Skin-Mountable Vibrotactile Stimulator Based on Laterally Multilayered Dielectric Elastomer Actuators

Skin-stimulation technology has attracted intense attention for virtual/augmented reality applications and tactile-feedback systems. However, bulky, heavy, and stiff characteristics of existing skin-stimulating devices limit their wearability and comfort, thus disturbing the immersive experience of users. This study presents a new type of thin and lightweight dielectric elastomer actuator for developing a skin-mountable vibrotactile stimulator. A new methodology is suggested to enhance the operating efficiency of dielectric elastomer actuators based on a laterally aligned dielectric multilayer structure (≈900 layer) with short dielectric distance (≈10 µm) and a soft elastomer/ionic liquid composite with low modulus and high dielectric constant. With the improved structural/material properties, the flexible actuator exhibits high displacements at low operating voltage (<200 V) over a wide frequency range (≈800 Hz). Therefore, the finger-band type vibrotactile stimulator based on the laterally multilayered dielectric elastomer actuators can exert indentations that have the ability of stimulating all mechanoreceptors in human skin over the full perception frequency/amplitude range. In addition, the actuator shows a high electromechanical stability for long-term operation due to time-efficient and precise fabrication process using sophisticated photolithography and secondary sputtering. Therefore, this vibrotactile stimulator shows high promise for use in tactile-assistive devices, tactile communications, haptic feedback, and beyond.     

Multimodal 5-DOF Stretchable Electromagnetic Actuators toward Haptic Information Delivery

The rapid advancements in artificial intelligence, particularly in the domains of robotics, prosthetics, and virtual and augmented reality (VR/AR), have driven an escalating demand for intuitive and effective human–machine interactions. Consequently, haptic devices, being electronic displays for the sense of touch, have drawn increasing attention. More efforts are in demand to develop stretchable and lightweight haptic devices that can trigger multiple mechanical cutaneous receptors using a single device. This work presents a new 3-modal 5-DOF stretchable haptic interface that is enabled by electromagnetic actuators and high-fidelity multi-layer metal printing. The haptic device renders rich haptic sensations (i.e., normal force, vibration, angular force, skin dragging) in one device, allowing for the comprehensive delivery of tactile information through the excitation of multiple cutaneous receptors. Additionally, haptic devices are designed to be compact, lightweight, and skin-compatible. The skin-like softness and stretchability enable intimate skin contact, which is crucial for efficient haptic information delivery. This feature prevents the impediment to natural movements of the skin and ensures the functional integrity of the device during daily deformations of the skin. Finally, three proof-of-concept demonstrations illustrate the potential of the reported multimodal haptic devices for advanced haptic interactions across various domains.     

压电驱动器建模与控制技术研究

该文对压电驱动器建模与控制技术进行了研究。通过二阶系统描述了压电驱动器的线性动态特性。基于Preisach迟滞模型,提出了全新的简化模型,避免了Preisach模型中复杂的双重积分运算。通过前馈与反馈控制技术相结合,为压电驱动器设计了一个综合控制器。在前馈控制器中,通过Preisach模型描述逆迟滞环,有效解决了Preisach模型不可逆的问题。通过比例、积分、微分(PID)反馈控制器,有效提高了系统鲁棒性,并有效补偿了前馈控制器中模型不精确带来的误差。最终,通过实验分别验证了模型的有效性及控制器的控制作用。     

Miniature Soft Electromagnetic Actuators for Robotic Applications

Electromagnetic actuators (EMAs) serve the majority of motion control needs in fields ranging from industrial robotics to automotive systems and biomedical devices, due to their unmatched combination of speed, precision, force, and scalability. This paper describes the design and fabrication of miniature soft EMAs that operate based on the Lorentz force principle. The actuators are fabricated from silicone polymer, liquid metal (LM) alloy (eutectic gallium indium, EGaIn), and magnetic (NdFeB) powder. They are small, intrinsically deformable, and can be fabricated using simple techniques. The central elements of the actuators are fine, 3D helical coil conductors, which are used as electromagnetic inductors. The coils are formed from stretchable filaments that are filled with a LM alloy. To achieve high power densities, the filaments themselves may be fabricated from colloids of EGaIn microdroplets in a silicone polymer matrix, allowing them to dissipate heat and accommodate high currents, and thus high forces. Millimeter‐scale cylindrical actuators are demonstrated for linear high frequency motion and articulated devices for bending motion. These actuators are applied in a vibrotactile feedback display and in a miniature soft robotic gripper.     

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.     

Chiroptical 3D Actuators for Smart Sensors

Examples of anisotropic movement paired with helical geometry abound in the animal and plant kingdoms are used for a variety of reasons, such as diverse social signaling directed at conspecifics or camouflage to avoid predation. Inspired by these natural phenomena, a smart sensor is developed with a chiroptical 3D actuator that can fold, bend, and twist in response to external stimuli, reflecting light of specific wavelengths, and possessing circular polarization properties. Chirophotonic crystal actuators are constructed with an asymmetric Janus structure and are fabricated by self-assembly, screen printing, and in situ photopolymerization. The optically active layer consists of cholesteric liquid crystal polymer, and the mechanically active layer is composed of a polymeric gel thin film. The programmed in-planar and out-of-planar asymmetric Janus structures control the directionality of various shapes morphing from 2D to 3D. Finite element simulations allow to predict the shape changes associated with these chirophotonic crystal actuators: flower blooming, tendril climbing, eagle hunting, ant lifting, and inchworm moving motions. By utilizing the chirophotonic crystal actuator, a reusable and portable methanol-laced water identifier is developed.     

低频压电陶瓷驱动器驱动电源研制

针对压电扫描驱动器的工作特点研制了一种压电陶瓷驱动器专用功率放大器 ,它可给驱动器提供很高的电压输出 (± 2 0 0 V(峰 -峰值 ) ) ,并且使驱动器在 5 0～ 2 0 0 Hz的工作频率进行扫描 ,也可适用于以逆压电效应为基本原理的压电器件在以动态输出为主要目的情况下应用。在同时考虑压电陶瓷驱动器的电子和机械两种性质的情况下 ,提出了一种新的功率放大器的设计方案 ,利用添加补偿电容和补偿电阻的方法来补偿自激的反馈极点     

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.     

A New Strategy of Discretionarily Reconfigurable Actuators Based on Self-Healing Elastomers for Diverse Soft Robots

Actuators have shown great promise in many fields including soft robotics. Since reconfiguration allows actuators to change their actuation mode, it is considered a key characteristic for new-generation adaptive actuators. However, it remains a challenge to design simple and universal methods to fabricate actuators that can be reconfigured to allow diverse actuation modes. Here, a macroscopically discretionary healing-assembly strategy to fabricate reconfigurable soft actuators based on intrinsic self-healing poly(dimethylglyoxime-urethane) (PDOU) elastomers is developed. The PDOU elastomers with different degrees of crosslinking show different responsiveness to solvents, and are seamlessly healed. Crosslinked and non-crosslinked PDOU elastomers as building units are healing-assembled into actuators/robots with diverse actuation behaviors. Notably, the assembled actuators/robots are readily reprogrammed to exhibit multiple actuation modes by simply tailoring and reassembling without any external stimuli. This work paves a new, simple, powerful, and universal method to construct sophisticated soft robots.     

Adaptive Magnetoactive Soft Composites for Modular and Reconfigurable Actuators

Magnetoactive soft materials, typically composed of magnetic particles dispersed in a soft polymer matrix, are finding many applications in soft robotics due to their reversible and remote shape transformations under magnetic fields. To achieve complex shape transformations, anisotropic, and heterogeneous magnetization profiles must be programmed in the material. However, once programmed and assembled, magnetic soft actuators cannot be easily reconfigured, repurposed, or repaired, which limits their application, their durability, and versatility in their design. Here, magnetoactive soft composites are developed from squid-derived biopolymers and NdFeB microparticles with tunable ferromagnetic and thermomechanical properties. By leveraging reversible crosslinking nanostructures in the biopolymer matrix, a healing-assisted assembly process is developed that allows for on-demand reconfiguration and magnetic reprogramming of magnetoactive composites. This concept in multi-material modular actuators is demonstrated with programmable deformation modes, self-healing properties to recover their function after mechanical damage, and shape-memory behavior to lock in their preferred configuration and un-actuated catch states. These dynamic magnetic soft composites can enable the modular design and assembly of new types of magnetic actuators, not only eliminating device vulnerabilities through healing and repair but also by providing adaptive mechanisms to reconfigure their function on demand.     

Design of Wavy Ag Microwire Array for Mechanically Stable,Multimodal Vibrational Haptic Interface

A vibrotactile interface is an actuator device to convey haptic information intuitively from electronics to users. For the next‐generation of user‐friendly interface applications, the vibrotactile actuator is required to be vibration intensity/frequency controllable, mechanically stable, transparent, and have large scalability. Previously, although these requirements are satisfied via several approaches using a random network film of Ag wires or a mixture with conductive polymers, the random‐network‐based materials only have limited control on material density and uniformity, which in turn hinders precise control over vibration intensity and device transparency. Here, a new approach to assemble large‐scale Ag microwire arrays is demonstrated by involving an evaporative assembly method and is presented to overcome the current limitations. In particular, the 1D wavy structure derived from fractal designs promotes vibration intensity and cycling due to greater areal coverage and improved mechanical stability. Furthermore, by taking advantage of the precisely aligned microwires array, tunable multimode vibration frequencies are obtained by generating two different voltage frequencies. The large‐scale wavy Ag microwire array with precise spatial controllability will be directly adaptable as a user‐friendly interface in electronic applications like wearable devices, computer interfaces, and flexible mobile phones.     

Development of Thermoinks for 4D Direct Printing of Temperature-Induced Self-Rolling Hydrogel Actuators

4D printing has emerged as an important technique for fabricating 3D objects from programmable materials capable of time-dependent reshaping. In the present investigation, novel 4D thermoinks composed of laponite (LAP), an interpenetrating network of poly(N-isopropylacrylamide) (PNIPAAm), and alginate (ALG) are developed for direct printing of shape-morphing structures. This approach consists of the design and fabrication of 3D honeycomb-patterned hydrogel discs self-rolling into tubular constructs under the stimulus of temperature. The shape morphing behavior of hydrogels is due to shear-induced anisotropy generated via 3D printing. The compositionally tunable hydrogel discs can be programmed to exhibit different actuation behaviors at different temperatures. Upon immersion in 12 °C water, singly crosslinked sheets roll up into a tubular construct. When transferred to 42 °C water, the tubes first rapidly unfold and then slightly curve up in the opposite direction. Through a dual photocrosslinking of PNIPAAm, it is possible to inverse temperature-dependent shape morphing and induce self-folding at higher and unrolling at lower temperatures. The extensive self-assembling motion is essential to developing thermal actuators with broad applications in, e.g., soft robotics and active implantology, whereas controllable self-rolling of planar hydrogels is of the highest interest to biomedical engineering as it allows for effective fabrication of hollow tubes.     

Bio-Inspired Stimuli-Responsive Ti3C2Tx/PNIPAM Anisotropic Hydrogels for High-Performance Actuators

Near-infrared (NIR) light-responsive hydrogels have the advantages of high precision, remote control and excellent biocompatibility, which are widely used in soft biomimetic actuators. The process by which water molecules diffuse can directly affect the deformation of hydrogel. Therefore, it remains a serious challenge to improve the response speed of hydrogel actuator. Herein, an anisotropic photo-responsive conductive hydrogel is designed by a directional freezing method. Due to the anisotropy of the MXene-based PNIPAM/MXene directional (PMD) hydrogel, its mechanical properties and conductivity are enhanced in a specific direction. At the same time, with the presence of the internal directional channels and the assistance of capillary force, the PMD hydrogel can achieve a volume deswelling of 70% in 2 s under light irradiation, further building a hydrogel actuator with a fast response performance. Additionally, the hydrogel actuator can lift an object 40 times its weight by a distance of 6 mm, realizing the advantages of both rapid responsiveness and high driving strength, which makes the hydrogel actuator have important application significance in remote control, microflow valve, and soft robot.     

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.     

Combining 3D Printing with Electrospinning for Rapid Response and Enhanced Designability of Hydrogel Actuators

Porous structures have emerged as a breakthrough of shape‐morphing hydrogels to achieve a rapid response. However, these porous actuators generally suffer from a lack of complexity and diversity in obtained 3D shapes. Herein, a simple yet versatile strategy is developed to generate shape‐morphing hydrogels with both fast deformation and enhanced designability in 3D shapes by combining two promising technologies: electrospinning and 3D printing. Elaborate patterns are printed on mesostructured stimuli‐responsive electrospun membranes, modulating in‐plane and interlayer internal stresses induced by swelling/shrinkage mismatch, and thus guiding morphing behaviors of electrospun membranes to adapt to changes of the environment. With this strategy, a series of fast deformed hydrogel actuators are constructed with various distinctive responsive behaviors, including reversible/irreversible formations of 3D structures, folding of 3D tubes, and formations of 3D structures with multi low‐energy states. It is worth noting that although poly(N‐isopropyl acrylamide) is chosen as the model system in the present research, our strategy is applicable to other stimuli‐responsive hydrogels, which enriches designs of rapid deformed hydrogel actuators.     

Metal-Organic Framework Reinforced Highly Stretchable and Durable Conductive Hydrogel-Based Triboelectric Nanogenerator for Biomotion Sensing and Wearable Human-Machine Interfaces

Flexible triboelectric nanogenerators (TENGs) with multifunctional sensing capabilities offer an elegant solution to address the growing energy supply challenges for wearable smart electronics. Herein, a highly stretchable and durable electrode for wearable TENG is developed using ZIF-8 as a reinforcing nanofiller in a hydrogel with LiCl electrolyte. ZIF-8 nanocrystals improve the hydrogel's mechanical properties by forming hydrogen bonds with copolymer chains, resulting in 2.7 times greater stretchability than pure hydrogel. The hydrogel electrode is encapsulated by microstructured silicone layers that act as triboelectric materials and prevent water loss from the hydrogel. Optimized ZIF-8-based hydrogel electrodes enhance the output performance of TENG through the dynamic balance of electric double layers (EDLs) during contact electrification. Thus, the as-fabricated TENG delivers an excellent power density of 3.47 Wm^–2, which is 3.2 times higher than pure hydrogel-based TENG. The developed TENG can scavenge biomechanical energy even at subzero temperatures to power small electronics and serve as excellent self-powered pressure sensors for human-machine interfaces (HMIs). The nanocomposite hydrogel-based TENG can also function as a wearable biomotion sensor, detecting body movements with high sensitivity. This study demonstrates the significant potential of utilizing ZIF-8 reinforced hydrogel as an electrode for wearable TENGs in energy harvesting and sensor technology.