a soft actuator decorated with magnetic microcilia was reported.This soft magnetic microciliary actuator achieves high speed(50 mm s^(-1))transport of solid microspheres by means of magnetic field regulate their surface morphology.Overcoming the limitations of prior studies in which the speed of motion was constrained to a few millimeters per second due to hysteresis effects,this work represents a significant advancement in the emerging field of biomimetic flexible actuators and holds promise in various applications.展开更多
Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex...Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex deformations when substantial force is required,compromising their load-bearing capacity.This work proposes a novel method that uses gecko setae-inspired adhesives as interlayer films to construct a layer jamming structure to adjust the stiffness of soft actuators.The mechanical behavior of a single tilted microcylinder was analyzed using the energy method to determine the adhesion force of the adhesives.The gecko-inspired adhesive was designed under the guidance of the adhesion force model.Testing under various loads and directions revealed that the tilted characteristic of microcylinders can enhance the adhesion force in its grasping direction.The adhesive demonstrated excellent adhesion performance compared to other typical adhesives.A tunable stiffness actuator using gecko setae-inspired adhesives(TSAGA),was developed with these adhesives serving as interlayer films.The stiffness model of TSAGA was derived by analyzing its axial compression force.The results of stiffness test indicate that the adhesives serve as interlayer films can adjust the stiffness in response to applied load.TSAGA was compared with other typical soft actuators in order to evaluate the stiffness performance,and the results indicate that TSAGA exhibits the highest stiffness and the widest tunable stiffness range.This demonstrates the superior performance of the setae-inspired adhesives as interlayer films in terms of stiffness adjustment.展开更多
Soft robots have shown great advantages with simple structure,high degree of freedom,continuous deformation,and benign human-machine interaction.In the past decades,a variety of soft robots,including crawling,jumping,...Soft robots have shown great advantages with simple structure,high degree of freedom,continuous deformation,and benign human-machine interaction.In the past decades,a variety of soft robots,including crawling,jumping,swimming,and climbing robots,have been developed inspired by living creatures.However,most of the reported bionic soft robots have only a single mode of motion,which limits their practical application.Herein,we report a fully 3D printed crawling and flipping soft robot using liquid metal incorporated liquid crystal elastomer(LM-LCE)composite as the actuator.With the application of voltage,liquid metal works as the conductive Joule heating material to induce the contraction of the LCE layer.The bending angle of the LM-LCE composite actuator highly depends on the applied voltage.We further demonstrate that the soft robot can exhibit distinct moving behaviors,such as crawling or flipping,by applying different voltages.The fully 3D printed LM-LCE composite structure provides a strategy for the fast construction of soft robots with diverse motion modes.展开更多
This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinae...This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.展开更多
This work presents a novel highly adaptable flexible soft glove composed of multimode deformable three-jointed soft fingers.The soft fingers are assembled by soft actuators and plastic materials that can be driven and...This work presents a novel highly adaptable flexible soft glove composed of multimode deformable three-jointed soft fingers.The soft fingers are assembled by soft actuators and plastic materials that can be driven and controlled with single Degree of Freedom(DOF).A variety of different soft actuators are used as joint drive components to meet the motion requirements of fingers under different working conditions.We established a theoretical model to describe the deflection of the soft actuators based on reciprocal theorems.In addition,the finite-element method(FEM)was used to simulate the curvature change of the soft actuator and the soft finger,the soft actuators theoretical and simulation results were verified by experiments,and the multimode deformable soft fingers were simulated by FEM.Finally,a five-finger soft rehabilitation glove was prototyped and presented experimentally where the flexibility and functionality endowed by the soft fingers were demonstrated and highlighted.The versatility was also showcased in the applications.展开更多
4D printed smart materials is mostly relying on thermal stimulation to actuate,limiting their widely application requiring precise and localized control of the deformations.Most existing strategies for achieving local...4D printed smart materials is mostly relying on thermal stimulation to actuate,limiting their widely application requiring precise and localized control of the deformations.Most existing strategies for achieving localized control rely on hetero-geneous material systems and structural design,thereby increasing design and manufacturing complexity.Here,we endow localized electrothermal,actuation,and sensing properties in electrically-driven soft actuator through parameter-encoded 4D printing.We analyzed the effects of printing parameters on shape memory properties and conductivity,and then explored the multi-directional sensing performance of the 4D printed composites.We demonstrated an integrated actuator-sensor device capable of both shape recovery and perceiving its own position and obstacles simultaneously.Moreover,it can adjust its sensing characteristics through temporary shape programming to adapt to different application scenarios.This study achieves integrated and localized actuation-sensing without the need for multi-material systems and intricate structural designs,offering an efficient solution for the intelligent and lightweight design in the fields of soft robotics,biomedical applications,and aerospace.展开更多
基金financial supports from the National Natural Science Foundation of China(No.61975173)the Key Research and Development Project of Zhejiang Province(No.2022C03103,2023C01045).
文摘As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.
基金supported by the National Natural Science Foundation of China(Nos.51973155,52173181,and 52173262)Jiangsu Innovation Team Program,Natural Science Foundation of Tianjin(20JCYBJC00810).
文摘In nature,many living organisms exhibiting unique structural coloration and soft-bodied actuation have inspired scientists to develop advanced structural colored soft actuators toward biomimetic soft robots.However,it is challenging to simultaneously biomimic the angle-independent structural color and shape-morphing capabilities found in the plum-throated cotinga flying bird.Herein,we report biomimetic MXene-based soft actuators with angle-independent structural color that are fabricated through controlled self-assembly of colloidal SiO_(2) nanoparticles onto highly aligned MXene films followed by vacuum-assisted infiltration of polyvinylidene fluoride into the interstices.The resulting soft actuators are found to exhibit brilliant,angle-independent structural color,as well as ultrafast actuation and recovery speeds(a maximum curvature of 0.52 mm−1 can be achieved within 1.16 s,and a recovery time of~0.24 s)in response to acetone vapor.As proof-of-concept illustrations,structural colored soft actuators are applied to demonstrate a blue gripper-like bird’s claw that can capture the target,artificial green tendrils that can twine around tree branches,and an artificial multicolored butterfly that can flutter its wings upon cyclic exposure to acetone vapor.The strategy is expected to offer new insights into the development of biomimetic multifunctional soft actuators for somatosensory soft robotics and next-generation intelligent machines.
基金support provided by the Hong Kong RGC Theme-based Research Scheme(No.AoE/M-402/20)Hong Kong RGC Area of Excellence Scheme(No.AoE/E-101/23-N)+1 种基金Hong Kong RGC Theme-based Research Scheme(No.T45-406/23-R)the Hong Kong Innovation and Technology Commission via the Hong Kong Branch of National Precious Metals Material Engineering Research Center.
文摘Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.
基金financial support from the NSF grant(ECCS-1917630)and University of Missouri-Columbia startup fund.
文摘Laser-assisted process can enable facile,mask-free,large-area,inexpensive,customizable,and miniaturized patterning of laser-induced porous graphene(LIG)on versatile carbonaceous substrates(e.g.,polymers,wood,food,textiles)in a programmed manner at ambient conditions.Together with high tailorability of its porosity,morphology,composition,and electrical conductivity,LIG can find wide applications in emerging bioelectronics(e.g.,biophysical and biochemical sensing)and soft robots(e.g.,soft actuators).In this review paper,we first introduce the methods to make LIG on various carbonaceous substrates and then discuss its electrical,mechanical,and antibacterial properties and biocompatibility that are critical for applications in bioelectronics and soft robots.Next,we overview the recent studies of LIG-based biophysical(e.g.,strain,pressure,temperature,hydration,humidity,electrophysiological)sensors and biochemical(e.g.,gases,electrolytes,metabolites,pathogens,nucleic acids,immunology)sensors.The applications of LIG in flexible energy generators and photodetectors are also introduced.In addition,LIG-enabled soft actuators that can respond to chemicals,electricity,and light stimulus are overviewed.Finally,we briefly discuss the future challenges and opportunities of LIG fabrications and applications.
基金supported by the Fundamental Research Funds for the Central Universities[YWF-22-K-101]National Natural Science Foundation of China[12202120]Science Technology and Innovation Program of Shenzhen[JCYJ20220531095210022].
文摘Liquid crystal elastomers are active materials that combine the anisotropic properties of liquid crystals with the elasticity of polymer networks.The LCEs exhibit remarkable reversible contraction and elongation capabilities in response to external stimuli,rendering them highly promising for diverse applications,such as soft robotics,haptic devices,shape morphing structures,etc,However,the predominant reliance on heating as the driving stimulus for LCEs has limited their practical applications.This drawback can be effectively addressed by incorporating fllers,which can generate heat under various stimuli.The recent progress in LCE composites has significantly expanded the application potential of LCEs.In this minireview,we present the design strategies for soft actuators with LCE composites,followed by a detailed exploration of photothermal and electrothermal LCE.composites as prominent examples.Furthermore,we provide an outlook on the challenges and opportunities in the feld of LCE composites.
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.
基金Supported by National Natural Science Foundation of China(Grant Nos.51975505 and U2037202)Science and Technology Project of Hebei Education Department(Grant No.SLRC2019039)+1 种基金Postgraduate Innovation Ability Cultivation Funded Project of Hebei Province(Grant No.CXZZBS2021135)Open Project of Hebei Industrial Manipulator Control and reliability Technology Innovation Center,Hebei University of Water Resources and Electric Engineering(Grant No.JXKF2102).
文摘Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily living.Besides the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper limb.Conventional upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor portability.In this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was developed.Driven by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow joints.In this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied experimentally.The results provide a reference for the development and application of wearable upper limb rehabilitation robots.An experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical model.The process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation training.This work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.
基金supported by the National Natural Science Foundation of China(NSFC)(Grant No.21875160)State Key Laboratory for Modification of Chemical Fibers and Polymer Materials(Grant No.KF2219)+1 种基金JK20202A030463,the Natural Science Foundation of Tianjin City(Grant No.20JCQNJC00870)the Scientific Research Project of Tianjin Municipal Education Commission(Grant No.2020KJ054).
文摘As mechanical devices for moving or controlling mechanisms or systems,actuators have attracted increasing attention in various fields.Compared to traditional actuators with rigid structures,soft actuators made up of stimulus-responsive soft materials are more adaptable to complex working conditions due to soft bodies and diverse control styles.Different from plate-shaped soft actuators,which have the limited deformations between two dimensional(2D)and 3D-configurations such as bending and twisting,fiber-shaped soft actuators(FSAs)own intriguing deformation modes to satisfy diverse practical applications.In this mini review,the recent progress on the controlled fabrication of the FSAs is presented.The advantages and disadvantages of each fabrication method are also demonstrated.Subsequently,the as-developed actuation mechanisms of the FSAs are displayed.Additionally,typical examples of the related applications of the FSAs in different fields have been discussed.Finally,an outlook on the development tendency of the FSAs is put forward as well.
基金financially supported by the National Natural Science Foundation of China(Nos.52273111 and 51873197)the Natural Science Foundation of Zhejiang Province of China(No.LR22E030004)the Foundation of Westlake University。
文摘Photonic fibrous soft actuators that can modulate light and produce responsive deformation would have broad technological implications in areas,ranging from smart textiles and intelligent artificial muscles to medical devices.However,creating such multifunctional soft actuators has proved tremendously challenging.Here,we report novel cholesteric liquid crystal elastomer(CLCE)based photonic fibrous soft actuators(PFSAs).CLCE can serve as chiral photonic soft active material and allow for multiresponse in shapes and colors.We leveraged a tubularmold-based processing technology to prepare fibrous CLCE actuators,and the prepared actuators exhibit the capabilities to dynamically switch structural colors and geometrical shapes by mechanical,temperature,or light stimuli.CLCE-based PFSAs demonstrate diverse functionalities,including visual weight feedback,optically driven object manipulation,and light driven locomotion.It is anticipated that our PFSAs would offer many new possibilities for developing advanced soft actuators.
基金Project supported by the National Natural Science Foundation of China(Nos.51875507,51821093,and U1908228)。
文摘Soft robotics,compared with their rigid counterparts,are able to adapt to uncharted environments,are superior in safe human-robot interactions,and have low cost,owing to the native compliance of the soft materials.However,customized complex structures,as well as the nonlinear and viscoelastic soft materials,pose a great challenge to accurate modeling and control of soft robotics,and impose restrictions on further applications.In this study,a unified modeling strategy is proposed to establish a complete dynamic model of the most widely used pneumatic soft bending actuator.First,a novel empirical nonlinear model with parametric and nonlinear uncertainties is identified to describe the nonlinear behaviors of pneumatic soft bending actuators.Second,an inner pressure dynamic model of a pneumatic soft bending actuator is established by introducing a modified valve flow rate model of the unbalanced pneumatic proportional valves.Third,an adaptive robust controller is designed using a backstepping method to handle and update the nonlinear and uncertain system.Finally,the experimental results of comparative trajectory tracking control indicate the validity of the proposed modeling and control method.
基金supported by the National Key Laboratory of Vehicular Transmission of China under Grant JCKYS2019208005.
文摘Soft bellows-type pneumatic actuators(SBPAs),which consist of two cavities with small chambers embedded in elastomeric structures,are an essential embranchment in the field of soft actuators.However,more analytical modeling and analysis of SBPAs need to be studied.In this article,we first present the structure design,fabrication method,and material property test of the SBPA.Then,based on the plate bending theory,an analytical model and the corresponding design approach for SBPAs are established,which consider both geometric complexity and material nonlinearity.The verification results indicate that the predicted analytical results coincide well with the physical experimental measurement and simulation results.The decision coefficient is R^(2)=0.9720.The impacts of geometric dimensions and silicone material characteristics on the bending deformation of SBPAs are also explored.We further demonstrate the bionic utility of SBPAs.Such an approach can be used as a tool for the design optimization of bellows-type actuators and save the designer lots of finite element analysis with its low computational cost.This work provides a detailed investigation of the performance of SBPAs,which can be a basic module for various types of soft robots such as soft snake robots,crawling robots,and robotic arms in the future.
基金This work was supported by China Postdoctoral Science Foundation(2022M711372)Postdoctoral Research Program of Jiangsu Province(2021K544C)+4 种基金the General Program of Natural Science Foundation for Higher Education in Jiangsu Province(21KJB510004)G.Cheng acknowledges the support from young&middle-aged academic leaders of Jiangsu Blue Project and Jiangsu 333 talent fundL.Xu acknowledges the support from National Natural Science Foundation of China(NSFC No.51905222)Natural Science Foundation of Jiangsu Province(Grant No.BK20211068)This work was also supported by International Science and Technology Cooperation Project in Zhenjiang City(Grant No:GJ2020009)。
文摘Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working ability.Recent development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation performance.Despite the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple scenarios.Here,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS nanosheets.Results show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical activities.At a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 mN.Using these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical signal.This work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.
文摘Bioinspired Soft Bending Actuators (SBA) are increasingly being used in rehabilitation, assistant robots, and grippers. Despite many investigations on free motion modeling, understanding how these actuators interact with the environment requires more detailed research. It is caused by high compliance and nonlinearity of bioinspired soft material, which leads to serious challenges in contact conditions. In this paper, a continuous deformation analysis is presented to describe the free motion nonlinear behavior of the actuator. Based on the achieved result, this study proposes static modeling of SBA affected by a concentrated external force. For this purpose, the finite rigid element method is utilized, which is based on discretizing the actuator into smaller parts and assuming these parts as rigid serial links connected by nonlinear torsional springs. To verify the proposed model, two kinds of forces are considered to be acting on the actuator, i.e. following force and constant direction force. In addition, the effect of gravity on the actuator configuration is also investigated. The validity of the model has been demonstrated through experiments in free motion, contact conditions and the presence of gravity. It generally shows that the prediction error of robot configuration is lower than 7.5%.
基金the National Natural Science Foundation of China(Nos.11572002 and 12002032)the China Postdoctoral Science Foundation(Nos.BX20200056 and 2020M670149)。
文摘The soft robotics display huge advantages over their rigid counterparts when interacting with living organisms and fragile objects.As one of the most efficient actuators toward soft robotics,the soft pneumatic actuator(SPA)can produce large,complex responses with utilizing pressure as the only input source.In this work,a new approach that combines digital light processing(DLP)and injection-assisted post-curing is proposed to create SPAs that can realize different functionalities.To enable this,we develop a new class of photo-cross linked elastomers with tunable mechanical properties,good stretchability,and rapid curing speed.By carefully designing the geometry of the cavities embedded in the actuators,the resulting actuators can realize contracting,expanding,flapping,and twisting motions.In addition,we successfully fabricate a soft self-sensing bending actuator by injecting conductive liquids into the three-dimensional(3D)printed actuator,demonstrating that the present method has the potential to be used to manufacture intelligent soft robotic systems.
基金financially supported by the National Natural Science Foundation of China(Nos.22105014 and 52472293)the China Postdoctoral Science Foundation(Nos.2020M680296 and 2022T150035)+3 种基金the High-level Talent Project of Shenyang Ligong University(Nos.1010147001302)the Special fund of Basic Scientific Research Expenses for Undergraduate Universities in Liaoning Province(Nos.LJ212410144077 and LJ212410144072)Beijing Young Talent Support Program,the 111 Projectthe Fundamental Research Funds for the Central Universities
文摘Developing flexible actuators with high transport efficiency is of great significance for the emerging applications of micro-robots in various industrial and biomedical environments.Despite recent advancements have enabled soft materials to achieve complex functionalities unattainable by traditional rigid robots,achieving high-speed transport performance for solid particles remains a significant challenge.Magnetic materials,as an integral component of scientific applications,have demonstrated substantial potential in areas such as biological imaging,catalysis,and energy storage.Inspired by the flexible,soft,and elastic microciliary structures of many organisms,a soft actuator decorated with magnetic microcilia was reported.This soft magnetic microciliary actuator achieves high speed(50 mm s^(-1))transport of solid microspheres by means of magnetic field regulate their surface morphology.Overcoming the limitations of prior studies in which the speed of motion was constrained to a few millimeters per second due to hysteresis effects,this work represents a significant advancement in the emerging field of biomimetic flexible actuators and holds promise in various applications.
基金supported by Jiangsu Special Project for Frontier Leading Base Technology(Grant Nos.BK20192004)Fundamental Research Funds for Central Universities(Grant Nos.B240201190)+3 种基金Changzhou Social Development Science and Technology Support Project(Grant Nos.CE20225037)Changzhou Science and Technology Project(Grant Nos.CM20223014)Suzhou Key Industrial Technology Innovation Forward-Looking Application Research Project(Grant Nos.SYG202143)Changzhou Science and Technology Project(Grant Nos.CJ20241061).
文摘Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex deformations when substantial force is required,compromising their load-bearing capacity.This work proposes a novel method that uses gecko setae-inspired adhesives as interlayer films to construct a layer jamming structure to adjust the stiffness of soft actuators.The mechanical behavior of a single tilted microcylinder was analyzed using the energy method to determine the adhesion force of the adhesives.The gecko-inspired adhesive was designed under the guidance of the adhesion force model.Testing under various loads and directions revealed that the tilted characteristic of microcylinders can enhance the adhesion force in its grasping direction.The adhesive demonstrated excellent adhesion performance compared to other typical adhesives.A tunable stiffness actuator using gecko setae-inspired adhesives(TSAGA),was developed with these adhesives serving as interlayer films.The stiffness model of TSAGA was derived by analyzing its axial compression force.The results of stiffness test indicate that the adhesives serve as interlayer films can adjust the stiffness in response to applied load.TSAGA was compared with other typical soft actuators in order to evaluate the stiffness performance,and the results indicate that TSAGA exhibits the highest stiffness and the widest tunable stiffness range.This demonstrates the superior performance of the setae-inspired adhesives as interlayer films in terms of stiffness adjustment.
基金supported by the National Key Research and Development Program of China(No.2023YFB3812500)the National Natural Science Foundation of China(No.52105003)+1 种基金Beijing Municipal Natural Science Foundation(No.2222058)Fundamental Research Funds for the Central Universities(No.YWF-22-K-101)。
文摘Soft robots have shown great advantages with simple structure,high degree of freedom,continuous deformation,and benign human-machine interaction.In the past decades,a variety of soft robots,including crawling,jumping,swimming,and climbing robots,have been developed inspired by living creatures.However,most of the reported bionic soft robots have only a single mode of motion,which limits their practical application.Herein,we report a fully 3D printed crawling and flipping soft robot using liquid metal incorporated liquid crystal elastomer(LM-LCE)composite as the actuator.With the application of voltage,liquid metal works as the conductive Joule heating material to induce the contraction of the LCE layer.The bending angle of the LM-LCE composite actuator highly depends on the applied voltage.We further demonstrate that the soft robot can exhibit distinct moving behaviors,such as crawling or flipping,by applying different voltages.The fully 3D printed LM-LCE composite structure provides a strategy for the fast construction of soft robots with diverse motion modes.
基金CSIR research grant HCP-26 supported the work reported in this article.
文摘This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.
基金supported by Scientific and technological breakthroughs in Henan Province (No.222102220101), (No.212102210067)National natural science foundation of China (Grant No.52075500).
文摘This work presents a novel highly adaptable flexible soft glove composed of multimode deformable three-jointed soft fingers.The soft fingers are assembled by soft actuators and plastic materials that can be driven and controlled with single Degree of Freedom(DOF).A variety of different soft actuators are used as joint drive components to meet the motion requirements of fingers under different working conditions.We established a theoretical model to describe the deflection of the soft actuators based on reciprocal theorems.In addition,the finite-element method(FEM)was used to simulate the curvature change of the soft actuator and the soft finger,the soft actuators theoretical and simulation results were verified by experiments,and the multimode deformable soft fingers were simulated by FEM.Finally,a five-finger soft rehabilitation glove was prototyped and presented experimentally where the flexibility and functionality endowed by the soft fingers were demonstrated and highlighted.The versatility was also showcased in the applications.
基金supported in part by National Natural Science Foundation of China under Grant 52305304Jilin Youth Growth Technology Project under Grant 20230508147RC+2 种基金the Science and Technology Research Project of Jilin Provincial Education Department(No.JJKH20231193KJ)supported in part by the National Natural Science Foundation of China under Grant 52021003in part by the Natural Science Foundation of Jilin Province under Grant 20210101053JC.
文摘4D printed smart materials is mostly relying on thermal stimulation to actuate,limiting their widely application requiring precise and localized control of the deformations.Most existing strategies for achieving localized control rely on hetero-geneous material systems and structural design,thereby increasing design and manufacturing complexity.Here,we endow localized electrothermal,actuation,and sensing properties in electrically-driven soft actuator through parameter-encoded 4D printing.We analyzed the effects of printing parameters on shape memory properties and conductivity,and then explored the multi-directional sensing performance of the 4D printed composites.We demonstrated an integrated actuator-sensor device capable of both shape recovery and perceiving its own position and obstacles simultaneously.Moreover,it can adjust its sensing characteristics through temporary shape programming to adapt to different application scenarios.This study achieves integrated and localized actuation-sensing without the need for multi-material systems and intricate structural designs,offering an efficient solution for the intelligent and lightweight design in the fields of soft robotics,biomedical applications,and aerospace.
