Autonomous Motility of Polymer Films

Biological, physical and morphological factors for the programming of a novel microbial hygromorphic material

The urgency for energy efficient, responsive architectures has propelled smart material development to the forefront of scientific and architectural research. This paper explores biological, physical, and morphological factors influencing the programming of a novel microbial-based smart hybrid material which is responsive to changes in environmental humidity. Hygromorphs respond passively, without energy input, by expanding in high humidity and contracting in low humidity.Bacillus subtilisdevelops environmentally robust, hygromorphic spores which may be harnessed within a bilayer to generate a deflection response with potential for programmability. The bacterial spore-based hygromorph biocomposites (HBCs) were developed and aggregated to enable them to open and close apertures and demonstrate programmable responses to changes in environmental humidity. This study spans many fields including microbiology, materials science, design, fabrication and architectural technology, working at multiple scales from single cells to 'bench-top' prototype.Exploration of biological factors at cellular and ultracellular levels enabled optimisation of growth and sporulation conditions to biologically preprogramme optimum spore hygromorphic response and yield. Material explorations revealed physical factors influencing biomechanics, preprogramming shape and response complexity through fabrication and inert substrate interactions, to produce a palette of HBCs. Morphological aggregation was designed to harness and scale-up the HBC palette into programmable humidity responsive aperture openings. This culminated in pilot performance testing of a humidity-responsive ventilation panel fabricated with aggregatedBacillusHBCs as a bench-top prototype and suggests potential for this novel biotechnology to be further developed.

Self-sustainable autonomous soft actuators

Self-sustainable autonomous locomotion is a non-equilibrium phenomenon and an advanced intelligence of soft-bodied organisms that exhibit the abilities of perception, feedback, decision-making, and self-sustainment. However, artificial self-sustaining architectures are often derived from algorithms and onboard modules of soft robots, resulting in complex fabrication, limited mobility, and low sensitivity. Self-sustainable autonomous soft actuators have emerged as naturally evolving systems that do not require human intervention. With shape-morphing materials integrating in their structural design, soft actuators can direct autonomous responses to complex environmental changes and achieve robust self-sustaining motions under sustained stimulation. This perspective article discusses the recent advances in self-sustainable autonomous soft actuators. Specifically, shape-morphing materials, motion characteristics, built-in negative feedback loops, and constant stimulus response patterns used in autonomous systems are summarized. Artificial self-sustaining autonomous concepts, modes, and deformation-induced functional applications of soft actuators are described. The current challenges and future opportunities for self-sustainable actuation systems are also discussed.

Engineering Covalent Organic Frameworks with Polyethylene Glycol as Self-Sustained Humidity-Responsive Actuators

Regarding the global energy crisis, it is of profound significance to develop spontaneous power generators that harvest natural energy. Fabricating humidity-responsive actuators that can conduct such energy transduction is of paramount importance. Herein, we incorporate covalent organic frameworks with flexible polyethylene glycol to fabricate rigid-flexible coupled membrane actuators. This strategy significantly improves the mechanical properties and humidity-responsive performance of the actuators, meanwhile, the existence of ordered structures enables us to unveil the actuation mechanism. These high-performance actuators can achieve various actuation applications and exhibit interesting self-oscillation behavior above a water surface. Finally, after being coupled with a piezoelectric film, the bilayer device can spontaneously output electricity over 2 days. This work paves a new avenue to fabricate rigid-flexible coupled actuators for self-sustained energy transduction.

Unperceivable motion mimicking hygroscopic geometric reshaping of pine cones

The hygroscopic deformation of pine cones, featured by opening and closing their scales depending on the environmental humidity, is a well-known stimuli-responsive model system for artificial actuators. However, it has not been noted that the deformation of pine cones is an ultra-slow process. Here, we reveal that vascular bundles with unique parallelly arranged spring/square microtubular heterostructures dominate the hygroscopic movement, characterized as ultra-slow motion with the outer sclereids. The spring microtubes give a much larger hygroscopic deformation than that of the square microtubes along the longitudinal axis direction, which bends the vascular bundles and consequently drives the scales to move. The outer sclereids with good water retention enable the vascular-bundle-triggered deformation to proceed ultra-slowly. Drawing inspiration, we developed soft actuators enabling controllable yet unperceivable motion. The motion velocity is almost two orders of magnitude lower than that of the same-class actuators reported, which made the as-developed soft actuators applicable in camouflage and reconnaissance.

A Humidity-Powered Soft Robot with Fast Rolling Locomotion

A range of soft robotic systems have recently been developed that use soft, flexible materials and respond to environmental stimulus. The greatest challenge in their design is the integration of the actuator, energy sources, and body of robots while achieving fast locomotion and well-defined programmable trajectories. This work presents such a design that operates under constant conditions without the need for an externally modulated stimulus. By using a humidity-sensitive agarose film and overcoming the isotropic and random bending of the film, the robot, which we call the Hydrollbot, harnesses energy from evaporation for spontaneous and continuous fast self-rolling locomotion with a programmable trajectory in a constant-humidity environment. Moreover, the geometric parameters of the film were fine-tuned to maximize the rolling speed, and the optimised hydrollbot is capable of carrying a payload up to 100% of its own weight. The ability to self-propel fast under constant conditions with programmable trajectories will confer practical advantages to this robot in the applications for sensors, medical robots, actuation, etc.

Towards enduring autonomous robots via embodied energy

Autonomous robots comprise actuation, energy, sensory and control systems built from materials and structures that are not necessarily designed and integrated for multifunctionality. Yet, animals and other organisms that robots strive to emulate contain highly sophisticated and interconnected systems at all organizational levels, which allow multiple functions to be performed simultaneously. Herein, we examine how system integration and multifunctionality in nature inspires a new paradigm for autonomous robots that we call Embodied Energy. Whereas most untethered robots use batteries to store energy and power their operation, recent advancements in energy-storage techniques enable chemical or electrical energy sources to be embodied directly within the structures and materials used to create robots, rather than requiring separate battery packs. This perspective highlights emerging examples of Embodied Energy in the context of developing autonomous robots.

4D Printing of Hygroscopic Liquid Crystal Elastomer Actuators

Liquid crystal elastomers (LCEs) are broadly recognized as programmable actuating materials that are responsive to external stimuli, typically heat or light. Yet, soft LCEs that respond to changes in environmental humidity are not reported, except a few examples based on rigid liquid crystal networks with limited processing. Herein, a new class of highly deformable hygroscopic LCE actuators that can be prepared by versatile processing methods, including surface alignment as well as 3D printing is presented. The dimethylamino-functionalized LCE is prepared by the aza-Michael addition reaction between a reactive LC monomer and N,N'-dimethylethylenediamine as a chain extender, followed by photopolymerization. The humidity-responsive properties are introduced by activating one of the LCE surfaces with an acidic solution, which generates cations on the surface and provides asymmetric hydrophilicity to the LCE. The resulting humidity-responsive LCE undergoes programmed and reversible hygroscopic actuation, and its shape transformation can be directed by the cut angle with respect to a nematic director or by localizing activation regions in the LCE. Most importantly, various hygroscopic LCE actuators, including (porous) bilayers, a flower, a concentric square array, and a soft gripper, are successfully fabricated by using LC inks in UV-assisted direct-ink-writing-based 3D printing.

Gait-optimized locomotion of wave-driven soft sheets

Inspired by the robust locomotion of limbless animals in a range of environments, the development of soft robots capable of moving by localized swelling, bending, and other forms of differential growth has become a target for soft matter research over the last decade. Engineered soft robots exhibit a wide range of morphologies, but theoretical investigations of soft robot locomotion have largely been limited to slender bodied or one-dimensional examples. Here, we demonstrate design principles regarding the locomotion of two-dimensional soft materials driven by morphoelastic waves along a dry substrate. Focusing on the essential common aspects of many natural and man-made soft actuators, a continuum model is developed which links the deformation of a thin elastic sheet to surface-bound excitation waves. Through a combination of analytic and numerical methods, we investigate the relationship between induced active stress and self-propulsion performance of self-propelling sheets driven by FitzHugh-Nagumo type chemical waves. Examining the role of both sheet geometry and terrain geography on locomotion, our results can provide guidance for the design of more efficient soft crawling devices.

Magnetic Shape Memory Polymers with Integrated Multifunctional Shape Manipulation

Shape-programmable soft materials that exhibit integrated multifunctional shape manipulations, including reprogrammable, untethered, fast, and reversible shape transformation and locking, are highly desirable for a plethora of applications, including soft robotics, morphing structures, and biomedical devices. Despite recent progress, it remains challenging to achieve multiple shape manipulations in one material system. Here, a novel magnetic shape memory polymer composite is reported to achieve this. The composite consists of two types of magnetic particles in an amorphous shape memory polymer matrix. The matrix softens via magnetic inductive heating of low-coercivity particles, and high-remanence particles with reprogrammable magnetization profiles drive the rapid and reversible shape change under actuation magnetic fields. Once cooled, the actuated shape can be locked. Additionally, varying the particle loadings for heating enables sequential actuation. The integrated multifunctional shape manipulations are further exploited for applications including soft magnetic grippers with large grabbing force, reconfigurable antennas, and sequential logic for computing.

Humidity-Driven Soft Actuator Built up Layer-by-Layer and Theoretical Insight into Its Mechanism of Energy Conversion

An improved protocol is proposed for preparation of a humidity-sensitive soft actuator through the layer-by-layer assembling of weight-ratio-variable composites of sodium alginate (SA) and poly(vinyl alcohol) (PVA) into laminated structures. The design induces nonuniform hygroscopicity in the thickness direction and gives rise to strong interfacial interaction between layers, making the actuator have directional motility. A mathematical model reveals that the directional motion is driven by the chemical potential of humidity, and its energy conversion efficiency from humidity to mechanical work reaches 81.2% at 25 °C. By coating with CoCl₂, the composite film of SA@PVA/CoCl₂ can act as a warning sign that provides reminder information to prevent people from slipping or falling by a conspicuous red sign during a high-humidity environment. When the film is involved in a bidirectional switch, it is capable of turning on/off light-emitting diodes by humidity, showing promising potential in control over humidity-dependent devices.

Programmable Polymer Actuators Perform Continuous Helical Motions Driven by Moisture

Powerful soft actuators that can perform programmable actuations are highly desired for the development of soft robotics. Herein, we report a moisture-driven polymer actuator, PPA, which is a composite of poly(3,4-ethylenedioxythiophene)/polyvinyl alcohol/copolymer of acrylic acid and 2-acrylanmido-2-methylpropanesulfonic acid. PPA can not only generate powerful actuation with a contractile stress up to 13 MPa, but can also perform programmable helical motions. PPA films with internal stress along the radial directions were prepared by a simple solution-casting method. Driven by moisture, rectangular strips cut from the same PPA film but with different cutting angles (the oblique angle between the long axis of the PPA strip and the radial axis of the PPA film) can perform direct bending and left-handed or right-handed helical motions, demonstrating the generation of chirality from asymmetric internal stress. By modulating the distribution of internal stress in PPA strips, their moving direction and speed are readily prescribed. The powerful and programmable PPA strips can be used to make soft devices, such as moisture-responsive switches and transporters. Our strategy of generating and utilizing internal stress in responsive polymers represents a promising platform for fabricating smart soft actuators.

Thermo- and Photoresponsive Actuators with Freestanding Carbon Nitride Films

The development of versatile actuators that convert environmental energy (heat or light, especially sunlight) into mechanical energy remains a great challenge. Herein, freestanding carbon nitride films were prepared by the physical vapor deposition method using bulk g-C₃N₄ powder as a starting material. The carbon nitride films exhibited controllable deformation under the stimuli of heat and light. An alarm device for high temperature and an artificial hand for grasping and releasing objects were designed. By utilizing the photothermal effect, a smart curtain that could block the UV rays and a manipulator that could perform sophisticated mechanical work were demonstrated under the direct irradiation of natural and simulated sunlight. This work exploited the potential applications of carbon nitride polymers for the conversion of solar energy to mechanical energy.

A Hydrophilic/Hydrophobic Janus Inverse-Opal Actuator via Gradient Infiltration

Janus/gradient actuating materials have become promising candidates for actuating devices. The fabrication of functional Janus gradient actuators remains a challenge. This paper presents a facile fabrication of a hydrophilic/hydrophobic Janus inverse opal actuator via gradient infiltration. The Janus characteristics of the fabricated actuator were attributed to gradient infiltration along the thickness of the film caused by the gradient light intensity and the distinct polymerization behavior of ionic liquids and methyl methacrylate in the methanol system. The Janus film demonstrated directional bending upon water vapor adsorption, with a bending angle approaching 1440° in 4 s, accompanied by structure color/optic signal alteration. The actuating behaviors were effectively modulated by changing the composition of the film and the solvent system. Promising applications of this Janus solvent actuator were demonstrated in two sets of tests: driving an engine and lifting cargo. This work provides insight into the design and fabrication of multifunctional humidity-actuating materials.

Designing self-propelled, chemically active sheets: Wrappers, flappers, and creepers

Catalyst-coated, hard particles can spontaneously generate fluid flows, which, in turn, propel the particles through the fluid. If the catalyst-coated object were a deformable sheet, then the self-generated flows could affect not only the sheet's motion but also its shape. By developing models that capture the interrelated chemical, hydrodynamic, and mechanical interactions, we uncover novel behavior emerging from the previously unstudied coupling between active, soft sheets and the surrounding fluid. The chemically generated flows "sculpt" the sheet into various forms that yield different functionalities, which can be tailored by modifying the sheet's geometry, patterning the sheet's surface with different catalysts, and using cascades of chemical reactions. These studies reveal how to achieve both spatial and temporal controls over the position and shape of active sheets and thus use the layers to autonomously and controllably trap soft objects, perform logic operations, and execute multistage processes in fluid-filled microchambers.

Origami mechanologic

Robots autonomously interact with their environment through a continual sense-decide-respond control loop. Most commonly, the decide step occurs in a central processing unit; however, the stiffness mismatch between rigid electronics and the compliant bodies of soft robots can impede integration of these systems. We develop a framework for programmable mechanical computation embedded into the structure of soft robots that can augment conventional digital electronic control schemes. Using an origami waterbomb as an experimental platform, we demonstrate a 1-bit mechanical storage device that writes, erases, and rewrites itself in response to a time-varying environmental signal. Further, we show that mechanical coupling between connected origami units can be used to program the behavior of a mechanical bit, produce logic gates such as AND, OR, and three input majority gates, and transmit signals between mechanologic gates. Embedded mechanologic provides a route to add autonomy and intelligence in soft robots and machines.