A Micropillar-Assisted Versatile Strategy for Highly Sensitive and Efficient Triboelectric Energy Generation under In-Plane Stimuli

Light-powered self-scrolling liquid crystal elastomer crane

Traditional liquid crystal elastomer (LCE)-based machines are constrained by the need for complex controllers and large power supplies, which limits their applicability in microrobots and other small-scale machines. In this paper, we propose a light-powered self-scrolling LCE crane, which is capable of self-scrolling to lift weights under steady light. Based on a dynamic LCE model, we derive the lateral curvature of the LCE crane and the driving moment for steady scrolling. By numerically solving the equilibrium equations, we found that the driving moment for the self-scrolling is originated from the uneven distribution of the LCE rod in the horizontal direction caused by light. The angular velocity of the self-scrolling depends on five system parameters: heat flux, coefficient of heat transfer, support spacing, weight mass, and scrolling friction coefficient. Through experimental comparative analysis, the results are consistent with the numerical simulation. The light-powered self-scrolling LCE crane device proposed in this paper features a simple structure, consistent horizontal illumination, and a compact light irradiation area. It advances the understanding of self-sustaining structures utilizing active materials and offers valuable insight into the potential applications of light-responsive LCEs in self-driven devices, medical instruments, robotics, sensors, and the energy sector.

Light-Powered Self-Translation of an Asymmetric Friction Slider Using a Liquid Crystal Elastomer String Oscillator

In recent years, there have been many studies focused on improving the performance of active materials; however, applying these materials to active machines still presents significant challenges. In this study, we introduce a light-powered self-translation system for an asymmetric friction slider using a liquid crystal elastomer (LCE) string oscillator. The self-translation system was composed of a hollow slide, two LCE fibers, and a mass ball. Through the evolution of photothermal-induced contraction, we derived the governing equations for the system. Numerical simulations revealed two distinct motion modes: the static mode and the self-translation mode. As the mass ball moved, the LCE fibers alternated between illuminated and non-illuminated states, allowing them to effectively harvest light energy to compensate for the energy dissipation within the system. Unlike traditional self-oscillating systems that oscillate around a fixed position, the asymmetric friction enabled the slider to advance continuously through the oscillator's symmetric self-sustained oscillation. Furthermore, we explored the critical conditions necessary for initiating self-translation as well as key system parameters that influence the frequency and amplitude of the oscillator and average speed of the slider. This self-translation system, with its simple design and ease of control, holds promising potential for applications in various fields including soft robotics, energy harvesting, and active machinery.

A Self-Oscillator Based on Liquid Crystal Elastomer Fiber Under Constant Voltage

Self-oscillation is the phenomenon in which a system generates spontaneous, consistent periodic motion in response to a steady external stimulus, making it highly suitable for applications in soft robotics, motors, and mechatronic devices. In this paper, we present a self-oscillator based on liquid crystal elastomer (LCE) fiber under constant voltage. The system primarily consists of an LCE-liquid metal (LCE-LM) composite fiber, a metal mass sphere, and a straight rod featuring both conductive and insulating segments. Building upon an established dynamic LCE model, we derive the governing dynamic equations. Numerical calculations reveal two distinct motion regimes: a static regime and a self-oscillation regime. Furthermore, we provide the temporal behavior curves of electrothermal-induced contraction and tensile force, the phase trajectories variation curves of the equivalent driving force and damping force. These detailed studies elucidate that self-oscillation results from the contraction of the electrothermal-responsive LCE-LM fiber when the circuit is activated, with continuous periodic motion being sustained through the interplay between the metal mass sphere and a self-controlled dynamic circuit. We also investigate the threshold conditions necessary for initiating self-oscillation, as well as the key system parameters that influence its frequency and amplitude. Our self-oscillator demonstrates improved stability by reducing the effects of gravity and other disturbances. Additionally, the curved trajectory of the mass sphere can be achieved by replacing the straight rod with a curved one, resulting in a more flexible and easily controllable structure. Given these characteristics, a self-oscillator system based on LCE-LM fiber may be ideal for creating monitoring and warning devices, dynamic circuit systems, and for integrating actuators and controllers.

Modeling of Photodynamic Self-Oscillation Based on a Suspended Liquid Crystal Elastomer Ball System

Self-oscillation enables continuous motion by transforming constant external stimuli into mechanical work, eliminating the necessity for supplementary control systems. This holds considerable promise in domains like actuators, wearable devices and biomedicine. In the current study, a novel suspended liquid crystal elastomer (LCEs) ball system consisting of a light-responsive hollow LCE ball and an air blower is constructed. Stable illumination allows for its continuous periodic oscillation. Drawing from the theoretical model in conjunction with the dynamic LCE model, the control equations for the system are established, and its dynamic motion characteristics are explored from theoretical viewpoint. The numerical calculations suggest that two motion patterns are present, i.e., hovering and self-oscillatory patterns. The critical conditions required to initiate the transition between two motion patterns are quantified for different system parameters. As evidenced by the outcomes, manipulating the light intensity, damping coefficient, contraction coefficient, air density, gravitational acceleration, bottom illumination zone height, characteristic coefficient and vertical wind speed at the blower outlet facilitates precise control over the motion patterns as well as the amplitude and frequency. With its simple structure, customizable dimensions, remote activation and active manipulation, this system may potentially change the design approach for energy harvesting, microsensors and aerial vehicles.

A Light-Powered Self-Circling Slider on an Elliptical Track with a Liquid Crystal Elastomer Fiber

In this paper, we propose an innovative light-powered LCE-slider system that enables continuous self-circling on an elliptical track and is comprised of a light-powered LCE string, slider, and rigid elliptical track. By formulating and solving dimensionless dynamic equations, we explain static and self-circling states, emphasizing self-circling dynamics and energy balance. Quantitative analysis reveals that the self-circling frequency of LCE-slider systems is independent of the initial tangential velocity but sensitive to light intensity, contraction coefficients, elastic coefficients, the elliptical axis ratio, and damping coefficients. Notably, elliptical motion outperforms circular motion in angular velocity and frequency, indicating greater efficiency. Reliable self-circling under constant light suggests applications in periodic motion fields, especially celestial mechanics. Additionally, the system's remarkable adaptability to a wide range of curved trajectories exemplifies its flexibility and versatility, while its energy absorption and conversion capabilities position it as a highly potential candidate for applications in robotics, construction, and transportation.

The Light-Fueled Self-Rotation of a Liquid Crystal Elastomer Fiber-Propelled Slider on a Circular Track

The self-excited oscillation system, owing to its capability of harvesting environmental energy, exhibits immense potential in diverse fields, such as micromachines, biomedicine, communications, and construction, with its adaptability, efficiency, and sustainability being highly regarded. Despite the current interest in track sliders in self-vibrating systems, LCE fiber-propelled track sliders face significant limitations in two-dime nsional movement, especially self-rotation, necessitating the development of more flexible and mobile designs. In this paper, we design a spatial slider system which ensures the self-rotation of the slider propelled by a light-fueled LCE fiber on a rigid circular track. A nonlinear dynamic model is introduced to analyze the system's dynamic behaviors. The numerical simulations reveal a smooth transition from the static to self-rotating states, supported by ambient illumination. Quantitative analysis shows that increased light intensity, the contraction coefficient, and the elastic coefficient enhance the self-rotating frequency, while more damping decreases it. The track radius exhibits a non-monotonic effect. The initial tangential velocity has no impact. The reliable self-rotating performance under steady light suggests potential applications in periodic motion-demanding fields, especially in the construction industry where energy dissipation and utilization are of utmost urgency. Furthermore, this spatial slider system possesses the ability to rotate and self-vibrate, and it is capable of being adapted to other non-circular curved tracks, thereby highlighting its flexibility and multi-use capabilities.

Theoretical Analysis of Light-Actuated Self-Sliding Mass on a Circular Track Facilitated by a Liquid Crystal Elastomer Fiber

Self-vibrating systems obtaining energy from their surroundings to sustain motion can offer great potential in micro-robots, biomedicine, radar systems, and amusement equipment owing to their adaptability, efficiency, and sustainability. However, there is a growing need for simpler, faster-responding, and easier-to-control systems. In the study, we theoretically present an advanced light-actuated liquid crystal elastomer (LCE) fiber-mass system which can initiate self-sliding motion along a rigid circular track under constant light exposure. Based on an LCE dynamic model and the theorem of angular momentum, the equations for dynamic control of the system are deduced to investigate the dynamic behavior of self-sliding. Numerical analyses show that the theoretical LCE fiber-mass system operates in two distinct states: a static state and a self-sliding state. The impact of various dimensionless variables on the self-sliding amplitude and frequency is further investigated, specifically considering variables like light intensity, initial tangential velocity, the angle of the non-illuminated zone, and the inherent properties of the LCE material. For every increment of π/180 in the amplitude, the elastic coefficient increases by 0.25% and the angle of the non-illuminated zone by 1.63%, while the light intensity contributes to a 20.88% increase. Our findings reveal that, under constant light exposure, the mass element exhibits a robust self-sliding response, indicating its potential for use in energy harvesting and other applications that require sustained periodic motion. Additionally, this system can be extended to other non-circular curved tracks, highlighting its adaptability and versatility.

Enhancing cellular behavior in repaired tissue via silk fibroin-integrated triboelectric nanogenerators

Triboelectric nanogenerators (TENGs) have emerged as a promising approach for generating electricity and providing electrical stimuli in medical electronic devices. Despite their potential benefits, the clinical implementation of TENGs faces challenges such as skin compliance and a lack of comprehensive assessment regarding their biosafety and efficacy. Therefore, further research is imperative to overcome these limitations and unlock the full potential of TENGs in various biomedical applications. In this study, we present a flexible silk fibroin-based triboelectric nanogenerator (SFB-TENG) that features an on-skin substrate and is characterized by excellent skin compliance and air/water permeability. The range of electrical output generated by the SFB-TENG was shown to facilitate the migration and proliferation of Hy926, NIH-3T3 and RSC96 cells. However, apoptosis of fibroblast NIH-3T3 cells was observed when the output voltage increased to more than 20 V at a frequency of 2 Hz. In addition, the moderate electrical stimulation provided by the SFB-TENG promoted the cell proliferation cycle in Hy926 cells. This research highlights the efficacy of a TENG system featuring a flexible and skin-friendly design, as well as its safe operating conditions for use in biomedical applications. These findings position TENGs as highly promising candidates for practical applications in the field of tissue regeneration.

Lightweight and Strong Cellulosic Triboelectric Materials Enabled by Cell Wall Nanoengineering

As intelligent technology surges forward, wearable electronics have emerged as versatile tools for monitoring health and sensing our surroundings. Among these advancements, porous triboelectric materials have garnered significant attention for their lightness. However, these materials face the challenge of improving structural stability to further enhance the sensing accuracy of triboelectric sensors. In this study, a lightweight and strong porous cellulosic triboelectric material is designed by cell wall nanoengineering. By tailoring of the cell wall structure, the material shows a high mechanical strength of 51.8 MPa. The self-powered sensor constructed by this material has a high sensitivity of 33.61 kPa-1, a fast response time of 36 ms, and excellent pressure detection durability. Notably, the sensor still enables a high sensing performance after the porous cellulosic triboelectric material exposure to 200 °C and achieves real-time feedback of human motion, thereby demonstrating great potential in the field of wearable electronic devices.

Modeling the light-powered self-rotation of a liquid crystal elastomer fiber-based engine

Self-oscillating systems possess the ability to convert ambient energy directly into mechanical work, and new types of self-oscillating systems are worth designing for practical applications in energy harvesters, engines and actuators. Taking inspiration from the four-stroke engine. A concept for a self-rotating engine is presented on the basis of photothermally responsive materials, consisting of a liquid crystal elastomer (LCE) fiber, a hinge and a turnplate, which can self-rotate under steady illumination. Based on the photo-thermal-mechanical model, a nonlinear theoretical model of the LCE-based engine under steady illumination is proposed to investigate its self-rotating behaviors. Numerical calculations reveal that the LCE-based engine experiences a supercritical Hopf bifurcation between the static regime and the self-rotation regime. The self-rotation of the LCE-based engine originates from the photothermally driven strain of the LCE fiber in illumination, and its continuous periodic motion is sustained by the correlation between photothermal energy and damping dissipation. The Hopf bifurcation conditions are also explored in detail, as well as the vital system parameters affecting self-rotation frequency. Compared to the abundant existing self-oscillating systems, this conceptual self-rotating LCE-based engine stands out due to its simple and lightweight structure, customizable dimensions and high speed, and it is expected to offer a broader range of design concepts applicable to soft robotics, energy harvesters, medical instruments, and so on.

Synchronous behaviors of three coupled liquid crystal elastomer-based spring oscillators under linear temperature fields

Self-oscillating coupled systems possess the ability to actively absorb external environmental energy to sustain their motion. This quality endows them with autonomy and sustainability, making them have application value in the fields of synchronization and clustering, thereby furthering research and exploration in these domains. Building upon the foundation of thermal responsive liquid crystal elastomer-based (LCE-based) spring oscillators, a synchronous system comprising three LCE-based spring oscillators interconnected by springs is established. In this paper, the synchronization phenomenon is described, and the self-oscillation mechanism is revealed. The results indicate that by varying system parameters and initial conditions, three synchronization patterns emerge, namely, full synchronous mode, partial synchronous mode, and asynchronous mode. For strongly interacting systems, full synchronous mode always prevails, while for weak interactions, the adjustment of initial velocities in magnitude and direction yields the three synchronization patterns. Additionally, this study explores the impact of several system parameters, including LCE elasticity coefficient and spring elasticity coefficient, on the amplitude, frequency, and synchronous mode of the system. The findings in this paper can enhance our understanding of the synchronization behavior of multiple mutually coupled LCE-based spring oscillators, with promising applications in energy harvesting, soft robotics, signal monitoring, and various other fields.

Boosting the output performance of triboelectric nanogenerators via surface engineering and structure designing

Triboelectric nanogenerators (TENGs) have been utilized in a wide range of applications, including smart wearable devices, self-powered sensors, energy harvesting, and high-voltage power sources. The surface morphology and structure of TENGs play a critical role in their output performance. In this review, we analyze the working mechanism of TENGs with the aim to improve their output performance and systematically summarize the morphological engineering and structural design strategies for TENGs. Additionally, we present the emerging applications of TENGs with specific structures and surfaces. Finally, we discuss the potential future development and industrial application of TENGs. By deeply exploring the surface and structural design strategy of high-performance TENGs, it is conducive to further promote the application of TENGs in actual production. We hope that this review provides insights and guidance for the morphological and structural design of TENGs in the future.

Bioinspired magnetic cilia: from materials to applications

Microscale and nanoscale cilia are ubiquitous in natural systems where they serve diverse biological functions. Bioinspired artificial magnetic cilia have emerged as a highly promising technology with vast potential applications, ranging from soft robotics to highly precise sensors. In this review, we comprehensively discuss the roles of cilia in nature and the various types of magnetic particles utilized in magnetic cilia; additionally, we explore the top-down and bottom-up fabrication techniques employed for their production. Furthermore, we examine the various applications of magnetic cilia, including their use in soft robotics, droplet and particle control systems, fluidics, optical devices, and sensors. Finally, we present our conclusions and the future outlook for magnetic cilia research and development, including the challenges that need to be overcome and the potential for further integration with emerging technologies.

Self-Rotation of Electrothermally Responsive Liquid Crystal Elastomer-Based Turntable in Steady-State Circuits

Self-excited motions, characterized by their ability to harness energy from a consistent environment and self-regulate, exhibit significant potential in micro-devices, autonomous robotics, sensor technology, and energy generation. This study introduces an innovative turntable system based on an electrothermally responsive liquid crystal elastomer (LCE). This system facilitates self-rotation within a steady-state circuit. Employing an electrothermal LCE model, we have modeled and numerically analyzed the nonlinear dynamics of an LCE-rope within steady-state circuits, utilizing the four-order Runge-Kutta method for calculations. The numerical results reveal the emergence of two distinct motion patterns in the turntable system under steady-state conditions: a self-rotation pattern and a static pattern. The self-rotation is initiated when the system's absorbed energy surpasses the energy lost due to damping effects. Furthermore, this paper delves into the critical conditions necessary for initiating self-rotation and examines the influence of various key dimensionless parameters on the system's rotation amplitude and frequency. These parameters include gravitational acceleration, the initial position of the mass ball, elastic stiffness of the LCE and spring, limiting temperature, heating zone angle, thermal shrinkage coefficient, and damping factor. Our computational findings establish that these parameters exert a modulatory impact on the rotation amplitude and period. This research enhances the understanding of self-excited motions and offers promising avenues for applications in energy harvesting, monitoring, soft robotics, medical devices, and micro- and nano-devices.

Multi-Layered Triboelectric Nanogenerators with Controllable Multiple Spikes for Low-Power Artificial Synaptic Devices

In the domains of wearable electronics, robotics, and the Internet of Things, there is a demand for devices with low power consumption and the capability of multiplex sensing, memory, and learning. Triboelectric nanogenerators (TENGs) offer remarkable versatility in this regard, particularly when integrated with synaptic transistors that mimic biological synapses. However, conventional TENGs, generating only two spikes per cycle, have limitations when used in synaptic devices requiring repetitive high-frequency gating signals to perform various synaptic plasticity functions. Herein, a multi-layered micropatterned TENG (M-TENG) consisting of a polydimethylsiloxane (PDMS) film and a composite film that includes 1H,1H,2H,2H-perfluorooctyltrichlorosilane/BaTiO3 /PDMS are proposed. The M-TENG generates multiple spikes from a single touch by utilizing separate triboelectric charges at the multiple friction layers, along with a contact/separation delay achieved by distinct spacers between layers. This configuration allows the maximum triboelectric output charge of M-TENG to reach up to 7.52 nC, compared to 3.69 nC for a single-layered TENG. Furthermore, by integrating M-TENGs with an organic electrochemical transistor, the spike number multiplication property of M-TENGs is leveraged to demonstrate an artificial synaptic device with low energy consumption. As a proof-of-concept application, a robotic hand is operated through continuous memory training under repeated stimulations, successfully emulating long-term plasticity.

A Light-Powered Liquid Crystal Elastomer Roller

Achieving and controlling the desired movements of active machines is generally accomplished through precise control of artificial muscles in a distributed and serialized manner, which is a significant challenge. The emerging motion control strategy based on self-oscillation in active machines has unique advantages, including directly harvesting energy from constant ambient light, and it has no need for complex controllers. Inspired by the roller, we have innovatively developed a self-rolling roller that consists of a roller and a liquid crystal elastomer (LCE) fiber. By utilizing a well-established dynamic LCE model and subjecting it to constant illumination, we have investigated the dynamic behavior of the self-rolling roller. Based on numerical calculations, it has been discovered that the roller, when subjected to steady illumination, exhibits two distinct motion regimes: the static regime and the self-rolling regime. The self-rolling regime, characterized by continuous periodic rolling, is sustained by the interaction between light energy and damping dissipation. The continuous periodic rolling observed in the self-rolling regime is maintained through the interplay between the dissipation of damping and the absorption of light energy. In the static state, the rolling angle of the roller begins to decrease rapidly and then converges to zero. Detailed investigations have been conducted to determine the critical conditions required to initiate self-rolling, as well as the essential system parameters that influence its frequency and amplitude. The proposed self-rolling roller has superiorities in its simple structure, light weight, alternative to manual labor, and speediness. This advancement is expected to inspire greater design diversity in micromachines, soft robotics, energy harvesters, and similar areas.

Self-Vibration of Liquid Crystal Elastomer Strings under Steady Illumination

Self-vibrating systems based on active materials have been widely developed, but most of the existing self-oscillating systems are complex and difficult to control. To fulfill the requirements of different functions and applications, it is necessary to construct more self-vibrating systems that are easy to control, simple in material preparation and fast in response. This paper proposes a liquid crystal elastomer (LCE) string-mass structure capable of continuous vibration under steady illumination. Based on the linear elastic model and the dynamic LCE model, the dynamic governing equations of the LCE string-mass system are established. Through numerical calculation, two regimes of the LCE string-mass system, namely the static regime and the self-vibration regime, are obtained. In addition, the light intensity, contraction coefficient and elastic coefficient of the LCE can increase the amplitude and frequency of the self-vibration, while the damping coefficient suppresses the self-oscillation. The LCE string--mass system proposed in this paper has the advantages of simple structure, easy control and customizable size, which has a wide application prospect in the fields of energy harvesting, autonomous robots, bionic instruments and medical equipment.

Self-Vibration of a Liquid Crystal Elastomer Fiber-Cantilever System under Steady Illumination

A new type of self-oscillating system has been developed with the potential to expand its applications in fields such as biomedical engineering, advanced robotics, rescue operations, and military industries. This system is capable of sustaining its own motion by absorbing energy from the stable external environment without the need for an additional controller. The existing self-sustained oscillatory systems are relatively complex in structure and difficult to fabricate and control, thus limited in their implementation in practical and complex scenarios. In this paper, we creatively propose a novel light-powered liquid crystal elastomer (LCE) fiber-cantilever system that can perform self-sustained oscillation under steady illumination. Considering the well-established LCE dynamic model, beam theory, and deflection formula, the control equations for the self-oscillating system are derived to theoretically study the dynamics of self-vibration. The LCE fiber-cantilever system under steady illumination is found to exhibit two motion regimes, namely, the static and self-vibration regimes. The positive work done by the tension of the light-powered LCE fiber provides some compensation against the structural resistance from cantilever and the air damping. In addition, the influences of system parameters on self-vibration amplitude and frequency are also studied. The newly constructed light-powered LCE fiber-cantilever system in this paper has a simple structure, easy assembly/disassembly, easy preparation, and strong expandability as a one-dimensional fiber-based system. It is expected to meet the application requirements of practical complex scenarios and has important application value in fields such as autonomous robots, energy harvesters, autonomous separators, sensors, mechanical logic devices, and biomimetic design.

Heat-Driven Synchronization in Coupled Liquid Crystal Elastomer Spring Self-Oscillators

Self-oscillating coupled machines are capable of absorbing energy from the external environment to maintain their own motion and have the advantages of autonomy and portability, which also contribute to the exploration of the field of synchronization and clustering. Based on a thermally responsive liquid crystal elastomer (LCE) spring self-oscillator in a linear temperature field, this paper constructs a coupling and synchronization model of two self-oscillators connected by springs. Based on the existing dynamic LCE model, this paper theoretically reveals the self-oscillation mechanism and synchronization mechanism of two self-oscillators. The results show that adjusting the initial conditions and system parameters causes the coupled system to exhibit two synchronization modes: in-phase mode and anti-phase mode. The work conducted by the driving force compensates for the damping dissipation of the system, thus maintaining self-oscillation. The phase diagrams of different system parameters are drawn to illuminate the self-oscillation and synchronization mechanism. For weak interaction, changing the initial conditions may obtain the modes of in-phase and anti-phase. Under conditions of strong interactions, the system consistently exhibits an in-phase mode. Furthermore, an investigation is conducted on the influence of system parameters, such as the LCE elastic coefficient and spring elastic coefficient, on the amplitudes and frequencies of the two synchronization modes. This study aims to enhance the understanding of self-oscillator synchronization and its potential applications in areas such as energy harvesting, power generation, detection, soft robotics, medical devices and micro/nanodevices.

Self-Oscillating Liquid Crystal Elastomer Helical Spring Oscillator with Combined Tension and Torsion

Self-oscillation is the autonomous maintenance of continuous periodic motion through energy absorption from non-periodic external stimuli, making it particularly attractive for fabricating soft robots, energy-absorbing devices, mass transport devices, and so on. Inspired by the self-oscillating system that presents high degrees of freedom and diverse complex oscillatory motions, we created a self-oscillating helical spring oscillator with combined tension and torsion under steady illumination, among which a mass block and a liquid crystal elastomer (LCE) helical spring made with LCE wire are included. Considering the well-established helical spring model and the dynamic LCE model, a nonlinear dynamic model of the LCE helical spring oscillator under steady illumination is proposed. From numerical calculation, the helical spring oscillator upon exposure to steady illumination possesses two motion regimes, which are the static regime and the self-tension-torsion regime. Contraction of the LCE wire under illumination is necessary to generate the self-tension-torsion of the helical spring oscillator, with its continuous periodic motion being maintained by the mutual balance between light energy input and damping dissipation. Additionally, the critical conditions for triggering the self-tension-torsion, as well as the vital system parameters affecting its frequencies and amplitudes of the translation and the rotation, were investigated in detail. This self-tension-torsion helical spring oscillator is unique in its customizable mechanical properties via its structural design, small material strain but large structural displacement, and ease of manufacture. We envision a future of novel designs for soft robotics, energy harvesters, active machinery, and so on.

Light-Fueled Synchronization of Two Coupled Liquid Crystal Elastomer Self-Oscillators

The synchronization and group behaviors of self-excited coupled oscillators are common in nature and deserve to be explored, for self-excited motions have the advantages of actively collecting energy from the environment, being autonomous, making equipment portable, and so on. Based on light-powered self-excited oscillators composed of liquid crystal elastomer (LCE) bars, the synchronization of two self-excited coupled oscillators is theoretically studied. Numerical calculations show that self-excited oscillations of the system have two synchronization modes, in-phase mode and anti-phase mode, which are mainly determined by their interaction. The time histories of various quantities are calculated to elucidate the mechanism of self-excited oscillation and synchronization. For strong interactions, the system always develops into in-phase synchronization mode, while for weak interaction, the system will evolve into anti-phase synchronization mode. Furthermore, the effects of initial conditions, contraction coefficient, light intensity, and damping coefficient on the two synchronization modes of the self-excited oscillation are investigated extensively. The initial condition generally does not affect the synchronization mode and its amplitude. The amplitude of self-oscillation always increases with increasing contraction coefficient, gravitational acceleration, and light intensity, while it decreases with the increasing damping coefficient. This work will deepen people's understanding of the synchronization behaviors of self-excited coupled oscillators, and the theoretical framework could be extended to scenarios involving large-scale synchronization of the systems with numerous interacting oscillators.

Self-Sustained Oscillation of Electrothermally Responsive Liquid Crystal Elastomer Film in Steady-State Circuits

Self-excited oscillations have the advantages of absorbing energy from a stable environment and Self-control; therefore, Self-excited motion patterns have broader applications in micro devices, autonomous robots, sensors and energy-generating devices. In this paper, a Self-sustained curling liquid crystal elastomer (LCE) film-mass system is proposed on the basis of electrothermally responsive materials, which can realize Self-oscillation under a steady-state current. Based on the contact model and dynamic LCE model, a nonlinear dynamics model of LCE film in steady-state circuits is developed and numerical calculations are carried out using the Runge-Kutta method. Through numerical calculations, it is demonstrated that LCE film-mass systems have two motion patterns in steady-state circuits: namely, a Self-oscillation pattern and a stationary pattern. Self-sustained curling of LCE film originates from the fact that the energy absorbed by the system exceeds the energy dissipated due to the damping effect. In addition, the critical conditions for triggering Self-oscillation and the effects of several key dimensionless system parameters on the amplitude and period of Self-oscillation are investigated in detail. Calculation results show that the height of electrolyte solution, gravitational acceleration, elastic modulus of LCE film, limit temperature, curvature coefficient, thermal shrinkage coefficient and damping factor all have a modulating effect on the amplitude and period of Self-oscillation. This research may deepen the understanding of Self-excited oscillation, with promising applications in energy harvesting, power generation, monitoring, soft robotics, medical devices, and micro and nano devices.

Capacitive-piezoresistive hybrid flexible pressure sensor based on conductive micropillar arrays with high sensitivity over a wide dynamic range

Flexible pressure sensors are the foundation of wearable/implantable biosensing and human-machine interfaces, and mainly comprise piezoresistive-, capacitive-, piezoelectric-, and triboelectric-type sensors. As each type of sensor exhibits different electro-mechanical behaviors, it is challenging to detect various physiological mechanical signals that cover a large pressure range using a given sensor configuration, or even a single type of sensor. Here, we report a capacitive-piezoresistive hybrid flexible pressure sensor based on face-to-face-mounted conductive micropillar arrays as a solution to this challenge. The sensor exhibited high sensitivity over a wide dynamic range of five orders of magnitude, which covers almost the full range of physiological mechanical signals. A process for fabricating large-scale and morphologically homogeneous conductive micropillar arrays was first developed and refined. This track-etched-membrane-based process provides a facile, cost-effective, and highly flexible way to precisely adjust the morphology, modulus, and conductivity of the micropillars according to the application requirements. Subsequently, conductive-micropillar-array-based pressure sensors (MAPS) were developed and optimized to attain all-round sensing performance. The pillar contact behaviors generated significant variations in both the capacitance and resistance of the MAPS in the low-pressure regime (10^-4-0.2 kPa), providing high sensitivity in both the capacitive and piezoresistive working modes. The vertical contact, bending and thickening of the pillars under medium pressure (0.2-16 kPa) led to a continuous linear response in both modes. Configuration and optimization enabled the MAPS to detect acoustic pressure (<1 Pa), milligram weights, soft touch (<1 kPa), arterial pulses (1-16 kPa preload), joint motions and plantar pressure (∼100 kPa), and the hybrid sensing mode allowed the MAPS to work in a desirable way. In this work, the piezoresistive mode was mainly employed for a higher accuracy and sampling rate, and can apparently simplify IC design for wearable applications. The circuit converts the resistive variations into electrical signals via the voltage division method and directly reads out the signals after further amplification, filtering and transmission. The improved facile and highly adjustable fabrication process, as well as the flexible hybrid sensing strategy, will benefit the unified design, batch production, quantifiable optimization, and functional diversity of wearable/implantable bioelectronics.

Self-Healing Polymers for Electronics and Energy Devices

Polymers are extensively exploited as active materials in a variety of electronics and energy devices because of their tailorable electrical properties, mechanical flexibility, facile processability, and they are lightweight. The polymer devices integrated with self-healing ability offer enhanced reliability, durability, and sustainability. In this Review, we provide an update on the major advancements in the applications of self-healing polymers in the devices, including energy devices, electronic components, optoelectronics, and dielectrics. The differences in fundamental mechanisms and healing strategies between mechanical fracture and electrical breakdown of polymers are underlined. The key concepts of self-healing polymer devices for repairing mechanical integrity and restoring their functions and device performance in response to mechanical and electrical damage are outlined. The advantages and limitations of the current approaches to self-healing polymer devices are systematically summarized. Challenges and future research opportunities are highlighted.

Self-Oscillating Curling of a Liquid Crystal Elastomer Beam under Steady Light

Self-oscillation absorbs energy from a steady environment to maintain its own continuous motion, eliminating the need to carry a power supply and controller, which will make the system more lightweight and promising for applications in energy harvesting, soft robotics, and microdevices. In this paper, we present a self-oscillating curling liquid crystal elastomer (LCE) beam-mass system, which is placed on a table and can self-oscillate under steady light. Unlike other self-sustaining systems, the contact surface of the LCE beam with the tabletop exhibits a continuous change in size during self-sustaining curling, resulting in a dynamic boundary problem. Based on the dynamic LCE model, we establish a nonlinear dynamic model of the self-oscillating curling LCE beam considering the dynamic boundary conditions, and numerically calculate its dynamic behavior using the Runge-Kutta method. The existence of two motion patterns in the LCE beam-mass system under steady light are proven by numerical calculation, namely self-curling pattern and stationary pattern. When the energy input to the system exceeds the energy dissipated by air damping, the LCE beam undergoes self-oscillating curling. Furthermore, we investigate the effects of different dimensionless parameters on the critical conditions, the amplitude and the period of the self-curling of LCE beam. Results demonstrate that the light source height, curvature coefficient, light intensity, elastic modulus, damping factor, and gravitational acceleration can modulate the self-curling amplitude and period. The self-curling LCE beam system proposed in this study can be applied to autonomous robots, energy harvesters, and micro-instruments.

Self-Sustained Euler Buckling of an Optically Responsive Rod with Different Boundary Constraints

Self-sustained oscillations can directly absorb energy from the constant environment to maintain its periodic motion by self-regulating. As a classical mechanical instability phenomenon, the Euler compression rod can rapidly release elastic strain energy and undergo large displacement during buckling. In addition, its boundary configuration is usually easy to be modulated. In this paper, we develop a self-sustained Euler buckling system based on optically responsive liquid crystal elastomer (LCE) rod with different boundary constraints. The buckling of LCE rod results from the light-induced expansion and compressive force, and the self-buckling is maintained by the energy competition between the damping dissipation and the net work done by the effective elastic force. Based on the dynamic LCE model, the governing equations for dynamic Euler buckling of the LCE rod is formulated, and the approximate admissible trigonometric functions and Runge-Kutta method are used to solve the dynamic Euler buckling. Under different illumination parameters, there exists two motion modes of the Euler rod: the static mode and the self-buckling mode, including alternating and unilateral self-buckling modes. The triggering conditions, frequency, and amplitude of the self-sustained Euler buckling can be modulated by several system parameters and boundary constraints. Results indicate that strengthening the boundary constraint can increase the frequency and reduce the amplitude. It is anticipated that this system may open new avenues for energy harvesters, signal sensors, mechano-logistic devices, and autonomous robots.

Thermally Driven Continuous Rolling of a Thick-Walled Cylindrical Rod

Self-sustained motion can take advantage of direct energy extraction from a steady external environment to maintain its own motion, and has potential applications in energy harvesting, robotic motion, and transportation. Recent experiments have found that a thermally responsive rod can perform self-sustained rolling on a flat hot plate with an angular velocity determined by the competition between the thermal driving moment and the friction moment. A rod with a hollow cross section tends to greatly reduce the frictional resistance, while promising improvements in thermal conversion efficiency. In this paper, through deriving the equilibrium equations for steady-state self-sustained rolling of the thick-walled cylindrical rod, estimating the temperature field on the rod cross-section, and solving the analytical solution of the thermally induced driving moment, the dynamic behavior of the thermally driven self-sustained rolling of the thick-walled cylindrical rod is theoretically investigated. In addition, we investigate in detail the effects of radius ratio, heat transfer coefficient, heat flux, contact angle, thermal expansion coefficient, and sliding friction coefficient on the angular velocity of the self-sustained rolling of the thick-walled cylindrical rod to obtain the optimal ratio of internal and external radius. The results are instructive for the application of thick-walled cylindrical rods in the fields of waste heat harvesters and soft robotics.

Chemo-Mechanical Energy Harvesters with Enhanced Intrinsic Electrochemical Capacitance in Carbon Nanotube Yarns

Predicting and preventing disasters in difficult-to-access environments, such as oceans, requires self-powered monitoring devices. Since the need to periodically charge and replace batteries is an economic and environmental concern, energy harvesting from external stimuli to supply electricity to batteries is increasingly being considered. Especially, in aqueous environments including electrolytes, coiled carbon nanotube (CNT) yarn harvesters have been reported as an emerging approach for converting mechanical energy into electrical energy driven by large and reversible capacitance changes under stretching and releasing. To realize enhanced harvesting performance, experimental and computational approaches to optimize structural homogeneity and electrochemical accessible area in CNT yarns to maximize intrinsic electrochemical capacitance (IEC) and stretch-induced changes are presented here. Enhanced IEC further enables to decrease matching impedance for more energy efficient circuits with harvesters. In an ocean-like environment with a frequency from 0.1 to 1 Hz, the proposed harvester demonstrates the highest volumetric power (1.6-10.45 mW cm^-3 ) of all mechanical harvesters reported in the literature to the knowledge of the authors. Additionally, a high electrical peak power of 540 W kg^-1 and energy conversion efficiency of 2.15% are obtained from torsional and tensile mechanical energy.

Dynamical Behaviors of a Translating Liquid Crystal Elastomer Fiber in a Linear Temperature Field

Liquid crystal elastomer (LCE) fiber with a fixed end in an inhomogeneous temperature field is capable of self-oscillating because of coupling between heat transfer and deformation, and the dynamics of a translating LCE fiber in an inhomogeneous temperature field are worth investigating to widen its applications. In this paper, we propose a theoretic constitutive model and the asymptotic relationship of a LCE fiber translating in a linear temperature field and investigate the dynamical behaviors of a corresponding fiber-mass system. In the three cases of the frame at rest, uniform, and accelerating translation, the fiber-mass system can still self-oscillate, which is determined by the combination of the heat-transfer characteristic time, the temperature gradient, and the thermal expansion coefficient. The self-oscillation is maintained by the energy input from the ambient linear temperature field to compensate for damping dissipation. Meanwhile, the amplitude and frequency of the self-oscillation are not affected by the translating frame for the three cases. Compared with the cases of the frame at rest, the translating frame can change the equilibrium position of the self-oscillation. The results are expected to provide some useful recommendations for the design and motion control in the fields of micro-robots, energy harvesters, and clinical surgical scenarios.

Synchronization of a Passive Oscillator and a Liquid Crystal Elastomer Self-Oscillator Powered by Steady Illumination

Self-oscillators have the advantages of actively harvesting energy from external steady environment, autonomy, and portability, and can be adopted as an engine to drive additional working equipment. The synchronous behavior of self-oscillators and passive oscillators may have an important impact on their functions. In this paper, we construct a self-oscillating system composed of a passive oscillator and an active liquid crystal elastomer self-oscillator powered by steady illumination, and theoretically investigate the synchronization of two coupled oscillators. There exist three synchronous regimes of the two coupled oscillators: static, in-phase, and anti-phase. The mechanisms of self-oscillations in in-phase and anti-phase synchronous regimes are elucidated in detail by calculating several key physical parameters. In addition, the effects of spring constant, initial velocity, contraction coefficient, light intensity, and damping coefficient on the self-oscillations of two coupled oscillators are further investigated, and the critical conditions for triggering self-oscillations are obtained. Numerical calculations show that the synchronous regime of self-oscillations is mainly determined by the spring constant, and the amplitudes of self-oscillations of two oscillators increase with increasing contraction coefficient, light intensity, and spring constant, while decrease with increasing damping coefficient. This study deepens the understanding of synchronization between coupled oscillators and may provide new design ideas for energy harvesters, soft robotics, signal detection, active motors, and self-sustained machinery.

Self-Jumping of a Liquid Crystal Elastomer Balloon under Steady Illumination

Self-oscillation capable of maintaining periodic motion upon constant stimulus has potential applications in the fields of autonomous robotics, energy-generation devices, mechano-logistic devices, sensors, and so on. Inspired by the active jumping of kangaroos and frogs in nature, we proposed a self-jumping liquid crystal elastomer (LCE) balloon under steady illumination. Based on the balloon contact model and dynamic LCE model, a nonlinear dynamic model of a self-jumping LCE balloon under steady illumination was formulated and numerically calculated by the Runge–Kutta method. The results indicated that there exist two typical motion regimes for LCE balloon under steady illumination: the static regime and the self-jumping regime. The self-jumping of LCE balloon originates from its expansion during contact with a rigid surface, and the self-jumping can be maintained by absorbing light energy to compensate for the damping dissipation. In addition, the critical conditions for triggering self-jumping and the effects of several key system parameters on its frequency and amplitude were investigated in detail. The self-jumping LCE hollow balloon with larger internal space has greater potential to carry goods or equipment, and may open a new insight into the development of mobile robotics, soft robotics, sensors, controlled drug delivery, and other miniature device applications.

Height-Tunable Replica Molding Using Viscous Polymeric Resins

Replica molding is one of the most common and low-cost methods for constructing microstructures for various applications, including dry adhesives, optics, tissue engineering, and strain sensors. However, replica molding provides only a single-height microstructure from a mold and master molds produced by an expensive photolithography process are required to prepare microstructures with different heights. Herein, we present a strategy to control the height of micropillars from the same mold by varying the cavity size of the micromold and the viscosity of the photocurable polyimide resin. The height of the constructed micropillar decreases in the case of small microcavities or high viscosity resin. In addition, the height of the micropillar arrays could be arbitrarily patterned by applying a masking technique. We believe that this cost-effective technique can be applied to metasurfaces for manipulation of electromagnetic signal or in biomedical applications including cell-culture and stem-cell differentiation.

A Light-Powered Liquid Crystal Elastomer Spring Oscillator with Self-Shading Coatings

The self-oscillating systems based on stimuli-responsive materials, without complex controllers and additional batteries, have great application prospects in the fields of intelligent machines, soft robotics, and light-powered motors. Recently, the periodic oscillation of an LCE fiber with a mass block under periodic illumination was reported. This system requires periodic illumination, which limits the application of self-sustained systems. In this paper, we creatively proposed a light-powered liquid crystal elastomer (LCE) spring oscillator with self-shading coatings, which can self-oscillate continuously under steady illumination. On the basis of the well-established dynamic LCE model, the governing equation of the LCE spring oscillator is formulated, and the self-excited oscillation is studied theoretically. The numerical calculations show that the LCE spring oscillator has two motion modes, static mode and oscillation mode, and the self-oscillation arises from the coupling between the light-driven deformation and its movement. Furthermore, the contraction coefficient, damping coefficient, painting stretch, light intensity, spring constant, and gravitational acceleration all affect the self-excited oscillation of the spring oscillator, and each parameter is a critical value for triggering self-excited oscillation. This work will provide effective help in designing new optically responsive structures for engineering applications.

A Biodegradable and Recyclable Piezoelectric Sensor Based on a Molecular Ferroelectric Embedded in a Bacterial Cellulose Hydrogel

Currently, various electronic devices make our life more and more safe, healthy, and comfortable, but at the same time, they produce a large amount of nondegradable and nonrecyclable electronic waste that threatens our environment. In this work, we explore an environmentally friendly and flexible mechanical sensor that is biodegradable and recyclable. The sensor consists of a bacterial cellulose (BC) hydrogel as the matrix and imidazolium perchlorate (ImClO₄) molecular ferroelectric as the functional element, the hybrid of which possesses a high sensitivity of 4 mV kPa^-1 and a wide operational range from 0.2 to 31.25 kPa, outperforming those of most devices based on conventional functional biomaterials. Moreover, the BC hydrogel can be fully degraded into glucose and oligosaccharides, while ImClO₄ can be recyclable and reused for the same devices, leaving no environmentally hazardous electronic waste.

Thermally Driven Self-Rotation of a Hollow Torus Motor

Self-oscillating systems based on thermally responsive polymer materials can realize heat-mechanical transduction in a steady ambient temperature field and have huge application potential in the field of micro-active machines, micro-robotics and energy harvesters. Recently, experiments have found that a torus on a hot surface can rotate autonomously and continuously, and its rotating velocity is determined by the competition between the thermally induced driving moment and the sliding friction moment. In this article, we theoretically study the self-sustained rotation of a hollow torus on a hot surface and explore the effect of the radius ratio on its rotational angular velocity and energy efficiency. By establishing a theoretical model of heat-driven self-sustained rotation, its analytical driving moment is derived, and the equilibrium equation for its steady rotation is obtained. Numerical calculation shows that with the increase in the radius ratio, the angular velocity of its rotation monotonously increases, while the energy efficiency of the self-rotating hollow torus motor first increases and then decreases. In addition, the effects of several system parameters on the angular velocity of it are also extensively investigated. The results in this paper have a guiding role in the application of hollow torus motor in the fields of micro-active machines, thermally driven motors and waste heat harvesters.

Self-Powered Artificial Mechanoreceptor Based on Triboelectrification for a Neuromorphic Tactile System

A self-powered artificial mechanoreceptor module is demonstrated with a triboelectric nanogenerator (TENG) as a pressure sensor with sustainable energy harvesting and a biristor as a neuron. By mimicking a biological mechanoreceptor, it simultaneously detects the pressure and encodes spike signals to act as an input neuron of a spiking neural network (SNN). A self-powered neuromorphic tactile system composed of artificial mechanoreceptor modules with an energy harvester can greatly reduce the power consumption compared to the conventional tactile system based on von Neumann computing, as the artificial mechanoreceptor module itself does not demand an external energy source and information is transmitted with spikes in a SNN. In addition, the system can detect low pressures near 3 kPa due to the high output range of the TENG. It therefore can be advantageously applied to robotics, prosthetics, and medical and healthcare devices, which demand low energy consumption and low-pressure detection levels. For practical applications of the neuromorphic tactile system, classification of handwritten digits is demonstrated with a software-based simulation. Furthermore, a fully hardware-based breath-monitoring system is implemented using artificial mechanoreceptor modules capable of detecting wind pressure of exhalation in the case of pulmonary respiration and bending pressure in the case of abdominal breathing.

Capillary-Induced Clustering of Thermoresponsive Micropillars

In this study, we demonstrate the controllable clustering of thermoresponsive high-aspect-ratio hydrogel pillars by modulating the elastic modulus of the materials. Generally, high-aspect-ratio polymeric pillars readily cluster owing to the effect of capillary force and adhesion. However, this unstable behavior hinders the implementation of various functionalities such as wetting, adhesion, and energy harvesting on surfaces with such pillars. Conversely, clustering behavior may be required in the case of digital microfluidic platforms that grip tiny particles or perform biological and chemical analyses. Therefore, it is necessary to develop a reliable method for controlling the clustering behavior. To this end, we fabricate high-aspect-ratio pillars that exhibit capillary-induced clustering behavior based on the cross-linker density of the thermoresponsive hydrogel and the temperature of the surrounding environment. Through experimental and theoretical analyses, a criterion for controlling the clustering and recovery behavior of the fabricated pillars is determined. The established criterion is employed to fabricate a smart mobile camera lens cover that can produce blurred and deblurred images based on optical variations resulting from the clustering and recovery of the pillars. The results of this study can be used to fabricate high-aspect-ratio polymeric pillars for use in diverse applications.

A Sustainable and Flexible Microbrush-Faced Triboelectric Generator for Portable/Wearable Applications

Triboelectric nanogenerators (TENGs) are put forward as a state-of-the-art energy-scavenging technology for self-powered electronics, but their severe wear and degradation driven by inevitable friction can pose significant durability and sustainability concerns. Here, an array of microfibers is reported that functions as a robust and sustainable TENG in both in-plane sliding and vertical contact-separation modes, with excellent electrical potential as high as 20 V and a high cyclability of 3000. The design flexibility of this microbrush TENG (MB-TENG) on the counter materials facilitates the further improvement of electrical outputs, benefiting numerous applications of human-interactive triboelectrification. Significantly, these MB-TENGs offer sufficient output power for successfully driving a smartwatch as well as an electromyography module. This technology uses a simple and cost-effective manner to provide a robust and reliable monolithic TENG module, which is expected to serve as a promising energy-harvesting source for self-powered electronics in the near future.

Self-Powered, Stretchable, and Wearable Ion Gel Mechanoreceptor Sensors

Mechanoreceptors in human skin are important and efficient cutaneous sensors that are highly sensitive, selective, and adaptive to the environment. Among these, Merkel disk (MD) and cilia are capable of sensing an external mechanical force through a receptor with a sharp pillar-like structure at its end. Then, the signal of the action potential is generated by pumping Na⁺ ions through ion channels. In this study, a self-powered, stretchable, and wearable gel mechanoreceptor sensor is developed inspired by the structural features of the MD and cilia with sharp tips and the signaling characteristics of mechanoreceptor ion migration. Poly(vinylidene fluoride-co-trifluoroethylene) gel is used to implement a self-powered system, and polyvinylchloride-based elastic gel is utilized to detect sensing signals based on charge transfer and distribution. The surface of all gels is that of a conical structure to achieve high sensor sensitivity and conformal contact with a target surface. In addition, using the developed sensors, various biological signals related to pressure/strain occurring in the human body (e.g., blood pressure (BP), muscle movement, and motion) are acquired. Furthermore, the behavior of arterial BP was investigated during the contraction and relaxation of the muscles.

Self-sustained eversion or inversion of a thermally responsive torus

When a cylindrical rod is placed on a flat and hot surface with a constant temperature, it can reach a steady state after certain time. In the steady state, though the temperature field inside the rod is inhomogeneous, it does not change with time. The inhomogeneous temperature change in the rod may induce inhomogeneous thermal expansion in it. Recent experiments have determined that if the rod is slightly curved, the inhomogeneous thermal expansion in the rod can drive its continuous and self-sustained rolling on a hot surface. It has been further shown that if the rod is bent to a closed torus and placed on a hot surface, the torus everts or inverts continuously due to the cross-coupling between the thermal field and the cyclic rotation. Such cyclic eversion or inversion of a torus can be regarded as a zero-elastic-energy mode because both the elastic energy and the shape of the torus remain unchanged during the rotation. In this article, we develop a coupled mechanics theory to model the continuous self-sustained eversion or inversion of a viscoelastic torus on a hot surface. We hope our modeling will inspire more novel designs of elastic motors being capable of zero-energy mode motion and help to quantitatively predict their performance.

Hierarchically patterned self-powered sensors for multifunctional tactile sensing

Flexible sensors are highly desirable for tactile sensing and wearable devices. Previous researches of smart elements have focused on flexible pressure or temperature sensors. However, realizing material identification remains a challenge. Here, we report a multifunctional sensor composed of hydrophobic films and graphene/polydimethylsiloxane sponges. By engineering and optimizing sponges, the fabricated sensor exhibits a high-pressure sensitivity of >15.22 per kilopascal, a fast response time of <74 millisecond, and a high stability over >3000 cycles. In the case of temperature stimulus, the sensor exhibits a temperature-sensing resolution of 1 kelvin via the thermoelectric effect. The sensor can generate output voltage signals after physical contact with different flat materials based on contact-induced electrification. The corresponding signals can be, in turn, used to infer material properties. This multifunctional sensor is excellent in its low cost and material identification, which provides a design concept for meeting the challenges in functional electronics.