High-speed electrically actuated elastomers with strain greater than 100%

Hydraulically Coupled Dielectric Elastomer Actuators for a Bioinspired Suction Cup

Suction cups of cephalopods show a preeminent performance when absorbing irregular or flat objects. In this paper, an octopi-inspired suction cup, driven by hydraulically coupled dielectric elastomer actuators (HCDEAs), is proposed, which is considered to be controlled easily and have compact structure. To investigate the performance of suction cups, experiments have been conducted to clarify the effect of the pre-stretch ratio and chamber angle on suction forces. It could be seen that both factors have a complicated influence on suction forces, and the best performance obtained was a reasonable combination of the pre-stretch ratio and chamber angle. Here, we achieved a maximum suction force of 175 mN with λ_p = 1.2, α = 23° under a DC voltage of 3500 V. To enhance the capacity and adaptation of the suction cup, flat objects of various types of materials were introduced as targets. Experimental results displayed that for tested materials, including a dry/wet acrylic plate, CD, ceramic wafer, and aluminum plate, the suction cup showed outstanding performance of absorbing and lifting the target without any damage or scratch to them. Our research may serve as a guide to the optimal design and provide insights into the performance of the HCDEAs-actuated suction cup.

Twisting and Braiding Fluid-Driven Soft Artificial Muscle Fibers for Robotic Applications

Research on soft artificial muscles (SAMs) is rapidly growing, both in developing new actuation ideas and improving existing structures with multifunctionality. The human body has more than 600 muscles that drive organs and joints to achieve desired functions. Inspired by the human muscles, this article presents a new type of SAM fiber formed from twisting and braiding soft hydraulic filament artificial muscles with high aspect ratio, high strain, and high energy efficiency. We systematically investigated the relationship between input pressure and output elongation as well as contraction force of the new muscles using different configurations in terms of an array of single and multiple muscles arranged in nontwisting (or straight), twisting, and braiding variants. Experimental results revealed that the twisting and braiding configurations greatly enhanced the muscle elongation and generated force compared with their nontwisting/braiding counterparts. To demonstrate the new muscles' usability, we implemented several muscle variants to bidirectionally manipulate 3D-printed human fingers and elbow, mimicking the human upper limb with a full range of motion. We also created a bioinspired growing soft tubular muscle that could simultaneously exert longitudinal and radial expansion upon pressurization, similar to that of auxetic metamaterial structures. The new growing soft tubular muscles were experimentally validated and the results showed that they could be potentially implemented in several emerging applications, including smart compression garments, stent-like supporting devices, and tubular grippers for medical use.

Adaptively reconstructing network of soft elastomers to increase strand rigidity: towards free-standing electro-actuation strain over 100

Soft biological tissues and muscles composed of semiflexible networks exhibit rapid strain-hardening behaviors to protect them from accidental rupture. In contrast, synthetic soft elastomers, usually featuring flexible networks, lack such behaviors, leading to a notorious issue when applying them to a promising artificial muscle technology (dielectric elastomer, DE), that is electromechanical instability (EMI) induced premature breakdown. We report that a facile thermomechanical training method can adaptively reconstruct the network of a soft triblock copolymer elastomer to transform its flexible network strands into semiflexible ones without extra chemical modifications and additives so that the electro-actuation performance is significantly enhanced by avoiding EMI. The free-standing actuators of trained elastomers exhibit a large stable electro-actuation strain and a high theoretical energy density (133%, 307 kJ m^-3 at 158.1 V μm^-1), and the capacity of actuating at low-temperature environments (-15 °C).

Liquid Crystal Elastomers with Enhanced Directional Actuation to Electric Fields

The integration of soft, stimuli-responsive materials in robotic systems is a promising approach to introduce dexterous and delicate manipulation of objects. Electrical control of mechanical response offers many benefits in robotic systems including the availability of this energy input, the associated response time, magnitude of actuation, and opportunity for self-regulation. Here, a materials chemistry is detailed to prepare liquid crystal elastomers (LCEs) with a 14:1 modulus contrast and increase in dielectric constant to enhance electromechanical deformation. The inherent modulus contrast of these LCEs (when coated with compliant electrodes) directly convert an electric field to a directional expansion of 20%. The electromechanical response of LCE actuators is observed upon application of voltage ranging from 0.5 to 6 kV. The deformation of these materials is rapid, reaching strain rates of 18% s^-1 . Upon removal of the electric field, little hysteresis is observed. Patterning the spatial orientation of the nematic director of the LCEs results in a 2D-3D shape transformation to a cone 8 mm in height. Individual and sequential addressing of an array of LCE actuators is demonstrated as a haptic surface.

A Liquid Metal Artificial Muscle

Artificial muscles possess a vast potential in accelerating the development of robotics, exoskeletons, and prosthetics. Although a variety of emerging actuator technologies are reported, they suffer from several issues, such as high driving voltages, large hysteresis, and water intolerance. Here, a liquid metal artificial muscle (LMAM) is demonstrated, based on the electrochemically tunable interfacial tension of liquid metal to mimic the contraction and extension of muscles. The LMAM can work in different solutions with a wide range of pH (0-14), generating actuation strains of up to 87% at a maximum extension speed of 15 mm s-1 . More importantly, the LMAM only needs a very low driving voltage of 0.5 V. The actuating components of the LMAM are completely built from liquids, which avoids mechanical fatigue and provides actuator linkages without mechanical constraints to movement. The LMAM is used for developing several proof-of-concept applications, including controlled displays, cargo deliveries, and reconfigurable optical reflectors. The simplicity, versatility, and efficiency of the LMAM are further demonstrated by using it to actuate the caudal fin of an untethered bionic robotic fish. The presented LMAM has the potential to extend the performance space of soft actuators for applications from engineering fields to biomedical applications.

Enhancing the Electromechanical Coupling in Soft Energy Harvesters by Using Graded Dielectric Elastomers

Soft dielectric elastomers can quickly achieve large deformations when they are subjected to electromechanical loads. They are widely used to fabricate a number of soft functional devices. However, the functions of soft devices are limited to the failure modes of soft dielectric elastomers. In this paper, we use graded dielectric elastomers to produce a soft energy harvester with a strong ability of energy harvesting. Compared to the conventional energy harvester with homogeneous dielectric films, our new energy harvester is made of graded elastomers and can increase both the specific energy from 2.70 J/g to 2.93 J/g and the maximum energy from 6.3 J/g to 8.6 J/g by just using a stiffer outer radius. By optimizing the material parameters in graded dielectric films, the soft energy harvester can reach better performance, and our results can provide guidance for designing powerful energy harvesters.

Materials with Electroprogrammable Stiffness

Stiffness is a mechanical property of vital importance to any material system and is typically considered a static quantity. Recent work, however, has shown that novel materials with programmable stiffness can enhance the performance and simplify the design of engineered systems, such as morphing wings, robotic grippers, and wearable exoskeletons. For many of these applications, the ability to program stiffness with electrical activation is advantageous because of the natural compatibility with electrical sensing, control, and power networks ubiquitous in autonomous machines and robots. The numerous applications for materials with electrically driven stiffness modulation has driven a rapid increase in the number of publications in this field. Here, a comprehensive review of the available materials that realize electroprogrammable stiffness is provided, showing that all current approaches can be categorized as using electrostatics or electrically activated phase changes, and summarizing the advantages, limitations, and applications of these materials. Finally, a perspective identifies state-of-the-art trends and an outlook of future opportunities for the development and use of materials with electroprogrammable stiffness.

A dynamic electrically driven soft valve for control of soft hydraulic actuators

Regulation systems for fluid-driven soft robots predominantly consist of inflexible and bulky components. These rigid structures considerably limit the adaptability and mobility of these robots. Soft valves in various forms for fluidic actuators have been developed, primarily fluidically or electrically driven. However, fluidic soft valves require external pressure sources that limit robot locomotion. State-of-the-art electrostatic valves are unable to modulate pressure beyond 3.5 kPa with a sufficient flow rate (>6 mL⋅min^-1). In this work, we present an electrically powered soft valve for hydraulic actuators with mesoscale channels based on a different class of ultrahigh-power density dynamic dielectric elastomer actuators. The dynamic dielectric elastomer actuators (DEAs) are actuated at 500 Hz or above. These DEAs generate 300% higher blocked force compared with the dynamic DEAs in previous works and their loaded power density reaches 290 W⋅kg^-1 at operating conditions. The soft valves are developed with compact (7 mm tall) and lightweight (0.35 g) dynamic DEAs, and they allow effective control of up to 51 kPa of pressure and a 40 mL⋅min^-1 flow rate with a response time less than 0.1 s. The valves can also tune flow rates based on their driving voltages. Using the DEA soft valves, we demonstrate control of hydraulic actuators of different volumes and achieve independent control of multiple actuators powered by a single pressure source. This compact and lightweight DEA valve is capable of unprecedented electrical control of hydraulic actuators, showing the potential for future onboard motion control of soft fluid-driven robots.

Stretchable and self-healable hydrogel artificial skin

Hydrogels have emerged as promising materials for the construction of skin-like mechanical sensors. The common design of hydrogel-based artificial skin requires a dielectric sandwiched between two hydrogel layers for capacitive sensing. However, such a planar configuration limits the sensitivity, stretchability and self-healing properties. Here, we report the design of single-layer composite hydrogels with bulk capacitive junctions as mechanical sensors. We engineer dielectric peptide-coated graphene (PCG) to serve as homogenously dispersed electric double layers in hydrogels. Any mechanical motions that alter the microscopic distributions of PCG in the hydrogels can significantly change the overall capacitance. We use peptide self-assembly to render strong yet dynamic interfacial interactions between the hydrogel network and graphene. The resulting hydrogels can be stretched up to 77 times their original length and self-heal in a few minutes. The devices can effectively sense strain and pressure in both air and aqueous environments, providing tremendous opportunities for next-generation iontronics.

Tunable Soft Lens of Large Focal Length Change

Tunable lens technology inspired by the human eye has opened a new paradigm of smart optical devices for a variety of applications due to unique characteristics such as lightweight, low cost, and facile fabrication over conventional lens assemblies. The fast-growing demands for tunable optical lenses in consumer electronics, medical diagnostics, and optical communications require the lens to have a large focal length modulation range and high compactness. Herein, for the first time, an all-solid tunable soft lens driven by highly transparent dielectric elastomer actuators (DEAs) based on poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) and waterborne polyurethane (PEDOT:PSS/WPU) transparent electrodes is developed. The deformation of the tunable soft lens is achieved by the actuation of DEAs, mimicking the change of the surface profile of the human eye to achieve remarkable focal length variations. Upon electrical activation, this tunable soft lens can vary its original focal length by 209%, which is one of the highest among current tunable soft lenses and far beyond that of the human eye. This study demonstrates that transparent DEAs are capable of achieving focus-variation functions, and potentially useful in artificial robotic vision, visual prostheses, and adjustable glasses, which will induce significant effects on the future development of tunable optics.

Programmed topographical features generated on command in confined electroactive films

This work describes a method to create dynamic pre-programmed surface textures by an alternating electric field on coatings that consist of a silicon oxide reinforced viscoelastic siloxane network. The finite element method is developed to predict the complex deformation figures and time-resolved experimental topographical surface analysis is used to confirm them.

Transparent, conductive cellulose hydrogel for flexible sensor and triboelectric nanogenerator at subzero temperature

Herein, flexible, transparent and conductive cellulose hydrogels were directly fabricated by regenerating the chemically cross-linked cellulose in NaCl aqueous solution, without further treatment. NaCl played a dominant role on the mechanical, optical, conductive and anti-freezing properties of cellulose hydrogel, also endowed the hydrogel with safety. After optimization, the transparency, tensile strength, elongation at break and conductivity of the cellulose hydrogel reached 94 % at 550 nm, 5.2 MPa, 235 %, and 4.03 S/m, respectively, as well as low temperature tolerance down to -33.5 ℃. Furthermore, sensors based on cellulose hydrogel demonstrated fast response and stable sensitivity to tensile strain, compressive pressure, and temperature, at both room and subzero temperature, without obvious hysteresis. The cellulose hydrogel based triboelectric nanogenerator demonstrated stability and durability as energy harvester in harsh conditions. In addition, the established approach can be used to prepare flexible, transparent and conductive cellulose hydrogel with various salts, indicating universality, simplicity and sustainability for the fabrication of cellulose based flexible conductive devices.

Self-contained soft electrofluidic actuators

Soft robotics revolutionized human-robot interactions, yet there exist persistent challenges for developing high-performance soft actuators that are powerful, rapid, controllable, safe, and portable. Here, we introduce a class of self-contained soft electrofluidic actuators (SEFAs), which can directly convert electrical energy into the mechanical energy of the actuators through electrically responsive fluids that drive the outside elastomer deformation. The use of special dielectric liquid enhances fluid flow capabilities, improving the actuation performance of the SEFAs. SEFAs are easily manufactured by using widely available materials and common fabrication techniques, and display excellent comprehensive performances in portability, controllability, rapid response, versatility, safety, and actuation. An artificial muscle stretching a joint and a soft bionic ray swimming in a tank demonstrate their effective performance. Hence, SEFAs offer a platform for developing soft actuators with potential applications in wearable assistant devices and soft robots.

Soft, tough, and fast polyacrylate dielectric elastomer for non-magnetic motor

Dielectric elastomer actuators (DEAs) with large electrically-actuated strain can build light-weight and flexible non-magnetic motors. However, dielectric elastomers commonly used in the field of soft actuation suffer from high stiffness, low strength, and high driving field, severely limiting the DEA’s actuating performance. Here we design a new polyacrylate dielectric elastomer with optimized crosslinking network by rationally employing the difunctional macromolecular crosslinking agent. The proposed elastomer simultaneously possesses desirable modulus (~0.073 MPa), high toughness (elongation ~2400%), low mechanical loss (tan δ_m = 0.21@1 Hz, 20 °C), and satisfactory dielectric properties (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\varepsilon }_{{{{{{\rm{r}}}}}}}$$\end{document}εr = 5.75, tan δ_e = 0.0019 @1 kHz), and accordingly, large actuation strain (118% @ 70 MV m⁻¹), high energy density (0.24 MJ m⁻³ @ 70 MV m⁻¹), and rapid response (bandwidth above 100 Hz). Compared with VHB^TM 4910, the non-magnetic motor made of our elastomer presents 15 times higher rotation speed. These findings offer a strategy to fabricate high-performance dielectric elastomers for soft actuators.

Dielectric elastomer actuators (DEAs) with large electrically actuated strain can be used in non-magnetic motors, but high stiffness, poor strength and slow response currently limit the application of DEAs. Here, the authors optimize the crosslinking network in a polyacrylate elastomer to enable a DEA with high toughness and actuation strain and use the polyacrylate to build a motor which can be driven under low electric field.

AFM and Fluorescence Microscopy of Single Cells with Simultaneous Mechanical Stimulation via Electrically Stretchable Substrates

We have developed a novel experimental set-up that simultaneously, (i) applies static and dynamic deformations to adherent cells in culture, (ii) allows the visualization of cells under fluorescence microscopy, and (iii) allows atomic force microscopy nanoindentation measurements of the mechanical properties of the cells. The cell stretcher device relies on a dielectric elastomer film that can be electro-actuated and acts as the cell culture substrate. The shape and position of the electrodes actuating the film can be controlled by design in order to obtain specific deformations across the cell culture chamber. By using optical markers we characterized the strain fields under different electrode configurations and applied potentials. The combined setup, which includes the cell stretcher device, an atomic force microscope, and an inverted optical microscope, can assess in situ and with sub-micron spatial resolution single cell topography and elasticity, as well as ion fluxes, during the application of static deformations. Proof of performance on fibroblasts shows a reproducible increase in the average cell elastic modulus as a response to applied uniaxial stretch of just 4%. Additionally, high resolution topography and elasticity maps on a single fibroblast can be acquired while the cell is deformed, providing evidence of long-term instrumental stability. This study provides a proof-of-concept of a novel platform that allows in situ and real time investigation of single cell mechano-transduction phenomena with sub-cellular spatial resolution.

Phase management in single-crystalline vanadium dioxide beams

A systematic study of various metal-insulator transition (MIT) associated phases of VO₂, including metallic R phase and insulating phases (T, M1, M2), is required to uncover the physics of MIT and trigger their promising applications. Here, through an oxide inhibitor-assisted stoichiometry engineering, we show that all the insulating phases can be selectively stabilized in single-crystalline VO₂ beams at room temperature. The stoichiometry engineering strategy also provides precise spatial control of the phase configurations in as-grown VO₂ beams at the submicron-scale, introducing a fresh concept of phase transition route devices. For instance, the combination of different phase transition routes at the two sides of VO₂ beams gives birth to a family of single-crystalline VO₂ actuators with highly improved performance and functional diversity. This work provides a substantial understanding of the stoichiometry-temperature phase diagram and a stoichiometry engineering strategy for the effective phase management of VO₂.

Control of the phases associated with the metal-insulator transition in VO₂ underpins its applications as a phase change material. Here, the authors report phase management by means of oxide inhibitor-assisted growth and present high-performance VO₂ actuators based on asymmetric phase transition routes.

Highly Transparent, Stretchable, and Conducting Ionoelastomers Based on Poly(ionic liquid)s

The rapid development of soft electronics has revitalized the research of conducting elastomers. However, the design of conducting elastomers having high stretchability and good transparency still remains a considerable challenge. In this study, we develop a highly transparent, stretchable, and conducting ionoelastomer based on a poly(ionic liquid) in which cations are fixed to a stretchable elastomeric network and counter anions are mobile. The ionoelastomer solves the dilemma of simultaneous transparency and stretchability in the design of traditional conducting elastomers, possessing good transparency (96%) with an extraordinarily high stretchability, up to a limiting strain of 1460%. Moreover, this novel material is completely nonvolatile and nonhygroscopic, endowing the ionoelastomer with highly stable thermal, environmental, electrochemical, and mechanoelectrical properties. An underwater sensor based on the ionoelastomer is developed with good performance in an aqueous environment. Also, a transparent dielectric elastomer actuator (DEA) is demonstrated using the ionoelastomer. It is believed that the ionoelastomer would pave the way to develop exceptional conducting elastomers toward next-generation soft electronics.

Viscoelasticity Modeling of Dielectric Elastomers by Kelvin Voigt-Generalized Maxwell Model

Dielectric elastomers (DEs) are polymer materials consisting of a network of polymer chains connected by covalent cross-links. This type of structural feature allows DEs to generate large displacement outputs owing to the nonlinear electromechanical coupling and time-dependent viscoelastic behavior. The major challenge is to properly actuate the nonlinear soft materials in applications of robotic manipulations. To characterize the complex time-dependent viscoelasticity of the DEs, a nonlinear rheological model is proposed to describe the time-dependent viscoelastic behaviors of DEs by combining the advantages of the Kelvin-Voigt model and the generalized Maxwell model. We adopt a Monte Carlo statistical simulation method as an auxiliary method, to the best knowledge of the author which has never reportedly been used in this field, to improve the quantitative prediction ability of the generalized model. The proposed model can simultaneously describe the DE deformation processes under step voltage and alternating voltage excitation. Comparisons between the numerical simulation results and experimental data demonstrate the effectiveness of the proposed generalized rheological model with a maximum prediction error of 3.762% and root-mean-square prediction error of 9.03%. The results presented herein can provide theoretical guidance for the design of viscoelastic DE actuators and serve as a basis for manipulation control to suppress the viscoelastic creep and increase the speed response of the dielectric elastomer actuators (DEA).

Spider-Inspired Electrohydraulic Actuators for Fast, Soft-Actuated Joints

The impressive locomotion and manipulation capabilities of spiders have led to a host of bioinspired robotic designs aiming to reproduce their functionalities; however, current actuation mechanisms are deficient in either speed, force output, displacement, or efficiency. Here-using inspiration from the hydraulic mechanism used in spider legs-soft-actuated joints are developed that use electrostatic forces to locally pressurize a hydraulic fluid, and cause flexion of a segmented structure. The result is a lightweight, low-profile articulating mechanism capable of fast operation, high forces, and large displacement; these devices are termed spider-inspired electrohydraulic soft-actuated (SES) joints. SES joints with rotation angles up to 70°, blocked torques up to 70 mN m, and specific torques up to 21 N m kg-1 are demonstrated. SES joints demonstrate high speed operation, with measured roll-off frequencies up to 24 Hz and specific power as high as 230 W kg-1 -similar to human muscle. The versatility of these devices is illustrated by combining SES joints to create a bidirectional joint, an artificial limb with independently addressable joints, and a compliant gripper. The lightweight, low-profile design, and high performance of these devices, makes them well-suited toward the development of articulating robotic systems that can rapidly maneuver.

Dielectric Elastomer Actuators, Neuromuscular Interfaces, and Foreign Body Response in Artificial Neuromuscular Prostheses: A Review of the Literature for an In Vivo Application

The inability to replace human muscle in surgical practice is a significant challenge. An artificial muscle controlled by the nervous system is considered a potential solution for this. Here, this is defined as a neuromuscular prosthesis. Muscle loss and dysfunction related to musculoskeletal oncological impairments, neuromuscular diseases, trauma or spinal cord injuries can be treated through artificial muscle implantation. At present, the use of dielectric elastomer actuators working as capacitors appears a promising option. Acrylic or silicone elastomers with carbon nanotubes functioning as the electrode achieve mechanical performances similar to human muscle in vitro. However, mechanical, electrical, and biological issues have prevented clinical application to date. Here materials and mechatronic solutions are presented which can tackle current clinical problems associated with implanting an artificial muscle controlled by the nervous system. Progress depends on the improvement of the actuation properties of the elastomer, seamless or wireless integration between the nervous system and the artificial muscle, and on reducing the foreign body response. It is believed that by combining the mechanical, electrical, and biological solutions proposed here, an artificial neuromuscular prosthesis may be a reality in surgical practice in the near future.

Electrically Tunable Lenses: A Review

Optical lenses with electrically controllable focal length are of growing interest, in order to reduce the complexity, size, weight, response time and power consumption of conventional focusing/zooming systems, based on glass lenses displaced by motors. They might become especially relevant for diverse robotic and machine vision-based devices, including cameras not only for portable consumer electronics (e.g. smart phones) and advanced optical instrumentation (e.g. microscopes, endoscopes, etc.), but also for emerging applications like small/micro-payload drones and wearable virtual/augmented-reality systems. This paper reviews the most widely studied strategies to obtain such varifocal “smart lenses”, which can electrically be tuned, either directly or via electro-mechanical or electro-thermal coupling. Only technologies that ensure controllable focusing of multi-chromatic light, with spatial continuity (i.e. continuous tunability) in wavefronts and focal lengths, as required for visible-range imaging, are considered. Both encapsulated fluid-based lenses and fully elastomeric lenses are reviewed, ranging from proof-of-concept prototypes to commercially available products. They are classified according to the focus-changing principles of operation, and they are described and compared in terms of advantages and drawbacks. This systematic overview should help to stimulate further developments in the field.

On the understanding of dielectric elastomer and its application for all-soft artificial heart

Although dielectric elastomer (DE) with substantial actuated strain (AS) has been reported 20 years ago, its scientific understanding remains unclear. The most accepted theory of DE, which is proposed in 2000, holds the view that AS of DE is induced by the Maxwell stress. According to this theory, materials have similar ratios of permittivity and Young's modulus should have similar AS, while the experimental results are on contrary to this theory, and the experimental AS has no relationship with ideal AS. Here, a new dipole-conformation-actuated strain cross-scale model is proposed, which can be generally applied to explain the AS of DE without pre-strain. According to this model, several characteristics of an ideal DE are listed in this work and a new DE based on polyphosphazene (PPZ) is synthesized. The AS of PPZ can reach 84% without any pre-strain. At last, a PPZ-based all soft artificial heart (ASAH) is built, which works in the similar way with natural myocardium, indicating that this material has great application potential and possibility in the construction of an ASAH for heart failure (HF) patients.

Investigation of the Dynamic Breakdown of a Dielectric Elastomer Actuator Under Cyclic Voltage Excitation

The dielectric elastomer (DE) is a new kind of functional polymer that can be used as a smart actuator due to the large deformation induced by voltage excitation. Dielectric elastomer actuators (DEAs) are usually excited by dynamic voltages to generate alternating motions. DEAs are prone to premature breakdown failure during the dynamic excitation, while the research on the breakdown of DEAs under cyclic voltage excitation is still not fully revealed. In this paper, the dynamic breakdown behaviors of DEAs made from VHB4910 film were experimentally investigated. The factors affecting the breakdown behavior of DEAs under dynamic voltages were determined, and the relevant changing laws were summarized accordingly. The experimental results show that under dynamic voltage excitation, the critical breakdown voltage of DEAs were augmented slowly with voltage frequency and showed a substantial dispersion. In addition, the maximum cycle numbers before breakdown were significantly affected by voltage parameters (such as frequency, amplitude, waveform). Finally, the underlying mechanisms of breakdown under cyclic voltages were discussed qualitatively, a power-law equation was proposed to characterize the maximum cycle number for the dynamic breakdown of DEAs, and related parameters were fitted. This study provides a new path to predict the service life of DEAs under dynamic voltage.

Bio-Inspired Soft Grippers Based on Impactive Gripping

Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions. For example, human hands and bird feet are composed of rigid frames and soft joints. Compared with human hands, some plants like Drosera do not have rigid frames, so they can bend at arbitrary points of the body to capture their prey. Furthermore, many muscular hydrostat animals and plant tendrils can implement more complex twisting motions in 3D space. Recently, inspired by the flexible grasping methods present in nature, increasingly more bio-inspired soft grippers have been fabricated with compliant and soft materials. Based on this, the present review focuses on the recent research progress of bio-inspired soft grippers based on impactive gripping. According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum bending-type grippers, and continuum twisting-type grippers. An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years.

Tuning the reversibility of hair artificial muscles by disulfide cross-linking for sensors, switches, and soft robotics

Tensile and torsional artificial muscles from biocompatible and biodegradable materials are highly desired for soft robotics, sensors, and controllers in bio-related applications. Twisted fibers can be used to prepare tensile and torsional artificial muscles, while torsional tethering is always required to avoid release of the inserted twist, which adds complexity to the device design. Moreover, the tuning of the reversibility of twisted fiber artificial muscles has not been realized. Here disulfide cross-linking was used to prepare novel tether-free hygroresponsive tensile and torsional fiber artificial muscles in twisted hair fibers. Increasing the cross-linking level converted the fiber artificial muscle from irreversible to reversible actuation. Different types of actuations including rotation, contraction, and elongation were realized for the twisted, the homochirally coiled, and the heterochirally coiled hair fibers, respectively. A reversible torsional fiber artificial muscle showed 122.4° mm^-1 rotation, homochiral and heterochiral fiber artificial muscles showed 94% contraction and 3000% elongation, respectively, and a maximum work capacity and energy density of 6.35 J kg^-1 and 69.8 kJ m^-3, respectively, were realized, on exposure to water fog. This work provides a new strategy for preserving the inserted twist in bio-fiber artificial muscles and for tuning of muscle reversibility, which show application perspectives in biocompatible smart materials, sensors, and robotics.

HASEL Artificial Muscles for a New Generation of Lifelike Robots-Recent Progress and Future Opportunities

Future robots and intelligent systems will autonomously navigate in unstructured environments and closely collaborate with humans; integrated with our bodies and minds, they will allow us to surpass our physical limitations. Traditional robots are mostly built from rigid, metallic components and electromagnetic motors, which make them heavy, expensive, unsafe near people, and ill-suited for unpredictable environments. By contrast, biological organisms make extensive use of soft materials and radically outperform robots in terms of dexterity, agility, and adaptability. Particularly, natural muscle-a masterpiece of evolution-has long inspired researchers to create "artificial muscles" in an attempt to replicate its versatility, seamless integration with sensing, and ability to self-heal. To date, natural muscle remains unmatched in all-round performance, but rapid advancements in soft robotics have brought viable alternatives closer than ever. Herein, the recent development of hydraulically amplified self-healing electrostatic (HASEL) actuators, a new class of high-performance, self-sensing artificial muscles that couple electrostatic and hydraulic forces to achieve diverse modes of actuation, is discussed; current designs match or exceed natural muscle in many metrics. Research on materials, designs, fabrication, modeling, and control systems for HASEL actuators is detailed. In each area, research opportunities are identified, which together lays out a roadmap for actuators with drastically improved performance. With their unique versatility and wide potential for further improvement, HASEL actuators are poised to play an important role in a paradigm shift that fundamentally challenges the current limitations of robotic hardware toward future intelligent systems that replicate the vast capabilities of biological organisms.

Ferroelastic-switching-driven large shear strain and piezoelectricity in a hybrid ferroelectric

Materials that can produce large controllable strains are widely used in shape memory devices, actuators and sensors^1,2, and great efforts have been made to improve the strain output^3-6. Among them, ferroelastic transitions underpin giant reversible strains in electrically driven ferroelectrics or piezoelectrics and thermally or magnetically driven shape memory alloys^7,8. However, large-strain ferroelastic switching in conventional ferroelectrics is very challenging, while magnetic and thermal controls are not desirable for practical applications. Here we demonstrate a large shear strain of up to 21.5% in a hybrid ferroelectric, C₆H₅N(CH₃)₃CdCl₃, which is two orders of magnitude greater than that in conventional ferroelectric polymers and oxides. It is achieved by inorganic bond switching and facilitated by structural confinement of the large organic moieties, which prevents undesired 180° polarization switching. Furthermore, Br substitution can soften the bonds, allowing a sizable shear piezoelectric coefficient (d₃₅ ≈ 4,830 pm V^-1) at the Br-rich end of the solid solution, C₆H₅N(CH₃)₃CdBr_3xCl_3(1-x). The electromechanical properties of these compounds suggest their potential in lightweight and high-energy-density devices, and the strategy described here could inspire the development of next-generation piezoelectrics and electroactive materials based on hybrid ferroelectrics.

Progress and Roadmap for Intelligent Self-Healing Materials in Autonomous Robotics

Robots are increasingly assisting humans in performing various tasks. Like special agents with elite skills, they can venture to distant locations and adverse environments, such as the deep sea and outer space. Micro/nanobots can also act as intrabody agents for healthcare applications. Self-healing materials that can autonomously perform repair functions are useful to address the unpredictability of the environment and the increasing drive toward the autonomous operation. Having self-healable robotic materials can potentially reduce costs, electronic wastes, and improve a robot endowed with such materials longevity. This review aims to serve as a roadmap driven by past advances and inspire future cross-disciplinary research in robotic materials and electronics. By first charting the history of self-healing materials, new avenues are provided to classify the various self-healing materials proposed over several decades. The materials and strategies for self-healing in robotics and stretchable electronics are also reviewed and discussed. It is believed that this article encourages further innovation in this exciting and emerging branch in robotics interfacing with material science and electronics.

Transparent Soft Actuators/Sensors and Camouflage Skins for Imperceptible Soft Robotics

The advent of soft robotics has led to great advancements in robots, wearables, and even manufacturing processes by employing entirely soft-bodied systems that interact safely with any random surfaces while providing great mechanical compliance. Moreover, recent developments in soft robotics involve advances in transparent soft actuators and sensors that have made it possible to construct robots that can function in a visually and mechanically unobstructed manner, assisting the operations of robots and creating more applications in various fields. In this aspect, imperceptible soft robotics that mainly consist of optically transparent imperceptible hardware components is expected to constitute a new research focus in the forthcoming era of soft robotics. Here, the recent progress regarding extended imperceptible soft robotics is provided, including imperceptible transparent soft robotics (transparent soft actuators/sensors) and imperceptible nontransparent camouflage skins. Their principles, materials selections, and working mechanisms are discussed so that key challenges and perspectives in imperceptible soft robotic systems can be explored.

Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators

In this work, we develop a coreless rolled dielectric elastomer actuator (CORDEA) to be used as artificial muscles in soft robotic structures. The new CORDEA concept is based on a 50 µm silicone film with screen-printed electrodes made of carbon black suspended in polydimethylsiloxane. Two printed silicone films are stacked together and then tightly rolled in a spiral-like structure. Readily available off-the-shelf components are used to implement both electrical and mechanical contacts. A novel manufacturing process is developed to enable the production of rolled actuators without a hollow core, with a focus on simplicity and reliability. In this way, actuator systems with high energy density can be effectively achieved. After presenting the design, an experimental evaluation of the CORDEA electromechanical behavior is performed. Finally, actuator experiments in which the CORDEA is pre-loaded with a mass load and subsequently subject to cycling voltage are illustrated, and the resulting performance is discussed.

Preparation and Characterization of CCTO/PDMS Dielectric Elastomers with High Dielectric Constant and Low Dielectric Loss

Dielectric elastomer (DE) is a type of electric field type electroactive polymer material that can produce greater deformation under the action of an electric field and has a faster recovery speed. It has the advantages of high energy density, large strain, low quality, and commercialization, and has become the most widely concerned and researched electroactive polymer material. In this study, copper calcium titanate (CCTO) particles with a large dielectric constant were selected as the filling phase, and a silicone rubber (PDMS) with better biocompatibility and lower elastic modulus was used as the matrix to prepare CCTO/PDMS, which is a new type of dielectric elastomer material. The structure of the dielectric elastomer is analyzed, and its mechanical properties, dielectric properties, and driving deformation are tested. Then, KH550, KH560, and KH570 modified CCTO is used in order to improve the dispersibility of CCTO in PDMS, and modified particles with the best dispersion effect are selected to prepare dielectric elastomer materials. In addition, mechanical properties, dielectric properties, and driving deformation are tested and compared with the dielectric elastomer material before modification. The results show that as the content of CCTO increases, the dielectric constant and elastic modulus of the dielectric elastomer also increase, and the dielectric loss remains basically unchanged at a frequency of 100 Hz. When the filling amount reaches 20 wt%, the dielectric constant of the CCTO/PDMS dielectric elastomer reaches 5.8 (100 Hz), an increase of 120%, while the dielectric loss at this time is only 0.0038 and the elastic modulus is only 0.54 MPa. When the filling amount is 5 wt%, the dielectric elastomer has the largest driving deformation amount, reaching 33.8%. Three silane coupling agents have been successfully grafted onto the surface of CCTO particles, and the KH560 modified CCTO has the best dispersibility in the PDMS matrix. Based on this, a modified CCTO/PDMS dielectric elastomer was prepared. The results show that the improvement of dispersibility improves the dielectric constant. Compared with the unmodified PDMS, when the filling content is 20 wt%, the dielectric constant reaches 6.5 (100 Hz). Compared with PDMS, it has increased by 150%. However, the improvement of dispersion has a greater increase in the elastic modulus, resulting in a decrease in its strain parameters compared with CCTO/PDMS dielectric elastomers, and the electromechanical conversion efficiency has not been significantly improved. When the filling amount of modified CCTO particles is 5 wt%, the dielectric elastomer has the largest driving deformation, reaching 27.4%.

Flexible Electronics and Healthcare Applications

Flexible electronics has attracted tremendous attention in recent years. The essential requirements for flexible electronics include excellent electrical properties, flexibility and stretchability. By introducing special structures or using flexible materials, electronic devices can be given excellent flexibility and stretchability. In this paper we review the realization of flexible electronics from the perspective of structural design strategies and materials; then, healthcare application of flexible electronic systems was introduced. Finally, a brief summary and outlook are presented.

Rapidly deployable and morphable 3D mesostructures with applications in multimodal biomedical devices

Structures that significantly and rapidly change their shapes and sizes upon external stimuli have widespread applications in a diversity of areas. The ability to miniaturize these deployable and morphable structures is essential for applications in fields that require high-spatial resolution or minimal invasiveness, such as biomechanics sensing, surgery, and biopsy. Despite intensive studies on the actuation mechanisms and material/structure strategies, it remains challenging to realize deployable and morphable structures in high-performance inorganic materials at small scales (e.g., several millimeters, comparable to the feature size of many biological tissues). The difficulty in integrating actuation materials increases as the size scales down, and many types of actuation forces become too small compared to the structure rigidity at millimeter scales. Here, we present schemes of electromagnetic actuation and design strategies to overcome this challenge, by exploiting the mechanics-guided three-dimensional (3D) assembly to enable integration of current-carrying metallic or magnetic films into millimeter-scale structures that generate controlled Lorentz forces or magnetic forces under an external magnetic field. Tailored designs guided by quantitative modeling and developed scaling laws allow formation of low-rigidity 3D architectures that deform significantly, reversibly, and rapidly by remotely controlled electromagnetic actuation. Reconfigurable mesostructures with multiple stable states can be also achieved, in which distinct 3D configurations are maintained after removal of the magnetic field. Demonstration of a functional device that combines the deep and shallow sensing for simultaneous measurements of thermal conductivities in bilayer films suggests the promising potential of the proposed strategy toward multimodal sensing of biomedical signals.

Actuator Performance of Dielectric Elastomers Comprising Hydrogenated Carboxylated Acrylonitrile-Butadiene Rubber/Nitrile Group-Modified Titanium Oxide Particles

We prepared a dielectric elastomer actuator composed of hydrogenated carboxylated acrylonitrile-butadiene rubber (HXNBR)/nitrile group (CN)-modified and non-modified titanium oxide (TiO₂) particles with insulation properties. The CN group-containing silane coupling agent was synthesized via a thiol-ene reaction between acrylonitrile and 3-mercaptpropyltrimethoxysilane and immobilized onto the TiO₂ particle surface. The HXNBR/CN-modified and non-modified TiO₂ particle composite elastomer showed a high relative dielectric constant and generated stress in a low electric field. The relative dielectric constant increased proportionally with the amount of CN-modified TiO₂ particles, showing a value of 22 at 100 Hz. As the dielectric constant increased, the volumetric resistivity decreased; however, the dielectric breakdown strength was maintained at 95 V/mm. The generated stress of the composite elastomer increased in proportion to the relative dielectric constant, showing a maximum of 1.9 MPa. The card-house structure of TiO₂ particles in the composite elastomer is assumed to suppress the dielectric breakdown in a low electric field. Thus, we demonstrated that an elastomer containing a high dipole group on an insulating particle surface is capable of improving the power performance of soft actuators.

Humidity Effect on Dynamic Electromechanical Properties of Polyacrylic Dielectric Elastomer: An Experimental Study

In this research, by utilizing the Very-High-Bond (VHB) 4905 elastomer, we carry out an experimental examination on the humidity effect on dynamic electromechanical performances of dielectric elastomers, including the dynamic response and viscoelastic creeping. Firstly, we experimentally analyze effects of the pre-stretch, peak voltage, waveform and frequency of the dynamic response of VHB 4905 elastomer under several ambient humidities. In general, the amplitude of dynamic deformation gradually adds up with the increasing humidity. Besides, it is found that the amplitude affected by different parameters shows diverse sensitivity to humidity. Subsequently, effect of humidity on the viscoelastic creeping of VHB 4905 is explored. The results demonstrate that, subject to different ambient humidities, the viscoelastic creeping under Alternating Current (AC) voltage is similar to that under Direct Current (DC) voltage. Furthermore, the equilibrium position of dynamic viscoelastic creep enlarges gradually with the humidity, regardless of voltage waveforms. For the dielectric elastomer with a pre-stretch ratio of 3, when the humidity increases from 20% to 80%, the increase of average equilibrium position of dynamic viscoelastic creep is larger than 1599%.

Recent Process of Flexible Transistor-Structured Memory

Flexible transistor-structured memory (FTSM) has attracted great attention for its important role in flexible electronics. For nonvolatile information storage, FTSMs with floating-gate, charge-trap, and ferroelectric mechanisms have been developed. By introducing an optical sensory module, FTSM can be operated by optical inputs to function as an optical memory transistor. As a special type of FTSM, transistor-structured artificial synapse emulates important functions of a biological synapse to mimic brain-inspired memory behaviors and nervous signal transmissions. This work reviews the recent development of the above mentioned FTSMs, with a focus on working mechanism and materials, and flexibility.

Electroactive material-based biosensors for detection and drug delivery

Electroactive materials are employed at the interface of biology and electronics due to their advantageous intrinsic properties as soft organic electronics. We examine the most recent literature of electroactive material-based biosensors and their emerging role as theranostic devices for the delivery of therapeutic agents. We consider electroactive materials through the lens of smart drug delivery systems as materials that enable the release of therapeutic cargo in response to specific physiological and external stimuli and discuss the way these mechanisms are integrated into medical devices with examples of the latest advances. Studies that harness features unique to conductive polymers are emphasized; lastly, we highlight new perspectives and future research direction for this emerging technology and the challenges that remain to overcome.