Leveraging Bioinspired Structural Constraints for Tunable and Programmable Snapping Dynamics in High-Speed Soft Actuators

Creating high-speed soft actuators will have broad engineering and technological applications. Snapping provides a power-amplified mechanism to achieve rapid movements in soft actuators that typically show slow movements. However, precise control of snapping dynamics (e.g., speed and direction of launching or jumping) remains a daunting challenge. Here, a bioinspired design principle is presented that harnesses a reconfigurable constraint structure integrated into a photoactive liquid crystal elastomer actuator to enable tunable and programmable control over its snapping dynamics. By reconfiguring constrained fin-array-shaped structure, the snapping dynamics of the structured actuator, such as launching or jumping angle and height, motion speed, and release force can be on-demand tuned, thus enabling controllable catapult motion and programmable jumping. Moreover, the structured actuators exhibit a unique combination of ultrafast moving speed (up to 2.5 m s⁻¹ in launching and 0.22 m s⁻¹ in jumping), powerful ejection (long ejection distance of ≈20 cm, 35 mg ball), and high jumping height (≈8 cm, 40 times body lengths), which few other soft actuators can achieve. This study provides a new universal design paradigm for realizing controllable rapid movements and high-power motions in soft matter, which are useful for building high-performance soft robotics and actuation devices.     

Electrical and Mechanical Self‐Healing in High‐Performance Dielectric Elastomer Actuator Materials

Dielectric elastomers are of interest for actuator applications due to their large actuation strain, high bandwidth, high energy density, and their flexible nature. If future dielectric elastomers are to be used reliably in applications that include soft robotics, medical devices, artificial muscles, and electronic skins, there is a need to design devices that are tolerant to electrical and mechanical damage. In this paper, the first report of self‐healing of both electrical breakdown and mechanical damage in dielectric actuators using a thermoplastic methyl thioglycolate–modified styrene–butadiene–styrene (MGSBS) elastomer is provided. The self‐healing functions are examined from the material to device level by detailed examination of the healing process, and characterization of electrical properties and actuator response before and after healing. It is demonstrated that after dielectric breakdown, the initial dielectric strength can be recovered by up to 67%, and after mechanical damage, a 39% recovery can be achieved with no degradation of the strain–voltage response of the actuators. The elastomer can also heal a combination of mechanical and electrical failures. This work provides a route to create robust and damage tolerant dielectric elastomers for soft robotic and other applications related to actuator and energy‐harvesting systems.     

Rugged Soft Robots using Tough,Stretchable, and Self-Healable Adhesive Elastomers

Soft robots are susceptible to premature failure from physical damages incurred within dynamic environments. To address this, we report an elastomer with high toughness, room temperature self-healing, and strong adhesiveness, allowing both prevention of damages and recovery for soft robotics. By functionalizing polyurethane with hierarchical hydrogen bonds from ureido-4[1H]-pyrimidinone (UPy) and carboxyl groups, high toughness (74.85 MJ m⁻³), tensile strength (9.44 MPa), and strain (2340%) can be achieved. Furthermore, solvent-assisted self-healing at room temperature enables retention of high toughness (41.74 MJ m⁻³), tensile strength (5.57 MPa), and strain (1865%) within only 12 h. The elastomer possesses a high dielectric constant (≈9) that favors its utilization as a self-healing dielectric elastomer actuator (DEA) for soft robotics. Displaying high area strains of ≈31.4% and ≈19.3% after mechanical and electrical self-healing, respectively, the best performing self-healable DEA is achieved. With abundant hydrogen bonds, high adhesive strength without additional curing or heating is also realized. Having both actuation and adhesive properties, a “stick-on” strategy for the assembly of robust soft robots is realized, allowing soft robotic components to be easily reassembled or replaced upon severe damage. This study highlights the potential of soft robots with extreme ruggedness for different operating conditions.     

On the design of large degree-of-freedom digital mechatronic devices based on bistable dielectric elastomer actuators

Binary actuation has been proposed to reduce complexity in robotic and mechatronic systems. However, a relatively large number of binary actuators are required to achieve the accuracy necessary for practical applications. Conventional actuators are not practical for such large degree-of-freedom (DoF) devices. Here, a dielectric elastomer (DE) actuator is developed for these applications. It is shown that DE actuators have high energy densities, light weight, low cost, and large displacements. Hence they could potentially make large DoF binary systems practical. DE actuators proposed here consist of thin electrically sensitive elastomer films that are mounted in a flexible frame that incorporates a passive bistable element. The frame prestrains the film and provides a restoring force that allows the actuator to operate bidirectionally. A simple experimental prototype 6-DoF binary manipulator demonstrates the concept.     

Wound Roll Dielectric Elastomer Actuators: Fabrication, Analysis, and Experiments

Wound roll electroactive polymer actuators fabricated with dielectric elastomer (DE) materials provide high bandwidth actuation for robots, minipumps, loudspeakers, valves, and prosthetic devices. In this paper, we develop a DE wound roll actuator fabrication process that produces high strain (12%), reliable (3480 cycles at maximum strain), and stiff (144 N/m) actuators. An axisymmetric Unite element model with electrostatic and radial bulk modulus nonlinearity predicts actuator displacement and stress. The maximum compressive radial stress occurs at the center of the innermost active layer. This layer also has the thinnest material, indicating the most likely failure point. The nonlinear model predicts actuator displacement in response to applied voltage and load, matching experiments to within 1 mm.     

Untethered Feel-Through Haptics Using 18-µm Thick Dielectric Elastomer Actuators

Head-mounted displays for virtual reality (VR) and augmented reality (AR) allow users to see highly realistic virtual worlds. The wearable haptics that enable feeling and touching these virtual objects are typically bulky, tethered, and provide only low fidelity feedback. A particularly challenging type of wearable human-machine interface is feel-through haptics: ultra-thin wearables so soft as to be mechanically imperceptible when turned off, yet generating sufficient force when actuated to make virtual objects feel tangible, or to change the perceived texture of a physical object. Here, 18 µm thick soft dielectric elastomer actuators (DEA), directly applied on the skin, reports rich vibrotactile feedback generation from 1 Hz to 500 Hz. Users correctly identifies different frequency and sequence patterns with success rates from 73 to 97% for devices applied on their fingertips. An untethered version weighing only 1.3 grams allowed blindfolded users to correctly identify letters by “seeing” them through their fingers. The silicone-based DEA membrane is mechanically transparent, enabling wearable haptics for the many applications where hand dexterity is critical. The feel-through DEA can be placed in array format anywhere on the body.     

Graphene Implanted Shape Memory Polymers with Dielectric Gene Dominated Highly Efficient Microwave Drive

Microwave-driven strategy shows many advantages including selective energization, uniform heating, and high penetration depth, which is a hot topic in wireless actuators. Understanding microwave stimulus-response mechanisms is the key to developing universal construction strategies for advanced microwave-driven actuators. Herein, reduced graphene oxide (rGO) with specified dielectric genes and thermal properties is implanted into the shape memory polymer, liquid crystal elastomer (LCE) as an example, to construct soft, reversible, and sensitive microwave actuators. Based on the analysis of microstructure and dielectric properties, LCE-rGO composites exhibit excellent polarization relaxation-dominated dielectric loss and electromagnetic (EM) energy conversion ability. The maximum dielectric loss factor (ε″) and loss tangent (tan δ_e) of LCE-rGO are dramatically increased by 216% and 87.5% compared to pure LCE, respectively, and the optimum apparent energy harvest efficiency is 19.4 times higher than that of LCE. In addition, the implantation of rGO significantly lowers the microwave actuation threshold of LCE-rGO composites and reinforces their stimulus-response capacity. Response time under 750 W microwave irradiation of LCE-rGO is shortened to <10s. These findings can provide a solid basis for the design and fabrication of highly efficient microwave stimuli-responsive polymers and enlighten a new approach to wireless actuated smart devices.     

Reversible Elastomer–Fluid Transitions for Metamorphosic Robots

Endowing robots with reversible phase transition ability, especially between elastomer and fluid states, can significantly broaden their functionality and applicability. Limited attempts have been made to realize the reversible elastomer–fluid transition. Existing phase transition materials in robotics have over-hard (≈4 GPa) or over-soft (≈4 kPa) stiffness in the solid states, which should be further investigated to perform more compliant motions. To address these challenges, a reversible elastomer–fluid transition mechanism  enabled by magnetically induced hot melt materials (MIMMs) is presented. The transition principle is explained and material characterizations are conducted. MIMMs-based metamorphosic robots endow self-metamorphosing abilities, such as self-healing, spatial reshaping, self-division/assembly, and additive manufacturability. When interacting with external environments, MIMMs-based robots can perform further multifunctional abilities, such as collaborations for structure repairs, swimming by symbiosis with external objects, flowing through a narrow terrain by transiting to fluid, and working with elastomeric structures for stiffness-variable fluid soft actuators. The proposed elastomer–fluid transitions open a new path for robots to generate more flexible and metamorphosic motions, thereby addressing the cross-phase transformation challenges that soft robots face.     

Novel Sulfur-Containing Carbon Nanotubes with Graphene Nanoflaps for Stretchable Sensing,Joule Heating,and Electro-Thermal Actuating

Stretchable conductors based on nanopercolation networks have garnered great attention for versatile applications. Carbon nanotubes (CNTs) are well-suited for creating high-efficiency nanopercolation networks. However, the weak interfacial shear strength (IFSS) between CNTs and elastomer hardly dissipates the deformation energy and thus deteriorates the conductive network. Herein, a novel sulfur-containing CNTs attached with abundant graphene nanoflaps using a two-step sulfidation strategy are developed. The sulfur functionality creates a strong interfacial interaction with the elastomer polymer, while the graphene nanoflaps provide an enhanced, intertwined shear interface with elastomer that is capable of efficiently dissipating the deformation energy. As a result, the optimized nanocomposite significantly improves the IFSS between nanofiller and elastomer, displaying remarkable conductive robustness (ΔR/R₀≈1.8 under 200%), superior stretchability (> 450%), and excellent mechanical durability (≈30 000 cycles). Moreover, the nanocomposite demonstrates excellent Joule heating efficiency (≈150 °C in 12 V), stretchable heating conversion (≈200%), and long-term stability (> 24 h). To illustrate its capabilities, the nanocomposite is used to track human physiological signals and perform electric-thermal actuating as a set of soft tongs. It is believed that this innovative approach will provide value for the development of wearable/stretchable devices, as well as human-machine interaction, and bio-robotics in the future.     

Air Permeable Vibrotactile Actuators for Wearable Wireless Haptics

Vibrotactile actuators can evoke mechanical stimulations on human skins to induce haptic feedbacks for various human machine interaction applications. However, efforts toward their practical usages encounter several engineering challenges, including wearable comfortability and output abilities. Here, air permeable actuators are developed and embedded in common fabrics for vibrotactile actuation, achieving excellent air permeability of 108 L m⁻² s⁻¹, low preload requirement of 10 mN, high output sensitivity of 0.2 mN/V, and good mechanical durability by surviving 11 million testing cycles. As demonstration examples, a wireless haptic feedback glove is shown to distinguish 32 different English characters and symbols with an overall accuracy of 97.8%, and large size actuators (10 × 10 cm²) are also proved for providing haptic feedback for parts of human body. As such, the proposed system opens a new class of wearable vibrotactile actuators for potential applications in wide fields of metaverse, teleoperation, smart textiles, and robotics.     

Photothermal Bimorph Actuators with In‐Built Cooler for Light Mills,Frequency Switches,and Soft Robots

Photothermal bimorph actuators are widely used for smart devices, which are generally operated in a room temperature environment, therefore a low temperature difference for actuation without deteriorating the performance is preferred. The strategy for the actuator is assembling a broadband‐light absorption layer for volume expansion and an additional water evaporation layer for cooling and volume shrinkage on a passive layer. The response time and temperature‐change‐normalized bending speed under NIR, white, and blue light illumination are at the same level of high performance, fast photothermal actuators based on polymer or polymer composites. The classical beam theory and finite element simulations are also conducted to understand the actuation mechanism of the actuator. A new type of light mill is designed based on a wing‐flapping mechanism and a light‐modulated frequency switch. A fast‐walking robot (with a speed of 26 mm s^?1) and a fast‐and‐strong mechanical gripper with a large weight‐lifting ratio (≈2142), respectively, are also demonstrated.     

Cyanoethylated pullulan as a high-k solution processable polymer gate dielectric for SWCNT TFTs

Cyanoethylated pullulan (CEP), a high-k solution processable polymer gate dielectric, is used to fabricate bottom gated single wall carbon nanotube (SWCNT) network thin film transistors (TFTs). Both aqueous and organic dispersions of highly semiconducting enriched SWCNTs are used as the channel material. Use of CEP as the dielectric enables fabrication of devices operating at low voltage (<3 V) with high on-state currents, good on/off ratios (∼10⁵), low subthreshold swings (∼200 mV/decade) and minimal hysteresis (<1 V). However, despite high apparent mobilities extracted from gate voltage sweeps, driving these devices at even modest frequencies (>1 Hz) is found to significantly decrease the transconductance. This is shown to be related to a significant frequency dependence of the capacitance associated with a slow polarization response of the dielectric. Despite this limitation, CEP could be a useful dielectric in SWCNT TFTs for applications such as sensors and low frequency amplifiers.     

Electric Field-Driven Dielectrophoretic Elastomer Actuators

Dielectrophoresis is the electro-mechanical phenomenon where a force is generated on a dielectric material when exposed to a non-uniform electric field. It has potential to be exploited in smart materials for robotic manipulation and locomotion, but to date it has been sparsely studied in this area. Herein, a new type of dielectrophoretic actuator exploiting a novel electroactive polymer is described, termed as dielectrophoretic elastomer (DPE), which undergoes electric field-driven actuation through dielectrophoresis. Unique deflection and morphing behavior of the elastomer induced by controlling the dielectrophoretic phenomenon, such as out-of-plane deformation and independence of electric field polarity, are illustrated. The dielectric and mechanical properties of the DPE are studied to gain insight into the influence of materials composition on deformation. Actuation performance using different electrode parameters is experimentally investigated with supplementary analysis through finite element simulation, revealing the relationship between electric field inhomogeneity and deflection. The applications of DPE actuators in a range of robotic devices is demonstrated, including a pump, an adjustable optical lens, and a walking robot. This diverse range of applications illustrates the wide potential of these new soft-and-smart electric field-driven materials for use in soft robotics and soft compliant devices.     

High Breakdown Field Dielectric Elastomer Actuators Using Encapsulated Polyaniline as High Dielectric Constant Filler

A novel method allowing rapid production of reliable composites with increased dielectric constant and high dielectric strength for dielectric elastomer actuators (DEA) is reported. The promising approach using composites of conductive particles and insulating polymers generally suffers from low breakdown fields when applied to DEA devices. The present publication shows how to overcome this deficiency by using conductive polyaniline (PANI) particles encapsulated into an insulating polymer shell prior to dispersion. PANI particles are encapsulated using miniemulsion polymerization (MP) of divinylbenzene (DVB). The encapsulation process is scaled up to approximately 20 g particles per batch. The resulting particles are used as high dielectric constant (?′) fillers. Composites in a polydimethylsiloxane (PDMS) matrix are prepared and the resulting films characterized by dielectric spectroscopy and tensile tests, and evaluated in electromechanical actuators. The composite films show a more than threefold increase in ?′, breakdown field strengths above 50 V μm^?1, and increased strain at break. These novel materials allow tuning the actuation strain or stress output and have potential as materials for energy harvesting.     

A Moisture-Driven Actuator Based on Polydopamine-Modified MXene/Bacterial Cellulose Nanofiber Composite Film

As a new 2D material, MXene (Ti₃C₂T_x) shows great potential as a smart multifunctional humidity-responsive actuator due to its high hydrophilicity and conductivity but suffers from ambient oxidation and mechanical brittleness. Inspired by the mussels, the authors overcome these weaknesses by designing and fabricating a nacre-like and lamellar-structured composite film that consists of polydopamine-modified MXene and bacterial cellulose nanofibers, which shows improved properties as a moisture-driven actuator. The actuator has high conductivity (2848 S cm^–1), excellent tensile strength (406 MPa), and toughness (15.3 MJ m^–3). Moreover, the actuator is highly sensitive to moisture with the advantages of fast response (1.6 s), large deformation (176°), and high actuation force output (6.5 N m^–2). It is additionally demonstrated that the actuator works as the electrical switch, robotic arm, and motor in a moisture-driven manner. Overall, it is believed that this work improves the drawbacks of current MXene-based actuators, laying the groundwork for their wider applications as moisture-driven devices.     

Solution‐Processable,High‐Performance Flexible Electroluminescent Devices Based on High‐k Nanodielectrics

Flexible alternating‐current electroluminescent (ACEL) devices have attracted considerable attention for their ability to produce uniform light emission under bent conditions and have enormous potential for applications in back lighting panels, decorative lighting in automobiles, and panel displays. Nevertheless, flexible ACEL devices generally require a high operating bias, which precludes their implementation in low power devices. Herein, solution‐processed La‐doped barium titanate (BTO:La) nanocuboids (≈150 nm) are presented as high dielectric constant (high‐k) nanodielectrics, which can enhance the dielectric constant of an ACEL device from 2.6 to 21 (at 1 kHz), enabling the fabrication of high‐performance flexible ACEL devices with a lower operating voltage as well as higher brightness (≈57.54 cd m^?2 at 240 V, 1 kHz) than devices using undoped BTO nanodielectrics (≈14.3 cd m^?2 at 240 V, 1 kHz). Furthermore, a uniform brightness across the whole panel surface of the flexible ACEL devices and excellent device reliability are achieved via the use of uniform networks of crossaligned silver nanowires as highly conductive and flexible electrodes. The results offer experimental validation of high‐brightness flexible ACELs using solution‐processed BTO:La nanodielectrics, which constitutes an important milestone toward the implementation of high‐k nanodielectrics in flexible displays.     

3D Printing of Interdigitated Dielectric Elastomer Actuators

Dielectric elastomer actuators (DEAs) are soft electromechanical devices that exhibit large energy densities and fast actuation rates. They are typically produced by planar methods and, thus, expand in‐plane when actuated. Here, reported is a method for fabricating 3D interdigitated DEAs that exhibit in‐plane contractile actuation modes. First, a conductive elastomer ink is created with the desired rheology needed for printing high‐fidelity, interdigitated electrodes. Upon curing, the electrodes are then encapsulated in a self‐healing dielectric matrix composed of a plasticized, chemically crosslinked polyurethane acrylate. 3D DEA devices are fabricated with tunable mechanical properties that exhibit breakdown fields of 25 V µm^?1 and actuation strains of up to 9%. As exemplars, printed are prestrain‐free rotational actuators and multi‐voxel DEAs with orthogonal actuation directions in large‐area, out‐of‐plane motifs.     

Biomimetic Color Changing Anisotropic Soft Actuators with Integrated Metal Nanowire Percolation Network Transparent Heaters for Soft Robotics

To add more functionalities and overcome the limitation in conventional soft robots, highly anisotropic soft actuators with color shifting function during actuation is demonstrated for the first time. The electrothermally operating soft actuators with installed transparent metal nanowire percolation network heater allow easy programming of their actuation direction and instantaneous visualization of temperature changes through color change. Due to the unique direction dependent coefficient of thermal expansion mismatch, the suggested actuator demonstrates a highly anisotropic and reversible behavior with very large bending curvature (2.5 cm^?1) at considerably low temperature (≈40 °C) compared to the previously reported electrothermal soft actuators. The mild operating heat condition required for the maximum curvature enables the superior long‐term stability during more than 10 000 operating cycles. Also, the optical transparency of the polymer bilayer and metal nanowire percolation network heater allow the incorporation of the thermochromic pigments to fabricate color‐shifting actuators. As a proof‐of‐concept, various color‐shifting biomimetic soft robots such as color‐shifting blooming flower, fluttering butterfly, and color‐shifting twining tendril are demonstrated. The developed color‐shifting anisotropic soft actuator is expected to open new application fields and functionalities overcoming the limitation of current soft robots.     

Diffractive Transmission Grating Tuned by Dielectric Elastomer Actuator

A technology for the implementation of electrically tunable optical elements is presented. We illustrate, on the example of a transmission grating (TG), that dielectric elastomer actuators can be used to continuously adjust the properties of diffractive optical elements. The demonstrated TG operates with high transmission, low optical distortion (93 kW/cm²), is polarization-independent, and achieves a very large tuning range (7.5% grating period compression). Extending the presented technology to other optical elements, including lenses, phase shifters, or intensity filters, is expected to result in a wide range of electrically tunable optical devices.     

Bioinspired and Hierarchically Textile-Structured Soft Actuators for Healthcare Wearables

Soft pneumatic actuators possess the increasing potential for various healthcare applications, such as smart wearable devices, safe human-robot interaction, and flexible manipulators. However, it is difficult to translate the existing technologies to commercial applications due to their inefficient volumetric power, sophisticated control with high operation pressure, slow production, and high cost. To overcome these issues, herein, a caterpillar-inspired actuator using hierarchical textile architectures based on simple fabrication and low-cost strategy is designed. Unlike the existing textile-based pneumatic actuators, the designed actuators are constructed by combining boucle fancy yarns with a novel trilayer-knit architecture. The as-prepared actuators concurrently possess fast response (1100° s⁻¹), large bending actuation strain (1080° m⁻¹), high-power density (272 W m⁻³), mechanical robustness, easy-programmable motions, and human-tactile comfort, which outperforms currently reported textile-based pneumatic actuators. Furthermore, due to the geometrical transition of the engineered hierarchical structure, the developed actuators exhibit superior dual-stiffness effect with stress evolution, providing a facile approach to addressing the conflict of flexibility and force output in soft fluidic actuators. This concept as a paradigm provides new insights to develop soft actuators with outstanding design flexibility, adaptability, and multifunctionality using engineered textile-structure, which has great potential for real-world applications in medical rehabilitation, physiotherapy, and soft robotics.