Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots

Soft robots outperform the conventional hard robots on significantly enhanced safety, adaptability, and complex motions. The development of fully soft robots, especially fully from smart soft materials to mimic soft animals, is still nascent. In addition, to date, existing soft robots cannot adapt themselves to the surrounding environment, i.e., sensing and adaptive motion or response, like animals. Here, compliant ultrathin sensing and actuating electronics innervated fully soft robots that can sense the environment and perform soft bodied crawling adaptively, mimicking an inchworm, are reported. The soft robots are constructed with actuators of open‐mesh shaped ultrathin deformable heaters, sensors of single‐crystal Si optoelectronic photodetectors, and thermally responsive artificial muscle of carbon‐black‐doped liquid‐crystal elastomer (LCE‐CB) nanocomposite. The results demonstrate that adaptive crawling locomotion can be realized through the conjugation of sensing and actuation, where the sensors sense the environment and actuators respond correspondingly to control the locomotion autonomously through regulating the deformation of LCE‐CB bimorphs and the locomotion of the robots. The strategy of innervating soft sensing and actuating electronics with artificial muscles paves the way for the development of smart autonomous soft robots.     

Soft Robotic Grippers

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end‐effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.     

影像的柔化

影像的柔化可使人像变得更漂亮，使人像的脸面皱纹减轻甚至消失，皮肤变得光滑滋润，因而显得年轻、亮丽。对于风景图像，有时也需要获得较柔和的影调，使图像的层次更为丰富多彩。影像的柔化有多种方法如：拍摄时采用柔焦镜头或柔光镜，后期加工时进行加柔措施等等。本文对这些方法进行了介绍和优缺点比较。     

Universal Soft Robotic Microgripper

Here, a soft robotic microgripper is presented that consists of a smart actuated microgel connected to a spatially photopatterned multifunctional base. When pressed onto a target object, the microgel component conforms to its shape, thus providing a simple and adaptive solution for versatile micromanipulation. Without the need for active visual or force feedback, objects of widely varying mechanical and surface properties are reliably gripped through a combination of geometrical interlocking mechanisms instantiated by reversible shape‐memory and thermal responsive swelling of the microgel. The gripper applies holding forces exceeding 400 µN, which is high enough to lift loads 1000 times heavier than the microgel. An untethered version of the gripper is developed by remotely controlling the position using magnetic actuation and the contractile state of the microgel using plasmonic absorption. Gentle yet stable robotic manipulation of biological samples under physiological conditions opens up possibilities for high‐throughput interrogation and minimally invasive interventions.     

定向断裂爆破技术在特软岩层巷道中的应用

介绍了大雁矿区特软岩层巷道成型新技术,包括定向断裂爆破技术的机理、爆破参数,以及大雁矿区特软岩层条件下实施定向断裂爆破的技术关键和注意事项。应用该技术不仅提高了巷道成型质量、节约了材料,而且保护了围岩稳定,对软岩巷道维护有重要作用。     

Soft Somatosensitive Actuators via Embedded 3D Printing

Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long‐term stability and hysteresis‐free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed‐loop feedback control of soft robots, machines, and haptic devices.     

Progress and Opportunities in Soft Photonics and Biologically Inspired Optics

Optical components made fully or partially from reconfigurable, stimuli‐responsive, soft solids or fluids—collectively referred to as soft photonics—are poised to form the platform for tunable optical devices with unprecedented functionality and performance characteristics. Currently, however, soft solid and fluid material systems still represent an underutilized class of materials in the optical engineers' toolbox. This is in part due to challenges in fabrication, integration, and structural control on the nano‐ and microscale associated with the application of soft components in optics. These challenges might be addressed with the help of a resourceful ally: nature. Organisms from many different phyla have evolved an impressive arsenal of light manipulation strategies that rely on the ability to generate and dynamically reconfigure hierarchically structured, complex optical material designs, often involving soft or fluid components. A comprehensive understanding of design concepts, structure formation principles, material integration, and control mechanisms employed in biological photonic systems will allow this study to challenge current paradigms in optical technology. This review provides an overview of recent developments in the fields of soft photonics and biologically inspired optics, emphasizes the ties between the two fields, and outlines future opportunities that result from advancements in soft and bioinspired photonics.     

软磁合金粉末特性对金属软磁粉芯的影响

软磁合金粉末作为制备金属软磁粉芯的原材料,是决定磁粉芯性能的关键因素之一。本文综述了软磁合金粉末的合金成分、形貌、粒度以及粉末纯度对软磁粉芯性能的影响。分析结果表明,铁硅铝磁粉芯具有最佳性价比,采用气雾化法生产的球形粉末具有最佳的软磁特性,软磁粉末越细,纯度越高,所制备的磁粉芯软磁性能越好。     

Rubber-Like Soft Lattice Structure for Anti-Ballooning in Fluidic Elastic Soft Robots

Additive manufacturing of lattice structures provides materials with enhanced strength, stiffness, and lightweight properties. While most research focuses on stiff, low-stretch materials like metals and acrylonitrile butadiene styrene, herein, the tensile behavior of soft, elastomeric lattice structures is explored. Soft-material 3D-printing advancements have enabled increased usage of directly printed soft robots. Traditional fluidic elastic actuators, however, face limitations due to the ballooning effect of soft polymers, causing potential explosions or leakages. To mitigate this, the study proposes using a soft lattice structure to reinforce soft inflatable robots, thereby reducing the ballooning effect and increasing design freedom. Herein, soft lattices are fabricated using Agilus30 in a Stratasys J735 printer and their behaviors under compression and stretching are compared. It is indicated in the results that lattice reinforcement maintains the soft robot's shape under higher pressure and allows tunability of stiffness with variable internal pressure. The implementation of this method in non-convex soft robots successfully demonstrates its anti-ballooning effect.     

封套软包装的应用

介绍军品进行封套软包装的重要性,列举了封套软包装的特性和优点,包装材料的技术指标,以及大型产品的包装应用实例。     

Electroactive Ionic Soft Actuators with Monolithically Integrated Gold Nanocomposite Electrodes

Electroactive ionic gel/metal nanocomposites are produced by implanting supersonically accelerated neutral gold nanoparticles into a novel chemically crosslinked ion conductive soft polymer. The ionic gel consists of chemically crosslinked poly(acrylic acid) and polyacrylonitrile networks, blended with halloysite nanoclays and imidazolium‐based ionic liquid. The material exhibits mechanical properties similar to that of elastomers (Young's modulus ≈ 0.35 MPa) together with high ionic conductivity. The fabrication of thin (≈100 nm thick) nanostructured compliant electrodes by means of supersonic cluster beam implantation (SCBI) does not significantly alter the mechanical properties of the soft polymer and provides controlled electrical properties and large surface area for ions storage. SCBI is cost effective and suitable for the scaleup manufacturing of electroactive soft actuators. This study reports the high‐strain electromechanical actuation performance of the novel ionic gel/metal nanocomposites in a low‐voltage regime (from 0.1 to 5 V), with long‐term stability up to 76 000 cycles with no electrode delamination or deterioration. The observed behavior is due to both the intrinsic features of the ionic gel (elasticity and ionic transport capability) and the electrical and morphological features of the electrodes, providing low specific resistance (<100 Ω cm^?2), high electrochemical capacitance (≈mF g^?1), and minimal mechanical stress at the polymer/metal composite interface upon deformation.