Somatosensory, Light-Driven, Thin-Film Robots Capable of Integrated Perception and Motility

Recent Advances in 4D-Printed Shape Memory Actuators

4D printing, which combines the design freedom of 3D printing with the responsiveness of smart materials, is revolutionizing the creation of active structures. These structures can change shape in response to external stimuli, paving the way for advancements in robotics, biomedicine, and beyond. However, a comprehensive review article highlighting recent advancements in 4D printed shape memory actuators (SMAAs) is lacking. This review explores the exciting potential of 4D printing for intelligent SMAAs. It examines the concept of shape memory and the materials used, like shape-memory polymers (SMPs), shape-memory alloys (SMAs), and shape-memory polymer composites (SMPCs). It then dives into compatible 3D printing techniques and design principles for achieving programmed shape changes. Different categories of 4D printed SMAAs are explored, showcasing their potential applications in diverse fields. The review concludes by discussing challenges and future directions, emphasizing the massive potential of 4D printing for creating the next generation of actuators, making it a valuable resource for researchers in the field.

From Coils to Crawls: A Snake-Inspired Soft Robot for Multimodal Locomotion and Grasping

Currently, numerous biomimetic robots inspired by natural biological systems have been developed. However, creating soft robots with versatile locomotion modes remains a significant challenge. Snakes, as invertebrate reptiles, exhibit diverse and powerful locomotion abilities, including prey constriction, sidewinding, accordion locomotion, and winding climbing, making them a focus of robotics research. In this study, we present a snake-inspired soft robot with an initial coiling structure, fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology. The controllable fabrication of initial coiling structure soft robot (ICSBot) has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot, and programmable ICSBot has been designed and fabricated. This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation. Additionally, it demonstrates multi-modal crawling locomotion in various environments, including confined spaces, unstructured terrains, and both inside and outside tubes. These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.

Autonomous 3D Self-Sensing Hybrid Membrane Actuator for Interactive Communicating

The advancement of intelligent soft actuators is progressively emphasizing the incorporation of environmental sensing capability to actuation, thereby enhancing the adaptability and interactivity of artificial systems. In the current situation where the sensing and actuation functions of soft actuators are generally separated, this work proposes an autonomous three-dimensional (3D) noncontact sensory actuator (NSA), based on the coupling of ″dielectric polarization-electrothermal conversion-thermal actuation″ triple effects. Specifically, the NSA hybrid membrane is composed of multiple interpenetrating networks, including a boron nitride nanosheet (BNNS) dielectric network for electrostatic field sensing and polarization, a silver nanowires (AgNWs) percolation network for dielectric enhancement and electrothermal conversion, and thermally contracted shape memory fiber (SMF) and thermally expanded polydimethylsiloxane (PDMS) networks for directional actuation. Based on the principle of electrostatic field and dielectric polarization, the SMF/BNNS composite (SMF-BN) fibrous membrane can logically sense the noncontact 3D motion, static/dynamic state of external objects, and distinguish material categories. Subsequently, the output sensing potential facilitates the built-in AgNWs nanonetwork heater to trigger electrothermal actuation of NSA. Lastly, as a biomimetic tongue, the autonomous noncontact "sensing-decision-actuating" of NSA is verified by seamless energy conversion in the process of sensing "prey" approaching and capturing. The proposed sensory actuator would facilitate multimodal integration for future wearable and human-machine-environment interaction technologies.

Bioinspired Sensor and Actuator Hybrid Pixel Array for Moisture/Temperature Mapping, Electrothermal Display and Programmable Deformation

Natural soft organisms with sophisticated perception and deformation abilities provide inspiration for developing flexible electronics. However, the development of flexible sensing and actuating hybrid systems remains a challenge. Herein, we report a bioinspired sensor and actuator hybrid pixel array (SA-HPA) that enables moisture/temperature mapping, electrothermal display, and programmable electrothermal deformation. The SA-HPA is fabricated by femtosecond laser patterning of Cu electrodes/circuits, controllable deposition of graphene, selective encapsulation, and liquid crystal elastomer integration. The versatile SA-HPA can work as a sensor array for temperature and moisture recognition, and the interference between them can be overcome by the selective encapsulation of adjacent pixels. Additionally, SA-HPAs can also serve as electrothermal pixels for programmable infrared display and actuation. As a proof-of-concept, a soft robotic system that enables active temperature and humidity sensing was demonstrated. We deem that the SA-HPA may provide a new paradigm for developing soft electronics.

Untethered Soft Robots Based on 1D and 2D Nanomaterials

Biological structures exhibit autonomous and intelligent behaviors, such as movement, perception, and responses to environmental changes, through dynamic interactions with their surroundings. Inspired by natural organisms, future soft robots are also advancing toward autonomy, sustainability, and interactivity. This review summarizes the latest achievements in untethered soft robots based on 1D and 2D nanomaterials. First, the performance of soft actuators designed with different structures is compared. Then, the development of basic locomotion forms, including crawling, jumping, swimming, rolling, gripping, and multimodal, mimicking biological motion mechanisms under dynamic stimuli, is discussed. Subsequently, various self-sustained movements based on imbalance mechanisms under static stimuli are introduced, including light tracking, self-oscillating, self-crawling, self-rolling, and flying. Following that, the progress in soft actuators integrated with additional functionalities such as sensing, energy harvesting, and storage is summarized. Finally, the challenges faced in this field and the prospects for future development are discussed.

Toward Stretchable Flexible Integrated Sensor Systems

Skin-like flexible sensors hold great potential as the next generation of intelligent electronic devices owing to their broad applications in environmental monitoring, human-machine interfaces, the Internet of Things, and artificial intelligence. Flexible electronics inspired by human skin play a vital role in continuous and real-time health monitoring. This review summarizes recent progress in skin-mountable electronics developed by designing flexible electrodes and substrates into different structures, including serpentine, microcrack, wrinkle, and kirigami. Furthermore, this review briefly discusses advances in wearable integrated sensor systems that mimic the flexibility of human skin, as well as multisensing functions. In the future, innovations in stretchable integrated sensor systems will be crucial to develop next-generation intelligent skin-based sensors for practical applications such as medical diagnosis, treatment, and environment monitoring.

Kirigami-Inspired Light-Responsive Conical Spiral Actuators with Large Contraction Ratio Using Liquid Crystal Elastomer Fiber

Liquid crystal elastomers (LCEs) are among the key smart materials driving soft robotics and LCE fibers have garnered significant attention for their rapid response characteristics. A convenient and fast method for programming orientations of liquid crystal molecules is a focal issue in LCE applications. Inspired by the Kirigami technique, here, we propose a novel method for fabricating LCE fibers based on customizable cutting paths and secondary photo-cross-linking. While most existing LCE actuators exhibit contraction ratios of around 30 to 40%, our conical spiral actuator, fabricated from LCE-carbon nanotube (CNT) fiber using the proposed method, demonstrates a significantly higher contraction ratio, reaching up to 80%. The contraction ratio can be controlled by adjusting the cutting path parameters and we elucidate the mechanism linking liquid crystal orientation to the distribution of contraction ratio. Additionally, the conical spiral deformation of the actuator can be manipulated with light radiation, enabling versatile functionalities such as catching, twisting, and gripping. We hope that the novel LCE fiber fabrication method presented provides new insights for programming and preparing LCE fibers, offering a valuable reference for the application of smart soft materials.

Responsive Magnetic Polymer Nanocomposites through Thermal-Induced Structural Reorganization

Polymer nanocomposites (PNCs), which feature a hybrid network of soft polymers filled with nanoparticles, hold promise for application in soft robots due to their tunable physiochemical properties. Under certain environmental conditions, PNCs undergo stimuli-responsive structural rearrangement and transform the energy of the ambient environment into diverse uses, for example, repairing the injuries and reconfiguring the shapes of the materials. We develop PNCs with the ability of thermal-responsive restructuring by the stepwise assembly of functional components, including magnetite nanoparticles, silylated cellulose, and polydimethylsiloxane. We investigate the dynamic changes of the nano- and submicron structure of the magnetic PNCs upon the stimulation of heating based on a combined analytical approach: using dynamic mechanical analysis to interpret the viscoelastic properties of the PNC and in situ small-angle X-ray scattering to quantify the clustering of NPs. Based on these results, we formulate a structural model for the heating-induced evolution of the nano- to submicrometer assemblies in the magnetic PNC. Moreover, thermal-induced restructuring of magnetic PNCs leads to additional favorable functions, such as the abilities of healing, welding, reprocessing, and responses to photo and magneto stimuli. Our design provides a versatile means to develop responsive PNCs for applications in soft robots, sensors, and actuators.

A Proprioceptive Janus Fiber with Controllable Multistage Segments for Bionic Soft Robots

Smart fibers capable of integrating the multifunctionality of actuation and self-sensation into a single proprioceptive device have significant applications in soft robots and biomedicine. Especially, the achievement of self-sensing the movement patterns of different actuating segments in one fiber is still a great challenge. Herein, in this study, a fiber with the controllable Janus architecture is successfully proposed via an artful centrifugation-driven hierarchical gradient self-assembly strategy, which couples two functional components of piezoresistive carbon nanotubes and magnetic NdFeB nanoparticles into the upper and lower layers of this flexible fibrous framework with the porous sponge structure partially, respectively. As predicted, the final product exhibits the as-anticipated bionic proprioceptive behaviors of programmable actuating deformation and highly selective response to bending, stretching, and pressure with high washable stability and mechanical performances. More importantly, assisted by the different three-dimensional printing molds, the superlong Janus fibers with various controllable lengths of the reversed but sequential multistage segments can be fabricated, offering the hybrid magnetic actuation and proprioceptive sensation existing at arbitrary nodes. Therefore, several kinds of soft organism-inspired Janus fiber-derived soft robots with the arbitrarily controlled segmental characters were assembled as the proof-of-concept, which can not only realize a snake or inchworm-inspired successive contracting-stretching deformation and a sperm-inspired self-rotating crawling motion but also self-sense the signals of each segment themselves in real time and then be used to navigate an object to target position in a liquid-filled confined tube. It is believed that this work promotes the further development of proprioceptive soft robots.

Multimodal Locomotion and Dynamic Interaction of Hydrogel Microdisks at the Air-Water Interface under Magnetic and Light Stimuli

The potential applications of hydrogel microrobots in biomedicine and environmental exploration have sparked significant interest in understanding their behavior under multiphysical fields. This study explores the multimodal locomotion and dynamic interaction of hydrogel microrobots at the air-water interface under magnetic and light stimuli. A pair of hydrogel microrobots at the air-water interface exhibits a transition from cooperative, combined rotation to interactive behavior, involving both rotation and revolution under the influence of a rotating magnetic field (RMF), and a shift from attraction to separation under near-infrared (NIR) light, demonstrating the dynamic modulation of their behaviors in response to different stimuli. Notably, the behavioral patterns of multiple hydrogel microrobots under multiphysical fields indicate that NIR light can enhance interactive motion behaviors under RMFs and extend the range of motion trajectories. Dynamic models for each condition are established and analyzed based on dynamic equilibrium, and their behavior can be modulated by parameters such as magnetic particle concentration, magnetic field frequency, and NIR light intensity. This work introduces a novel strategy for regulating and controlling the dynamic behaviors of hydrogel microrobots, offering new insights into their multiphysical field locomotion.

Advanced Design of Soft Robots with Artificial Intelligence

A comprehensive review focused on the whole systems of the soft robotics with artificial intelligence, which can feel, think, react and interact with humans, is presented. The design strategies concerning about various aspects of the soft robotics, like component materials, device structures, prepared technologies, integrated method, and potential applications, are summarized. A broad outlook on the future considerations for the soft robots is proposed.

In recent years, breakthrough has been made in the field of artificial intelligence (AI), which has also revolutionized the industry of robotics. Soft robots featured with high-level safety, less weight, lower power consumption have always been one of the research hotspots. Recently, multifunctional sensors for perception of soft robotics have been rapidly developed, while more algorithms and models of machine learning with high accuracy have been optimized and proposed. Designs of soft robots with AI have also been advanced ranging from multimodal sensing, human–machine interaction to effective actuation in robotic systems. Nonetheless, comprehensive reviews concerning the new developments and strategies for the ingenious design of the soft robotic systems equipped with AI are rare. Here, the new development is systematically reviewed in the field of soft robots with AI. First, background and mechanisms of soft robotic systems are briefed, after which development focused on how to endow the soft robots with AI, including the aspects of feeling, thought and reaction, is illustrated. Next, applications of soft robots with AI are systematically summarized and discussed together with advanced strategies proposed for performance enhancement. Design thoughts for future intelligent soft robotics are pointed out. Finally, some perspectives are put forward.

An Azulene-Based Crystalline Porous Covalent Organic Framework for Efficient Photothermal Conversion

The designed synthesis of a crystalline azulene-based covalent organic framework (COF-Azu-TP) is presented and its photothermal property is investigated. Azulene, a distinctive 5-7 fused ring non-benzenoid aromatic compound with a large intramolecular dipole moment and unique photophysical characteristics, is introduced as the key feature in COF-Azu-TP. The incorporation of azulene moiety imparts COF-Azu-TP with broad-spectrum light absorption capability and interlayer dipole interactions, which makes COF-Azu-TP a highly efficient photothermal conversion material. Its polyurethane (PU) composite exhibits a solar-to-vapor conversion efficiency (97.2%) and displays a water evaporation rate (1.43 kg m-2 h-1) under one sun irradiation, even at a very low dosage of COF-Azu-TP (2.2 wt%). Furthermore, COF-Azu-TP is utilized as a filler in a polylactic acid (PLA)/polycaprolactone (PCL) composited shape memory material, enabling rapid shape recovery under laser stimulation. A comparison study with a naphthalene-based COF isomer further emphasizes the crucial role of azulene in enhancing photothermal conversion efficiency. This study demonstrates the significance of incorporating specific building blocks into COFs for the development of functional porous materials with enhanced properties, paving the way for future applications in diverse fields.

Biobased Inks Based on Cuttlefish Ink and Cellulose Nanofibers for Biodegradable Patterned Soft Actuators

Soft actuators with stimuli-responsive and reversible deformations have shown great promise in soft robotics. However, some challenges remain in existing actuators, such as the materials involved derived from nonrenewable resources, complex and nonscalable preparation methods, and incapability of complex and programmable deformation. Here, a biobased ink based on cuttlefish ink nanoparticles (CINPs) and cellulose nanofibers (CNFs) was developed, allowing for the preparation of biodegradable patterned actuators by direct ink writing technology. The hybrid CNF/CINP ink displays good rheological properties, allowing it to be accurately printed on a variety of flexible substrates. A bilayer actuator was developed by printing an ink layer on a biodegradable poly(lactic acid) film using extrusion-based 3D printing technology, which exhibits reversible and large bending behavior under the stimuli of humidity and light. Furthermore, programmable and reversible folding and coiling deformations in response to stimuli have been achieved by adjusting the ink patterns. This work offers a fast, scalable, and cost-effective strategy for the development of biodegradable patterned actuators with programmable shape-morphing.

Somatosensory Electro-Thermal Actuator through the Laser-Induced Graphene Technology

The biological system realizes the unity of action and perception through the muscle tissue and nervous system. Correspondingly, artificial soft actuators realize the unity of sensing and actuating functions in a single functional material, which will have tremendous potential for developing intelligent and bionic soft robotics. This paper reports the design of a laser-induced graphene (LIG) electrothermal actuator with self-sensing capability. LIG, a functional material formed by a one-step direct-write lasing procedure under ambient air, is used as electrothermal conversion materials and piezoresistive sensing materials. By transferring LIG to a flexible silicone substrate, the design ability of the LIG-based actuator unit is enriched, along with an effectively improved sensing sensitivity. Through the integration of different types of well-designed LIG-based actuator units, the transformations from multidimensional precursors to 2D and 3D structures are realized. According to the piezoresistive effect of the LIG units during the deformation process, the visual synchronous deformation state feedback of the LIG-based actuator is proposed. The multimodal crawling soft robotics and the switchable electromagnetic shielding cloak serve as the demonstrations of the self-sensing LIG-based actuator, showing the advantage of the design in remote control of the soft robot without relying on the assistance of visual devices.

Light-driven soft microrobots based on hydrogels and LCEs: development and prospects

In the daily life of mankind, microrobots can respond to stimulations received and perform different functions, which can be used to complete repetitive or dangerous tasks. Magnetic driving works well in robots that are tens or hundreds of microns in size, but there are big challenges in driving microrobots that are just a few microns in size. Therefore, it is impossible to guarantee the precise drive of microrobots to perform tasks. Acoustic driven micro-nano robot can achieve non-invasive and on-demand movement, and the drive has good biological compatibility, but the drive mode has low resolution and requires expensive experimental equipment. Light-driven robots move by converting light energy into other forms of energy. Light is a renewable, powerful energy source that can be used to transmit energy. Due to the gradual maturity of beam modulation and optical microscope technology, the application of light-driven microrobots has gradually become widespread. Light as a kind of electromagnetic wave, we can change the energy of light by controlling the wavelength and intensity of light. Therefore, the light-driven robot has the advantages of programmable, wireless, high resolution and accurate spatio-temporal control. According to the types of robots, light-driven robots are subdivided into three categories, namely light-driven soft microrobots, photochemical microrobots and 3D printed hard polymer microrobots. In this paper, the driving materials, driving mechanisms and application scenarios of light-driven soft microrobots are reviewed, and their advantages and limitations are discussed. Finally, we prospected the field, pointed out the challenges faced by light-driven soft micro robots and proposed corresponding solutions.

Soft multi-layer actuators integrated with the functions of electrical energy harvest and storage

Soft multi-layer actuators are smart, lightweight, and flexible, which can be used in a wide range of fields such as artificial muscles, advanced medical devices, and wearable devices. The research on the actuation property of the soft actuators has made significant progress, paving the way for the controllable motions of the actuators. However, compared with the intelligence and adaptability of life in nature, these actuators still have the problem of insufficient intelligence. The phenomenon is reflected in a lack of continuous supply of energy. Therefore, it has become a development trend to combine functions such as energy harvesting, storage, and conversion with actuators to build intelligent actuators. This concept presents a synopsis of the advancements made in soft actuators that have been coupled with the capabilities of electrical energy harvesting and storage. The design concepts and typical applications of this soft smart actuators are introduced in detail. Finally, the future research directions and applications of smart actuators are prospected from our perspective.

Computational design of ultra-robust strain sensors for soft robot perception and autonomy

Compliant strain sensors are crucial for soft robots' perception and autonomy. However, their deformable bodies and dynamic actuation pose challenges in predictive sensor manufacturing and long-term robustness. This necessitates accurate sensor modelling and well-controlled sensor structural changes under strain. Here, we present a computational sensor design featuring a programmed crack array within micro-crumples strategy. By controlling the user-defined structure, the sensing performance becomes highly tunable and can be accurately modelled by physical models. Moreover, they maintain robust responsiveness under various demanding conditions including noise interruptions (50% strain), intermittent cyclic loadings (100,000 cycles), and dynamic frequencies (0-23 Hz), satisfying soft robots of diverse scaling from macro to micro. Finally, machine intelligence is applied to a sensor-integrated origami robot, enabling robotic trajectory prediction (<4% error) and topographical altitude awareness (<10% error). This strategy holds promise for advancing soft robotic capabilities in exploration, rescue operations, and swarming behaviors in complex environments.

Battery-free, wireless, and electricity-driven soft swimmer for water quality and virus monitoring

Miniaturized mobile electronic system is an effective candidate for in situ exploration of confined spaces. However, realizing such system still faces challenges in powering issue, untethered mobility, wireless data acquisition, sensing versatility, and integration in small scales. Here, we report a battery-free, wireless, and miniaturized soft electromagnetic swimmer (SES) electronic system that achieves multiple monitoring capability in confined water environments. Through radio frequency powering, the battery-free SES system demonstrates untethered motions in confined spaces with considerable moving speed under resonance. This system adopts soft electronic technologies to integrate thin multifunctional bio/chemical sensors and wireless data acquisition module, and performs real-time water quality and virus contamination detection with demonstrated promising limits of detection and high sensitivity. All sensing data are transmitted synchronously and displayed on a smartphone graphical user interface via near-field communication. Overall, this wireless smart system demonstrates broad potential for confined space exploration, ranging from pathogen detection to pollution investigation.

Bioinspired Multifunctional Self-Sensing Actuated Gradient Hydrogel for Soft-Hard Robot Remote Interaction

The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO2 nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation (21° s-1) and enhanced photothermal efficiency (increase by 3.7 °C s-1 under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca2+ endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity (gauge factor 3.94 within a wide strain range of 600%), fast response times (140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human-machine interactions.

Developments and Challenges of Miniature Piezoelectric Robots: A Review

Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.

Multifunctional actuators integrated with the function of self-powered temperature sensing made with Ti3C2Tx-bamboo nanofiber composites

In recent years, multifunctional actuators have received increasing attention and development. In particular, researchers have conducted extensive research on intelligent actuators with integrated sensing functions. Temperature is an important parameter for the deformation of bilayer thermal actuators. By obtaining the temperature information of a bilayer thermal actuator, the deformation amplitude and its state can be judged. Thus, there is an urgent need to develop a type of intelligent actuator with a self-powered temperature sensing function. Herein, Ti3C2Tx-based composites modified with bamboo nanofibers have been proposed and applied to intelligent actuators integrated with a self-powered temperature sensing function. By utilizing the coefficients of thermal expansion between Ti3C2Tx-bamboo nanofiber composites and a polyimide film, a bilayer photo/electro-driven thermal actuator is designed which shows a bending curvature as large as 1.9 cm-1. In addition, Ti3C2Tx-bamboo nanofiber composites have a Seebeck coefficient of -9.15 μV K-1, and are N-type thermoelectric materials and can be used as the component of self-powered temperature sensors. Finally, a series of practical applications were designed, including a light-driven floating actuator (with a moving speed of 5 mm s-1), biomimetic sunflowers, bionic tentacles, and a multifunctional gripper integrated with a self-powered temperature sensing function. In particular, the multifunctional grippers can output voltage signals carrying their temperature information without external complex power sources, demonstrating their potential for remote monitoring. The above results demonstrate that Ti3C2Tx-bamboo nanofiber composites have extensive practical applications in fields such as self-powered sensors, flexible thermoelectric generators, and soft actuators.

Artificial Intelligence Meets Flexible Sensors: Emerging Smart Flexible Sensing Systems Driven by Machine Learning and Artificial Synapses

The recent wave of the artificial intelligence (AI) revolution has aroused unprecedented interest in the intelligentialize of human society. As an essential component that bridges the physical world and digital signals, flexible sensors are evolving from a single sensing element to a smarter system, which is capable of highly efficient acquisition, analysis, and even perception of vast, multifaceted data. While challenging from a manual perspective, the development of intelligent flexible sensing has been remarkably facilitated owing to the rapid advances of brain-inspired AI innovations from both the algorithm (machine learning) and the framework (artificial synapses) level. This review presents the recent progress of the emerging AI-driven, intelligent flexible sensing systems. The basic concept of machine learning and artificial synapses are introduced. The new enabling features induced by the fusion of AI and flexible sensing are comprehensively reviewed, which significantly advances the applications such as flexible sensory systems, soft/humanoid robotics, and human activity monitoring. As two of the most profound innovations in the twenty-first century, the deep incorporation of flexible sensing and AI technology holds tremendous potential for creating a smarter world for human beings.

Advances in photothermal regulation strategies: from efficient solar heating to daytime passive cooling

Photothermal regulation concerning solar harvesting and repelling has recently attracted significant interest due to the fast-growing research focus in the areas of solar heating for evaporation, photocatalysis, motion, and electricity generation, as well as passive cooling for cooling textiles and smart buildings. The parallel development of photothermal regulation strategies through both material and system designs has further improved the overall solar utilization efficiency for heating/cooling. In this review, we will review the latest progress in photothermal regulation, including solar heating and passive cooling, and their manipulating strategies. The underlying mechanisms and criteria of highly efficient photothermal regulation in terms of optical absorption/reflection, thermal conversion, transfer, and emission properties corresponding to the extensive catalog of nanostructured materials are discussed. The rational material and structural designs with spectral selectivity for improving the photothermal regulation performance are then highlighted. We finally present the recent significant developments of applications of photothermal regulation in clean energy and environmental areas and give a brief perspective on the current challenges and future development of controlled solar energy utilization.

Polydopamine-Modified MXene-Integrated Poly(N-isopropylacrylamide) to Construct Ultrafast Photoresponsive Bilayer Hydrogel Actuators with Smart Adhesion

In nature, living organisms, such as octopuses, cabrito, and frogs, have already evolved admirable adhesive abilities for better movement and predation in response to the surroundings. Inspired by biological structures, researchers have made enormous efforts in developing actuators that can respond to external stimuli, while such adhesive property is very desired, yet there is still limited research in responsive hydrogel actuators. Here, a bilayer actuator with high stretchability and robust interface bonding is presented, which has a smart adhesion and thermoreception function. The system consists of an adhesive passive layer copolymerized of amphoteric ([2-(methacryloyloxy) ethyl] dimethyl-(3-sulfopropyl), SBMA) and acrylic acid (AA), and an active layer hydrogel composed of poly(N-isopropylacrylamide) (PNIPAm) containing polydopamine-modified MXene (P-MXene) and calcium chloride (CaCl2). The coordination of carboxylate and Ca2+ at the interface of the two layers enhances the interfacial bonding from 14 to 30 N m-1, which facilitates withstanding large strain and preventing stratification. The resulting hydrogel actuator can bend approximately 360° in a mere 10 s, exhibiting excellent photothermal effect, a large angle bending deformation, and ultrafast photoresponsive ability. As a proof of concept, the photothermal actuators are programmed to present various shapes and grab objects. Importantly, the hydrogel actuator exhibits remarkable adhesion capabilities toward diverse substrates, with a maximum peel force of up to 280 N m-1. Relying on their own adhesion and the photoresponse properties, these flexible adhesion actuators show outstanding gripping capability, enabling them to grip and release objects of different shapes and weights. More interestingly, the hydrogel exhibits a smart adjustable adhesion capability at different temperatures, which enables it as a gripper to recognize temperature signals through real-time different feedback actions based on its own adhesion. This study presents innovative insights into biomimetic hydrogel actuators, providing new opportunities for developing intelligent soft robots with multiple functions.

Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator

Predictable bending deformation, high cycle stability, and multimode complex motion have always been the goals pursued in the field of flexible robots. In this study, inspired by the delicate structure and humidity response characteristics of Selaginella lepidophylla, a new multilevel assisted assembly strategy was developed to construct MXene-CoFe2O4 (MXCFO) flexible actuators with different concentration gradients, to achieve predictable bending deformation and multi-stimulus cooperative control of the actuators, revealing the intrinsic link between the gradient change and the bending deformation ability of the actuator. The thickness of the actuator shows uniformity compared with the common layer-by-layer assembly strategy. And, the bionic gradient structured actuator shows high cycle stability, and it maintains excellent interlayer bonding after bending 100 times. The flexible robots designed based on the predictable bending deformation and the multi-stimulus cooperative response characteristics of the actuator initially realize conceptual models of humidity monitoring, climbing, grasping, cargo transportation, and drug delivery. The designed bionic gradient structure and unbound multi-stimulus cooperative control strategy may show great potential in the design and development of robots in the future.

Liquid Crystalline Elastomer for Separate or Collective Sensing and Actuation Functions

A porous liquid crystalline elastomer actuator filled with an ionic liquid (PLCE-IL) is shown to exhibit the functions of two classes of materials: electrically responsive, deformable materials for sensing and soft active materials for stimuli-triggered actuation. On one hand, upon the order-disorder phase transition of aligned mesogens, PLCE-IL behaves like a typical actuator capable of reversible shape change and can be used to assemble light-fuelled soft robot. On the other hand, at temperatures below the phase transition, PLCE-IL is an elastomer that can sustain and sense large deformations of various modes as well as environmental condition changes by reporting the corresponding electrical resistance variation. The two distinguished functions can also be used collectively with PLCE-IL integrated in one device. This intelligent feature is demonstrated with an artificial arm. When the arm is manually powered to fold and unfold, the PLCE-IL strip serves as a deformation sensor; while when the manual power is not available, the role of the PLCE-IL strip is switched to an actuator that enables light-driven folding and unfolding of the arm. This study shows that electrically responsive LCEs are a potential materials platform that offers possibilities for merging deformable electronic and actuation applications.

Coaxially printed magnetic mechanical electrical hybrid structures with actuation and sensing functionalities

Soft electromagnetic devices have great potential in soft robotics and biomedical applications. However, existing soft-magneto-electrical devices would have limited hybrid functions and suffer from damaging stress concentrations, delamination or material leakage. Here, we report a hybrid magnetic-mechanical-electrical (MME) core-sheath fiber to overcome these challenges. Assisted by the coaxial printing method, the MME fiber can be printed into complex 2D/3D MME structures with integrated magnetoactive and conductive properties, further enabling hybrid functions including programmable magnetization, somatosensory, and magnetic actuation along with simultaneous wireless energy transfer. To demonstrate the great potential of MME devices, precise and minimally invasive electro-ablation was performed with a flexible MME catheter with magnetic control, hybrid actuation-sensing was performed by a durable somatosensory MME gripper, and hybrid wireless energy transmission and magnetic actuation were demonstrated by an untethered soft MME robot. Our work thus provides a material design strategy for soft electromagnetic devices with unexplored hybrid functions.

A Magnetic-Driven Multi-motion Robot with Position/Orientation Sensing Capability

Miniature magnetic-driven robots with multimode motions and high-precision pose sensing capacity (position and orientation) are greatly demanded in in situ manipulation in narrow opaque enclosed spaces. Various magnetic robots have been carried out, whereas their deformations normally remain in single mode, and the lack of the robot's real-time status leads to its beyond-sight remagnetization and manipulation being impossible. The function integration of pose sensing and multimode motion is still of challenge. Here, a multimotion thin-film robot is created in a novel multilayer structure with a magnetic-driven layer covered by a heating-sensing conductive layer. Such a heating-sensing layer not only can segmentally and on-demand heat the magnetic-driven layer for in situ magnetization reprogramming and multimode motions but also can precisely detect the robot's pose (position and orientation) from its electrical-resistance effect by creating a small deformation under preset magnetic fields. Under the integration of reprogramming and sensing, necessary multimode motions, i.e., swimming, rolling, crawling, and obstacle-crossing, are achieved under a reprogramming field BRepr of 10 mT, and high-precision poses sensing with an accuracy of ± 3 mm in position and ± 2.5° in orientation is obtained even under a low magnetic strength of BSens of 5 mT, which combined help realize accurate out-of-sight manipulations in the enclosed space environment. Finally, a gastroscope robot for stomach drug delivery has been demonstrated for more gastrointestinal medical treatments.

Facile conversion of water to functional molecules and cross-linked polymeric films with efficient clusteroluminescence

Exploring approaches to utilize abundant water to synthesize functional molecules and polymers with efficient clusteroluminescence properties is highly significant but has yet to be reported. Herein, a chemistry of water and alkyne is developed. The synthesized products are proven as nonaromatic clusteroluminogens that could emit visible light. Their emission colors and luminescent efficiency could be adjusted by manipulating through-space interaction using different starting materials. Besides, the free-standing polymeric films with much high photoluminescence quantum yields (up to 45.7%) are in situ generated via a water-involved interfacial polymerization. The interfacial polymerization-enhanced emission of the polymeric films is observed, where the emission red-shifts and efficiency increases when the polymerization time is prolonged. The synthesized polymeric film is also verified as a Janus film. It exhibits a vapor-triggered reversible mechanical response which could be applied as a smart actuator. Thus, this work develops a method to synthesize clusteroluminogens using water, builds a clear structure-property relationship of clusteroluminogens, and provides a strategy to in situ construct functional water-based polymeric films.

Adaptable graphitic C6N6-based copper single-atom catalyst for intelligent biosensing

Self-adaptability is highly envisioned for artificial devices such as robots with chemical noses. For this goal, seeking catalysts with multiple and modulable reaction pathways is promising but generally hampered by inconsistent reaction conditions and negative internal interferences. Herein, we report an adaptable graphitic C₆N₆-based copper single-atom catalyst. It drives the basic oxidation of peroxidase substrates by a bound copper-oxo pathway, and undertakes a second gain reaction triggered by light via a free hydroxyl radical pathway. Such multiformity of reactive oxygen-related intermediates for the same oxidation reaction makes the reaction conditions capable to be the same. Moreover, the unique topological structure of Cu_SAC₆N₆ along with the specialized donor-π-acceptor linker promotes intramolecular charge separation and migration, thus inhibiting negative interferences of the above two reaction pathways. As a result, a sound basic activity and a superb gain of up to 3.6 times under household lights are observed, superior to that of the controls, including peroxidase-like catalysts, photocatalysts, or their mixtures. Cu_SAC₆N₆ is further applied to a glucose biosensor, which can intelligently switch sensitivity and linear detection range in vitro.

How chemical cross-linking and entanglements in polybutadiene elastomers cope with tearing

New applications of elastomers, such as flexible electronics and soft robotics, have brought great attention to tear resistance since elastomers are prone to shear failure. Most elastomers contain chemical cross-links and entanglements. The effects of both on their mechanical properties have been intensively studied, while how they cope with tearing remains elusive. Here, in polybutadiene elastomers, we find that the energy release rate of tearing (G_tearing), often employed as a measure of tear resistance, is influenced synergistically by chemical cross-linking and entanglements, while its threshold (G₀) is only related to the chemical cross-linking. At a low tear speed, the polybutadiene elastomers with low cross-linking density have G_tearing up to 4 times higher than their G₀ compared to highly cross-linked ones. Different from conventional reinforcement due to volume dissipation of a polymer network, enhancement of G_tearing significantly depends on the degree of cross-linking. The enhancement of G_tearing at low cross-linking degrees may be related to a novel mechanism, the friction-strengthening phenomenon, which was possibly caused by the pull-out of the chains at a high degree of orientation.

Intelligent Multifunctional Sensing Systems based on Ordered Macro-Microporous Metal Organic Framework and Its Derivatives

Compared with nanomaterials-based sensors with single function, the development of multifunctional sensors shows high potential in comprehensive monitoring of personal health and environment, intelligent human-machine interfaces, and realistic imitation of human skin in prosthetics. Ordered macro-microporous metal-organic frameworks (MOFs)-enabled flexible and stretchable electronics are promising candidates for integrated multifunctional sensing systems. Herein, a three-dimensional ordered macro-microporous zeolite imidazolate framework-8 (3DOM ZIF-8) for humidity sensing and the derived ZnO within a hierarchically ordered macroporous-mesoporous-microporous carbon matrix (ZnO@HOMC) for gas sensor is constructed. Benefit from hierarchically ordered macroporous-mesoporous-microporous structure, the active site is fully exposed, and the charge transfer is accelerated. As a result, the multifunctional sensing systems show ultrafast response and recovery speed (10 s and 34 s), high sensitivity (R_air /R_gas = 38.6@50 ppm) to acetone, rapid humidity response speed (0.23 s) within changing humidity (RH 21%-99%), excellent stability and repeatability. Furthermore, in order to realize real-time monitoring of gas concentrations and humidity on mobile devices, an intelligent and portable sensor module is fabricated and wirelessly connected to a smartphone to effectively detect acetone concentration and humidity. This sensing technology shows fascinating applications in personal health, fitness tracking, electronic skins, artificial nervous systems, and human-machine interactions.

Multiresponsive Microactuator for Ultrafast Submillimeter Robots

Untethered submillimeter microrobots have significant application prospects in environment monitoring, reconnaissance, and biomedicine. However, they are practically limited to their slow movement. Here, an electrical/optical-actuated microactuator is reported and developed into several untethered ultrafast submillimeter robots. Composed of multilayer nanofilms with exquisitely designed patterns and high surface-to-volume ratios, the microrobot exhibits flexible, precise, and rapid response under voltages and lasers, resulting in controllable and ultrafast inchworm-type movement. The proposed design and microfabrication approach allows various improved and distinctive 3D microrobots simultaneously. The motion speed is highly related to the laser frequency and reaches 2.96 mm/s (3.66 body length/s) on the polished wafer surface. Excellent movement adaptability of the robot is also verified on other rough substrates. Moreover, directional locomotion can be realized simply by the bias of the irradiation of the laser spot, and the maximum angular speed reaches 167.3°/s. Benefiting from the bimorph film structure and symmetrical configuration, the microrobot is able to maintain functionalized after being crashed by a payload 67 000 times heavier than its weight, or at the unexpectedly reversed state. These results provide a strategy for 3D microactuators with precise and rapid response, and microrobots with fast movement for delicate tasks in narrow and restrictive scenarios.

The Synergy of Hydrogen Bond and Entanglement of Elastomer Captures Unprecedented Flaw Insensitivity Rate

Elastomers are regarded as one of the best candidates for the matrix material of soft electronics, yet they are susceptible to fracture due to the inevitable flaws generated during applications. Introducing microstructures, sacrificial bonds, and sliding cross-linking has been recognized as an effective way to improve the flaw insensitivity rate (R_insen ). However, these elastomers still prone to failure under tensile loads with the presence of even small flaws. Here, this work reports a polybutadiene elastomer with unprecedented R_insen via the synergy of hydrogen bond and entanglement. The resulting polybutadiene elastomer exhibits a R_insen  ≈1.075, which is much higher than those of reported elastomers. By molecular chain interaction and molecular chain conformation analysis, this work demonstrates that the synergistic effect of hydrogen bond dissociation and entanglement slip in the polybutadiene elastomers during stretching leads to the high R_insen . Using polybutadiene elastomer as matrix of thermal interface materials, this work demonstrates effective heat transfer for strain sensor and electronic devices. In addition, cytocompatibility of the elastomers is verified by cell proliferation and live/dead viability assays. The combination of outstanding biocompatible and excellent mechanical properties of the elastomers creates new opportunities for their applications in electronic skin.

LBL Noninvasively Peelable Biointerfacial Adhesives for Cutaneo-Inspired pH/Tactility Artificial Receptors

Besides barrier functions, skin possesses multiple sentiences to external stimuli (e.g., temperature, force, and humidity) for human-outside interaction. Thus, skincare should be taken very seriously, especially by patients with sensory disorders. However, currently available skin-mimicking devices are always limited by so much insufficient response functions and nontunable interface behaviors so as not to realize precise health monitoring and self-defense against injury. Herein, a bioinspired cutaneous receptor-perceptual system (CRPS) patch is presented, integrating hybrid pH indicators and triboelectric nanogenerators into biointerface film-adhesives that are fabricated through facile layer-by-layer (LBL) self-assembly of amide and Schiff-base linkages between alginate grafted with N-hydroxysuccinimide ester (AN), tannic acid (TA), and polyethylenimine (PEI). This CRPS patch is adhered robustly to the soft-curved skin surface without failure via "molecular suturing," and amino acid enables its benign peel-on-demand from tissue interfaces. Postdamage self-healing brings it without surgical reoperation, avoiding extra cost, pain, as well as infection risks. Significantly, CRPS patches as artificial chemo/mechanoreceptors can remotely visualize skin physiological status by pH-induced chromism using smartphones and prevent skin contact injury by tactility-driven self-powered electrical signals. Overall, the LBL-based strategy to create controllably biointerface-adhesive CRPS patches will usher in a new era of the mobihealth care platform supporting smart diagnosis and self-protection.

Advances in artificial muscles: A brief literature and patent review

Background: Artificial muscles are an active research area now. Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles' scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics. Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field. Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.

Ultrathin organic membranes: Can they sustain the quest for mechanically robust device applications?

Ultrathin polymeric films have recently attracted tremendous interest as functional components of coatings, separation membranes, and sensors, with applications spanning from environment-related processes to soft robotics and wearable devices. In order to support the development of robust devices with advanced performances, it is necessary to achieve a deep comprehension of the mechanical properties of ultrathin polymeric films, which can be significantly affected by confinement effects at the nanoscale. In this review paper, we collect the most recent advances in the development of ultrathin organic membranes with emphasis on the relationship between their structure and mechanical properties. We provide the reader with a critical overview of the main approaches for the preparation of ultrathin polymeric films, the methodologies for the investigation of their mechanical properties, and models to understand the primary effects that impact their mechanical response, followed by a discussion on the current trends for designing mechanically robust organic membranes.

Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots

Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.

Liquid Metal-Elastomer Composites with Dual-Energy Transmission Mode for Multifunctional Miniature Untethered Magnetic Robots

Miniature untethered robots attract growing interest as they have become more functional and applicable to disruptive biomedical applications recently. Particularly, the soft ones among them exhibit unique merits of compliance, versatility, and agility. With scarce onboard space, these devices mostly harvest energy from environment or physical fields, such as magnetic and acoustic fields and patterned lights. In most cases, one device only utilizes one energy transmission mode (ETM) in powering its activities to achieve programmed tasks, such as locomotion and object manipulation. But real-world tasks demand multifunctional devices that require more energy in various forms. This work reports a liquid metal-elastomer composite with dual-ETM using one magnetic field for miniature untethered multifunctional robots. The first ETM uses the low-frequency (<100 Hz) field component to induce shape-morphing, while the second ETM employs energy transmitted via radio-frequency (20 kHz-300 GHz) induction to power onboard electronics and generate excess heat, enabling new capabilities. These new functions do not disturb the shape-morphing actuated using the first ETM. The reported material enables the integration of electric and thermal functionalities into soft miniature robots, offering a wealth of inspirations for multifunctional miniature robots that leverage developments in electronics to exhibit usefulness beyond self-locomotion.

Multi-Degree-of-Freedom Robots Powered and Controlled by Microwaves

Microwaves have become a promising wireless driving strategy due to the advantages of transmissivity through obstacles, fast energy targeting, and selective heating. Although there are some studies on microwave powered artificial muscles based on different structures, the lack of studies on microwave control has limited the development of microwave-driven (MWD) robots. Here, a far-field MWD parallel robot controlled by adjusting energy distribution via changing the polarization direction of microwaves at 2.47 GHz is first reported. The parallel robot is based on three double-layer bending actuators composed of wave-absorbing sheets and bimetallic sheets, and it can implement circular and triangular path at a distance of 0.4 m under 700 W transmitting power. The thermal response rate of the actuator under microwaves is studied, and it is found that the electric-field components can provide a faster thermal response at the optimal length of actuator than magnetic-field components. The work of the parallel robot is demonstrated in an enclosed space composed of microwave-transparent materials. This developed method demonstrates the multi-degree-of-freedom controllability for robots using microwaves and offers potential solutions for some engineering cases, such as pipeline/reactors inspection and medical applications.

Highly Thermally Conductive Bimorph Structures for Low-Grade Heat Energy Harvester and Energy-Efficient Actuators

Low-power electronics are urgently needed for various emerging technologies, e.g., actuators as signal transducers and executors. Collecting energy from ubiquitous low-grade heat sources (T < 100 °C) as an uninterrupted power supply for low-power electronics is highly desirable. However, the majority of energy-harvesting systems are not capable of collecting low-grade heat energy in an efficient and constant manner. Limited by materials and driving mode, fabrications of low-power and energy-efficient actuators are still challenging. Here, highly thermally conductive bimorph structures based on graphene/poly(dimethylsiloxane) (PDMS) structures have been fabricated as low-grade heat energy harvesters and energy-efficient actuators. Regular temperature fluctuations on bimorph structures can be controlled by nonequilibrium heat transfer, leading to stable and self-sustained thermomechanical cycles. By coupling ferroelectric poly(vinylidene fluoride) with bimorph structures, uninterrupted thermomechanoelectrical energy conversion has been achieved from the low-grade heat source. Utilizing the rapid thermal transport capability, multifinger soft grippers are assembled with bimorph actuators, demonstrating fast response, large displacement, and adaptive grip when driven by low-temperature heaters.

Morphological Engineering of Sensing Materials for Flexible Pressure Sensors and Artificial Intelligence Applications

Various morphological structures in pressure sensors with the resulting advanced sensing properties are reviewed comprehensively. Relevant manufacturing techniques and intelligent applications of pressure sensors are summarized in a complete and interesting way. Future challenges and perspectives of flexible pressure sensors are critically discussed.

As an indispensable branch of wearable electronics, flexible pressure sensors are gaining tremendous attention due to their extensive applications in health monitoring, human –machine interaction, artificial intelligence, the internet of things, and other fields. In recent years, highly flexible and wearable pressure sensors have been developed using various materials/structures and transduction mechanisms. Morphological engineering of sensing materials at the nanometer and micrometer scales is crucial to obtaining superior sensor performance. This review focuses on the rapid development of morphological engineering technologies for flexible pressure sensors. We discuss different architectures and morphological designs of sensing materials to achieve high performance, including high sensitivity, broad working range, stable sensing, low hysteresis, high transparency, and directional or selective sensing. Additionally, the general fabrication techniques are summarized, including self-assembly, patterning, and auxiliary synthesis methods. Furthermore, we present the emerging applications of high-performing microengineered pressure sensors in healthcare, smart homes, digital sports, security monitoring, and machine learning-enabled computational sensing platform. Finally, the potential challenges and prospects for the future developments of pressure sensors are discussed comprehensively.

Fast-Response Bioinspired Near-Infrared Light-Driven Soft Robot Based on Two-Stage Deformation

Herein, we report a remotely controlled soft robot employing a photoresponsive nanocomposite synthesized from liquid crystal elastomers (LCEs), high elastic form-stable phase change polymer (HEPCP), and multiwalled carbon nanotubes (MWCNTs). Possessing a two-stage deformation upon exposure to near-infrared (NIR) light, the LCE/HEPCP/MWCNT (LHM) nanocomposite allows the soft robot to exhibit an obvious, fast, and reversible shape change with low detection limitations. In addition to the deformation and bending of the LCE molecular chains itself, the HEPCP in the composite material can also be triggered by a reversible solid-liquid transition due to the temperature rise caused by MWCNTs, which further promotes the change of the LCE. In particular, the proposed photodriven LHM soft robot can bend up to 180° in 2 s upon NIR stimulation (320 mW, distance of 5 cm) and generate recoverable, dramatic, and sensitive deformation to execute various tasks including walking, twisting, and bending. With the capacity of imitating biological behaviors through remote control, the disruptive innovation developed here offers a promising path toward miniaturized untethered robotic systems.

Localizable, Identifiable, and Perceptive Untethered Light-Driven Soft Crawling Robot

Soft robots based on bionics have attracted extensive attention in recent years. However, most of previous works focused on the motion of robots that were incapable of communication and perception. In this work, an untethered crawling robot is proposed with integration of motion, communication, and location based entirely on a flexible material, which is capable of being utilized as a sensing platform. The hydrophilic graphene oxide film, capable of photothermal conversion, allows the robot to undergo a large deformation stimulated by near-infrared light. Conductive fabric with low resistivity and high mechanical strength, replacing the traditional rigid circuit, is utilized to complete the communication of the robot. The designed communication module allows an electrical signal to be inductively coupled to the soft robot instead of being generated by batteries or through transmission lines. The perception of the robot is demonstrated by covering sensitive materials. Furthermore, the positioning and identification of the robot are verified by an external coil array. The proposed soft crawling robot provides an innovative strategy for the integration of multifunctional robots and shows great potential in bionic devices, intelligent robots, and advanced sensors.

Pressure-Perceptive Actuators for Tactile Soft Robots and Visual Logic Devices

Soft actuators with sensing capabilities are important in intelligent robots and human-computer interactions. However, present perceptive actuating systems rely on the integration of multiple functional units with complex circuit design. Here, a new-type pressure-perceptive actuator is reported, which integrates functions of sensing, actuating, and decision making at material level without complex combination. The actuator is composed of an actuating unit and a pressure-sensing unit, both of which are fabricated by carbon nanotube (CNT), silk, and polymer composite. On the one hand, the actuating unit can be driven by low voltages (<13 V), owing to a Joule-heating effect. On the other hand, the current passing the pressure-sensing unit can be controlled by tactile pressure. In the integrated actuator, it is able to control the deformation amplitude of actuating unit by applying different pressures on the pressure-sensing unit. A portable tactile-activated gripper is fabricated to operate an object through pressure control, demonstrating its application in tactile soft robots. Finally, three visual logic gates (AND, OR, and NOT) are proposed, which convert "tactile" inputs into "visible" deformation outputs, using the CNT-silk-based material for sensing and actuating in the decision-making process. This study provides a new path for intelligent soft robots and new-generation logic devices.

Ionic covalent organic framework based electrolyte for fast-response ultra-low voltage electrochemical actuators

Electrically activated soft actuators with large deformability are important for soft robotics but enhancing durability and efficiency of electrochemical actuators is challenging. Herein, we demonstrate that the actuation performance of an ionic two-dimensional covalent-organic framework based electrochemical actuator is improved through the ordered pore structure of opening up efficient ion transport routes. Specifically, the actuator shows a large peak to peak displacement (9.3 mm, ±0.5 V, 1 Hz), a fast-response time to reach equilibrium-bending (~1 s), a correspondingly high bending strain difference (0.38%), a broad response frequency (0.1–20 Hz) and excellent durability (>99%) after 23,000 cycles. The present study ascertains the functionality of soft electrolyte as bionic artificial actuators while providing ideas for expanding the limits in applications for robots.

Electrically activated soft actuators with large deformability are important for soft robotics but enhancing durability and efficiency of electrochemical actuators is challenging. Here the authors demonstrate that the actuation performance of an ionic two-dimensional covalent-organic framework based electrochemical actuator is improved through the ordered pore structure of opening up efficient ion transport routes

4D Printing of Liquid Crystals: What's Right for Me?

Recent years have seen major advances in the developments of both additive manufacturing concepts and responsive materials. When combined as 4D printing, the process can lead to functional materials and devices for use in health, energy generation, sensing, and soft robots. Among responsive materials, liquid crystals, which can deliver programmed, reversible, rapid responses in both air and underwater, are a prime contender for additive manufacturing, given their ease of use and adaptability to many different applications. In this paper, selected works are compared and analyzed to come to a didactical overview of the liquid crystal-additive manufacturing junction. Reading from front to back gives the reader a comprehensive understanding of the options and challenges in the field, while researchers already experienced in either liquid crystals or additive manufacturing are encouraged to scan through the text to see how they can incorporate additive manufacturing or liquid crystals into their own work. The educational text is closed with proposals for future research in this crossover field.