A Highly Robust Amphibious Soft Robot with Imperceptibility Based on a Water-Stable and Self-Healing Ionic Conductor

Light-Triggered Reversible Assembly of Halide Perovskite Nanoplatelets

Advancements in stimuli-driven nanoactuators necessitate the discovery of photo-switchable, self-contained semiconductor nanostructures capable of precise mechanical responses. The reversible assembly of 0D Cs3Bi2I9 halide perovskite nanoplatelets (NPLs) between stacked and scattered configurations are demonstrated under light and dark, respectively. This sunlight-triggered perpetual flipping of the NPLs, occurring in less than a minute, is associated with a color change between brown and red. The photomechanical response is driven by the formation and cleavage of sulfide linkages at the NPL surface. In the stacked configuration, various stacking modes create moiré superstructures, enhancing the interlayer charge distribution, and increasing the electronic conductivity and optical absorbance. This leads to a decrease in exciton binding energy from 247 meV for scattered NPLs to 162 meV for stacked NPLs, resulting in a 3.5-fold enhancement in dark current for the stacked NPL films. The switchable control over color and electric current is continuously reversible and retraceable, exhibiting a minor memory effect observed during extended cycling. The self-flipping NPL nanoactuators demonstrate reversible mechanical responses, with topographical oscillations ranging from 14 nm in scattered NPLs to 50 nm in the vertically stacked configuration. This seamless reversible nano-assembly with color interchangeability offers numerous possibilities for nanorobotics, nanoscale switches, and sensors.

Light-Driven Liquid Crystal Elastomer Actuators Based on Surface Plasmon Resonance for Soft Robots

Caterpillars possess a combination of structural flexibility and the ability to transition between peristaltic crawling and elastic jumping for swift movement, presenting an opportunity for the development and examination of versatile and highly environmentally adaptable bionic robots. Here, we report a photothermally responsive untethered caterpillar-inspired Janus-type soft robot, featuring a driver layer composed of Ag nanowires (AgNWs) with a photothermal effect enhanced by localized surface plasmon resonance incorporated into a liquid crystal elastomer (LCE). By integration of this LCE active layer with a polyimide passive layer, the strain mismatch and bending moment of the robot are enhanced, enabling rapid, substantial, and reversible deformations. The interlayer mismatch assembly strategy and the central symmetry of the Janus structure enable the Janus-type soft robot to perform various locomotion maneuvers, including continuous crawling at a rate of 1.5 BL/min, tumbling at a speed of 1.875 BL/min, and instantaneous jumping at a speed of 351 BL/min. The robot demonstrates adaptive locomotion capabilities in challenging environments with diverse frictions and obstacles, such as slopes, stones, gravel, and grass. This showcases the potential of this approach for customized path planning and autonomous reconnaissance expeditions in complex settings. Furthermore, a three-dimensional AgNW network resembling a spiderweb was fabricated using modulated electrospinning technology, achieving a high photothermal conversion efficiency of 36.42% at a very low surface noble metal ion content (0.035 mg/cm2).

Trapping Ions to Enhance High-Field Energy Harvesting Performance by Filling Polar Macromolecular Dielectrics

In the quest for sustainable and renewable energy sources, researchers and engineers have explored innovative technologies to harvest energy from various environmental sources. Dielectric elastomer generators (DEGs) with high energy harvesting performance have been proven to be promising energy collectors, but achieving a high dielectric constant (ε') and low electrical conductivity (EC) under high electric fields of dielectric elastomer (DE) simultaneously is a struggle, which poses significant challenges. In this study, high-content carboxyl group-grafted liquid polybutadiene (HCPB) is synthesized and then adopted as an organic dielectric filler to blend and cocross-link with a butadiene rubber (BR) matrix to prepare DE composites with high energy harvesting performance. The introduction of carboxyl groups enhances polarization while trapping free Al3+ in the matrix, which revolutionarily achieves a significant increase in ε' under extremely low EC. Ultimately, the contradiction between increased ε' and decreased EC under high electric fields is reconciled, resulting in a 30 HCPB/BR composite with high energy density (w = 91.9 mJ/cm3) and fine power conversion efficiency (PCE = 24.1%). This advancement paves the way for the development of HCPB/BR composite-based DEGs with enhanced ε' and energy harvesting performance.

Toward an AI Era: Advances in Electronic Skins

Electronic skins (e-skins) have seen intense research and rapid development in the past two decades. To mimic the capabilities of human skin, a multitude of flexible/stretchable sensors that detect physiological and environmental signals have been designed and integrated into functional systems. Recently, researchers have increasingly deployed machine learning and other artificial intelligence (AI) technologies to mimic the human neural system for the processing and analysis of sensory data collected by e-skins. Integrating AI has the potential to enable advanced applications in robotics, healthcare, and human-machine interfaces but also presents challenges such as data diversity and AI model robustness. In this review, we first summarize the functions and features of e-skins, followed by feature extraction of sensory data and different AI models. Next, we discuss the utilization of AI in the design of e-skin sensors and address the key topic of AI implementation in data processing and analysis of e-skins to accomplish a range of different tasks. Subsequently, we explore hardware-layer in-skin intelligence before concluding with an analysis of the challenges and opportunities in the various aspects of AI-enabled e-skins.

Fatigue crack-based strain sensors achieving flow detection and motion monitoring for reconnaissance robot applications

Crack-based flexible strain sensors with ultra-high sensitivity under tiny strain are highly desired for environmental perception and motion detection of novel flexible and miniature robots. However, previously reported methods for fabricating crack patterns have often sacrificed the cyclic stability of the sensor, leading to a trade-off relationship between the sensitivity and the cyclic stability. Here, a universal and simple strategy based on fatigue loading with an ultra-large cumulative strain of up to ∼1.2 × 107%, rather than the traditionally quasi-static pre-overloading methods, is proposed to introduce channel cracks in the sensing layer without sacrificing the cyclic stability. The developed flexible strain sensors exhibit high strain-sensitivity (gauge factor = 5798) under tiny strain (< 3%), high cyclic stability (15 000 cycles) and a low strain detecting limit (0.02%). Furthermore, a leaf-like mechanosensor is developed using the fatigue crack-based strain sensor for the realization of multifunctional applications in environment perception and micro-motion detection. Brilliant airflow sensing performance with a wide sensing range (0.93-11.93 m s-1) and a fast response time (0.28 s) for amphibious applications is demonstrated. This work provides a new strategy for overcoming limits of crack-based flexible strain sensors and the developed leaf-like mechanosensor shows great application potential in miniature and flexible reconnaissance robots.

Autonomous Underwater Self-Healable Adhesive Elastomers Enabled by Dynamical Hydrophobic Phase-Separated Microdomains

High-efficient underwater self-healing materials with reliable mechanical attributes hold great promise for applications in ocean explorations and diverse underwater operations. Nevertheless, achieving these functions in aquatic environments is challenging because the recombination of dynamic interactions will suffer from resistance to interfacial water molecules. Herein, an ultra-robust and all-environment stable self-healable polyurethane-amide supramolecular elastomer is developed through rational engineering of hydrophobic domains and multistrength hydrogen bonding interactions to provide mechanical and healing compatibility as well as efficient suppression of water ingress. The coupling of hydrophobic chains and hierarchical hydrogen bonds within a multiphase matrix self-assemble to generate dynamical hydrophobic hard-phase microdomains, which synergistically realize high stretchability (1601%), extreme toughness (87.1 MJ m-3), and outstanding capability to autonomous self-healing in various harsh aqueous conditions with an efficiency of 58% and healed strength of 12.7 MPa underwater. Furthermore, the self-aggregation of hydrophobic clusters with sufficient dynamic interactions endows the resultant elastomer with effective instantaneous adhesion (6.2 MPa, 941.9 N m-1) in extremely harsh aqueous conditions. It is revealed that the dynamical hydrophobic hard-phase microdomain composed of hydrophobic barriers and cooperative reversible interactions allows for regulating its mechanical enhancement and underwater self-healing efficiency, enabling the elastomers as intelligent sealing devices in marine applications.

Insect-Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque

Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect-scale robots. Robust locomotion plays a particularly critical role. In this study, a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque is revealed and defined. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, a biped robot based on the mechanism is proposed, which not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load-carrying and weight-bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect-scale robotics.

An adaptive discretized RNN algorithm for posture collaboration motion control of constrained dual-arm robots

Although there are many studies on repetitive motion control of robots, few schemes and algorithms involve posture collaboration motion control of constrained dual-arm robots in three-dimensional scenes, which can meet more complex work requirements. Therefore, this study establishes the minimum displacement repetitive motion control scheme for the left and right robotic arms separately. On the basis of this, the design mentality of the proposed dual-arm posture collaboration motion control (DAPCMC) scheme, which is combined with a new joint-limit conversion strategy, is described, and the scheme is transformed into a time-variant equation system (TVES) problem form subsequently. To address the TVES problem, a novel adaptive Taylor-type discretized recurrent neural network (ATT-DRNN) algorithm is devised, which fundamentally solves the problem of calculation accuracy which cannot be balanced well with the fast convergence speed. Then, stringent theoretical analysis confirms the dependability of the ATT-DRNN algorithm in terms of calculation precision and convergence rate. Finally, the effectiveness of the DAPCMC scheme and the excellent convergence competence of the ATT-DRNN algorithm is verified by a numerical simulation analysis and two control cases of dual-arm robots.

Self-Perceptional Soft Robotics by a Dielectric Elastomer

Soft robotics has been a rapidly growing field in recent decades due to its advantages of softness, deformability, and adaptability to various environments. However, the separation of perception and actuation in soft robot research hinders its progress toward compactness and flexibility. To address this limitation, we propose the use of a dielectric elastomer actuator (DEA), which exhibits both an actuation capability and perception stability. Specifically, we developed a DEA array to localize the 3D spatial position of objects. Subsequently, we integrate the actuation and sensing properties of DEA into soft robots to achieve self-perception. We have developed a system that integrates actuation and sensing and have proposed two modes to achieve this integration. Furthermore, we demonstrated the feasibility of this system for soft robots. When the robots detect an obstacle or an approaching object, they can swiftly respond by avoiding or escaping the obstacle. By eliminating the need for separate perception and motion considerations, self-perceptional soft robots can achieve an enhanced response performance and enable applications in a more compact and flexible field.

A large-strain and ultrahigh energy density dielectric elastomer for fast moving soft robot

Dielectric elastomer actuators (DEAs) with large actuation strain and high energy density are highly desirable for actuating soft robots. However, DEAs usually require high driving electric fields (>100 MV m-1) to achieve high performances due to the low dielectric constant and high stiffness of dielectric elastomers (DEs). Here, we introduce polar fluorinated groups and nanodomains aggregated by long alkyl side chains into DE design, simultaneously endowing DE with a high dielectric constant and desirable modulus. Our DE exhibits a maximum area strain of 253% at a low driving electric field of 46 MV m-1. Notably, it achieves an ultrahigh specific energy of 225 J kg-1 at only‍‌ ‌‌40‍‌ MV m-1, around 6 times higher than natural muscle and twice higher than the state-of-the-art DE. Using our DE, soft robots reach an ultrafast running speed of 20.6 BL s-1, 60 times higher than that of commercial VHB 4910, representing the fastest DEA-driven soft robots ever reported.

Exploring Present and Future Directions in Nano-Enhanced Optoelectronic Neuromodulation

Electrical neuromodulation has achieved significant translational advancements, including the development of deep brain stimulators for managing neural disorders and vagus nerve stimulators for seizure treatment. Optoelectronics, in contrast to wired electrical systems, offers the leadless feature that guides multisite and high spatiotemporal neural system targeting, ensuring high specificity and precision in translational therapies known as "photoelectroceuticals". This Account provides a concise overview of developments in novel optoelectronic nanomaterials that are engineered through innovative molecular, chemical, and nanostructure designs to facilitate neural interfacing with high efficiency and minimally invasive implantation.This Account outlines the progress made both within our laboratory and across the broader scientific community, with particular attention to implications in materials innovation strategies, studying bioelectrical activation with spatiotemporal methods, and applications in regenerative medicine. In materials innovation, we highlight a nongenetic, biocompatible, and minimally invasive approach for neuromodulation that spans various length scales, from single neurons to nerve tissues using nanosized particles and monolithic membranes. Furthermore, our discussion exposes the critical unresolved questions in the field, including mechanisms of interaction at the nanobio interface, the precision of cellular or tissue targeting, and integration into existing neural networks with high spatiotemporal modulation. In addition, we present the challenges and pressing needs for long-term stability and biocompatibility, scalability for clinical applications, and the development of noninvasive monitoring and control systems.In addressing the existing challenges in the field of nanobio interfaces, particularly for neural applications, we envisage promising strategic directions that could significantly advance this burgeoning domain. This involves a deeper theoretical understanding of nanobiointerfaces, where simulations and experimental validations on how nanomaterials interact spatiotemporally with biological systems are crucial. The development of more durable materials is vital for prolonged applications in dynamic neural interfaces, and the ability to manipulate neural activity with high specificity and spatial resolution, paves the way for targeting individual neurons or specific neural circuits. Additionally, integrating these interfaces with advanced control systems, possibly leveraging artificial intelligence and machine learning algorithms and programming dynamically responsive materials designs, could significantly ease the implementation of stimulation and recording. These innovations hold the potential to introduce novel treatment modalities for a wide range of neurological and systemic disorders.

3D Printing Self-Healing and Self-Adhesive Elastomers for Wearable Electronics in Amphibious Environments

To meet the demands of challenging usage scenarios, there is an increasing need for flexible electronic skins that can operate properly not only in terrestrial environments but also extend to complex aquatic conditions. In this study, we develop an elastomer by incorporating dynamic urea bonds and hydrogen bonds into the polydimethylsiloxane backbone, which exhibits excellent autonomous self-healing and reversible adhesive performance in both dry and wet environments. A multifunctional flexible sensor with excellent sensing stability, amphibious self-healing capacity, and amphibious self-adhesive performance is fabricated through solvent-free 3D printing. The sensor has a high sensing sensitivity (GF = 45.1) and a low strain response threshold (0.25%) and can be used to detect small human movements and physiological activities, such as muscle movement, joint movement, respiration, and heartbeat. The wireless wearable sensing system assembled by coupling this device with a bluetooth transmission system is suitable for monitoring strenuous human movement in amphibious environments, such as playing basketball, cycling, running (terrestrial environments), and swimming (aquatic environments). The design strategy provides insights into enhancing the self-healing and self-adhesive properties of soft materials and promises a prospective avenue for fabricating flexible electronic skin that can work properly in amphibious environments.

Towards high performance and durable soft tactile actuators

Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.

4D Printed Non-Euclidean-Plate Jellyfish Inspired Soft Robot in Diverse Organic Solvents

Soft robots have the potential to assist and complement human exploration of extreme and harsh environments (i.e., organic solvents). However, soft robots with stable performance in diverse organic solvents are not developed yet. In the current research, a non-Euclidean-plate under-liquid soft robot inspired by jellyfish based on phototropic liquid crystal elastomers is fabricated via a 4D-programmable strategy. Specifically, the robot employs a 3D-printed non-Euclidean-plate, designed with Archimedean orientation, which undergoes autonomous deformation to release internal stress when immersed in organic solvents. With the assistance of near-infrared light illumination, the organic solvent inside the robot vaporizes and generates propulsion in the form of bubble streams. The developed NEP-Jelly-inspired soft robot can swim with a high degree of freedom in various organic solvents, for example, N, N-dimethylformamide, N, N-dimethylacetamide, tetrahydrofuran, dichloromethane, and trichloromethane, which is not reported before. Besides bionic jellyfish, various aquatic invertebrate-inspired soft robots can potentially be prepared via a similar 4D-programmable strategy.

Airflow Triggered Water Film Self-Sculpturing on Femtosecond Laser-Induced Heterogeneously Wetted Micro/Nanostructured Surfaces

Liquid manipulation is essential for daily life and modern industry, and it is widely used in various fields, including seawater desalination, microfluidic robots, and biomedical engineering. Nevertheless, the current research focuses on the manipulation of individual droplets. There are a few projects for water film management. Here, we proposed a facile method of wind-triggered water film self-sculpturing based on a heterogeneous wettability surface, which is achieved by the femtosecond laser direct writing technology and femtosecond laser deposition. Under the conditions of various airflow velocities and water film thicknesses, three distinct behaviors of the water film were analyzed. As a result, when the water film thickness is lower than 4.9 mm, the self-sculpture process will occur until the whole superhydrophobic surface dewetting. Four potential applications are demonstrated, including encryption, oil containers, reconfigurable patterning, and self-splitting devices. This work provides a new approach for manipulating a water film of fluid control engineering.

Amphibious Polymer Materials with High Strength and Superb Toughness in Various Aquatic and Atmospheric Environments

Herein, the fabrication of amphibious polymer materials with outstanding mechanical performances, both underwater and in the air is reported. A polyvinyl alcohol/poly(2-methoxyethylacrylate) (PVA/PMEA) composite with multiscale nanostructures is prepared by combining solvent exchange and thermal annealing strategies, which contributes to nanophase separation with rigid PVA-rich and soft PMEA-rich phases and high-density crystalline domains of PVA chains, respectively. Benefiting from the multiscale nanostructure, the PVA/PMEA hydrogel demonstrates excellent stability in harsh (such as acidic, alkaline, and saline) aqueous solutions, as well as superior mechanical behavior with a breaking strength of up to 34.8 MPa and toughness of up to 214.2 MJ m-3 . Dehydrating the PVA/PMEA hydrogel results in an extremely robust plastic with a breaking strength of 65.4 MPa and toughness of 430.9 MJ m-3 . This study provides a promising phase-structure engineering route for constructing high-performance polymer materials for complex load-bearing environments.

Microstructured Polyfluoroacrylate Elastomeric Dielectric Layer for Highly Stretchable Wide-Range Capacitive Pressure Sensors

Capacitive pressure sensors capable of replicating human tactile senses have garnered tremendous attention. Introducing microstructures into the dielectric layer is an effective approach to improve the sensitivity of the sensors. However, most reported processes to fabricate microstructured dielectric layers are complicated and time-consuming and usually have adverse effects on the mechanical properties. Herein, we report a mechanically strong and highly stretchable dielectric layer fabricated from a microstructured fluorinated elastomer with a high dielectric constant (5.8 at 1000 Hz) via a simple and low-cost thermal decomposition process. Capacitive pressure sensors based on this microstructured fluorinated elastomer dielectric layer and soft ionotronic electrodes illustrate an impressing stretchability (>300%), a high pressure sensitivity (17 MPa-1), a wide detection range (70 Pa-800 kPa), and a fast response time (below 300 ms). Moreover, the multipixel capacitive pressure sensors sensing array maintains the unique spatial tactile sensing performance even under significant tensile deformation. It is believed that our microstructured fluorinated elastomer dielectric layer might find wide applications in stretchable ionotronic devices.

Healable Ionic Conductors with Extremely Low-Hysteresis and High Mechanical Strength Enabled by Hydrophobic Domain-Locked Reversible Interactions

Extremely low hysteresis, high mechanical strength, superior toughness, and excellent healability are essential for stretchable ionic conductors to enhance their reliability and meet for cutting-edge applications. However, the fabrication of stretchable ionic conductors with such mutually exclusive properties remains challenging. Herein, extremely low-hysteresis and healable ionic conductors with a tensile strength of ≈8.9 MPa and toughness of ≈23.2 MJ m-3 are fabricated through the complexation of 4-carboxybenzaldehyde (CBA) grafted poly(vinyl alcohol) (PVA) (denoted as PVA-CBA) and poly (allylamine hydrochloride) (PAH) followed by acidification and ion-loading steps. The acidification step generates the PVA-CBA/PAH ionic conductors with in situ formed dynamic hydrophobic domains that lock and stabilize noncovalent interactions. This significantly minimizes the energy dissipation of the ionic conductors during cyclic mechanical loading (≤200% strain), resulting in ionic conductors with extremely low hysteresis (≈5%). The fractured ionic conductors can be healed at 60 °C to restore their original properties. Because of the extremely low hysteresis, the PVA-CBA/PAH ionic conductors show a highly stable and reproducible electrical response over 5000 uninterrupted loading-unloading cycles at a strain of 200%. The ionic conductor based sensors exhibit a high sensitivity to a wide range of strains (1-500%).

Enhanced ionic conductivity in block copolymer electrolytes through interfacial passivation using mixed ionic liquids

We present a strategic approach for enhancing the ionic conductivity of block copolymer electrolytes. This was achieved by introducing mixed ionic liquids (ILs) with varying molar ratios, wherein the imidazolium cation was paired with either tetrafluoroborate (BF4) anion or bis(trifluoromethylsulfonyl)imide (TFSI) anion. Two polymer matrices, poly(4-styrenesulfonate)-b-polymethylbutylene (SSMB) and poly(4-styrenesulfonyl (trifluoromethanesulfonyl)imide)-b-polymethylbutylene (STMB), were synthesized for this purpose. All the SSMB and STMB containing mixed ILs showed hexagonal cylindrical structures, but the type of tethered acid group significantly influenced the interfacial properties. STMB electrolytes demonstrated enhanced segregation strength, which was attributed to strengthened Coulomb and hydrogen bonding interactions in the ionic domains, where the ILs were uniformly distributed. In contrast, the SSMB electrolytes exhibited increased concentration fluctuations because the BF4 anions were selectively sequestered at the block interfaces. This resulted in the effective confinement of imidazolium TFSI along the ionic domains, thereby preventing ion trapping in dead zones and facilitating rapid ion diffusion. Consequently, the SSMB electrolytes with mixed ILs demonstrated significantly improved ionic conductivities, surpassing the expected values based on the arithmetic average of the conductivities of each IL, whereas the ionic conductivity of the STMB was aligned with the expected average. The methodology explored in this study holds great promise for the development of solid-state polymer electrolytes.

A review on self-healing featured soft robotics

Soft robots are becoming more popular because they can solve issues stiff robots cannot. Soft component and system design have seen several innovations recently. Next-generation robot-human interactions will depend on soft robotics. Soft material technologies integrate safety at the material level, speeding its integration with biological systems. Soft robotic systems must be as resilient as biological systems in unexpected, uncontrolled situations. Self-healing materials, especially polymeric and elastomeric ones, are widely studied. Since most currently under-development soft robotic systems are composed of polymeric or elastomeric materials, this finding may provide immediate assistance to the community developing soft robots. Self-healing and damage-resilient systems are making their way into actuators, structures, and sensors, even if soft robotics remains in its infancy. In the future, self-repairing soft robotic systems composed of polymers might save both money and the environment. Over the last decade, academics and businesses have grown interested in soft robotics. Despite several literature evaluations of the soft robotics subject, there seems to be a lack of systematic research on its intellectual structure and development despite the rising number of articles. This article gives an in-depth overview of the existing knowledge base on damage resistance and self-healing materials' fundamental structure and classifications. Current uses, problems with future implementation, and solutions to those problems are all included in this overview. Also discussed are potential applications and future directions for self-repairing soft robots.

Solvent-Free and Skin-Like Supramolecular Ion-Conductive Elastomers with Versatile Processability for Multifunctional Ionic Tattoos and On-Skin Bioelectronics

The development of stable and biocompatible soft ionic conductors, alternatives to hydrogels and ionogels, will open up new avenues for the construction of stretchable electronics. Here, a brand-new design, encapsulating a naturally occurring ionizable compound by a biocompatible polymer via high-density hydrogen bonds, resulting in a solvent-free supramolecular ion-conductive elastomer (SF-supra-ICE) that eliminates the dehydration problem of hydrogels and possesses excellent biocompatibility, is reported. The SF-supra-ICE with high ionic conductivity (>3.3 × 10-2  S m-1 ) exhibits skin-like softness and strain-stiffening behaviors, excellent elasticity, breathability, and self-adhesiveness. Importantly, the SF-supra-ICE can be obtained by a simple water evaporation step to solidify the aqueous precursor into a solvent-free nature. Therefore, the aqueous precursor can act as inks to be painted and printed into customized ionic tattoos (I-tattoos) for the construction of multifunctional on-skin bioelectronics. The painted I-tattoos exhibit ultraconformal and seamless contact with human skin, enabling long-term and high-fidelity recording of various electrophysiological signals with extraordinary immunity to motion artifacts. Human-machine interactions are achieved by exploiting the painted I-tattoos to transmit the electrophysiological signals of human beings. Stretchable I-tattoo electrode arrays, manufactured by the printing method, are demonstrated for multichannel digital diagnosis of the health condition of human back muscles and spine.