Efficient, Absorption-Powered Artificial Muscles Based on Carbon Nanotube Hybrid Yarns

Plant-Like Tropisms in Artificial Muscles

Helical plants have the ability of tropisms to respond to natural stimuli, and biomimicry of such helical shapes into artificial muscles has been vastly popular. However, the shape-mimicked actuators only respond to artificially provided stimulus, they are not adaptive to variable natural conditions, thus being unsuitable for real-life applications where on-demand, autonomous operations are required. Novel artificial muscles made of hierarchically patterned helically wound yarns that are self-adaptive to environmental humidity and temperature changes are demonstrated here. Unlike shape-mimicked artificial muscles, a unique microstructural biomimicking approach is adopted, where the muscle yarns can effectively replicate the hydrotropism and thermotropism of helical plants to their microfibril level using plant-like microstructural memories. Large strokes, with rapid movement, are obtained when the individual microfilament of yarn is inlaid with hydrogel and further twisted into a coil-shaped hierarchical structure. The developed artificial muscle provides an average actuation speed of ≈5.2% s-1 at expansion and ≈3.1% s-1 at contraction cycles, being the fastest amongst previously demonstrated actuators of similar type. It is demonstrated that these muscle yarns can autonomously close a window in wet climates. The building block yarns are washable without any material degradation, making them suitable for smart, reusable textile and soft robotic devices.

Artificial Spider Silk with Buckled Sheath by Nano-Pulley Combing

The axial orientation of molecular chains always results in an increase in fiber strength and a decrease in toughness. Here, taking inspiration from the skin structure, artificial spider silk with a buckled sheath-core structure is developed, with mechanical strength and toughness reaching 1.61 GPa and 466 MJ m-3 , respectively, exceeding those of Caerostris darwini silk. The buckled structure is achieved by nano-pulley combing of polyrotaxane hydrogel fibers through cyclic stretch-release training, which exhibits axial alignment of the polymer chains in the fiber core and buckling in the fiber sheath. The artificial spider silk also exhibits excellent supercontraction behavior, achieving a work capacity of 1.89 kJ kg-1 , and an actuation stroke of 82%. This work provides a new strategy for designing high-performance and intelligent fiber materials.

Artificial Muscles and Soft Robotic Devices for Treatment of End-Stage Heart Failure

Medical soft robotics constitutes a rapidly developing field in the treatment of cardiovascular diseases, with a promising future for millions of patients suffering from heart failure worldwide. Herein, the present state and future direction of artificial muscle-based soft robotic biomedical devices in supporting the inotropic function of the heart are reviewed, focusing on the emerging electrothermally artificial heart muscles (AHMs). Artificial muscle powered soft robotic devices can mimic the action of complex biological systems such as heart compression and twisting. These artificial muscles possess the ability to undergo complex deformations, aiding cardiac function while maintaining a limited weight and use of space. Two very promising candidates for artificial muscles are electrothermally actuated AHMs and biohybrid actuators using living cells or tissue embedded with artificial structures. Electrothermally actuated AHMs have demonstrated superior force generation while creating the prospect for fully soft robotic actuated ventricular assist devices. This review will critically analyze the limitations of currently available devices and discuss opportunities and directions for future research. Last, the properties of the cardiac muscle are reviewed and compared with those of different materials suitable for mechanical cardiac compression.

Moisture-Sensitive Response and High-Reliable Cycle Recovery Effectiveness of Yarn-Based Actuators with Tether-Free, Multi-Hierarchical Hybrid Construction

Yarn-based muscle actuators are highly desired for applications in soft robotics, flexible sensors, and other related applications due to their actuation properties. Although the tethering avoiding release of inserted twist, the complex preparation process and harsh experimental conditions make tether-free structures yarn actuator with reliable cycle recovery effectiveness is needed. Herein, a tether-free, multi-hierarchical hybrid construction of a moisture-sensitive responsive yarn-based actuator with the viscose/PET ratio (VPR) = 0.9 exhibited a contraction stroke of 83.15%, a work capacity of 52.98 J·kg^-1, and an exerting force of 0.15 MPa. Additionally, the maximum cycle recovery rate of 99% is comparable to that of human skeletal muscles, confirming the advantages of a two-component hybrid structure. The underlying mechanism is discussed based on geometric characterization and energy conversion analysis between the actuation source and the spring frame. The mechanical manufacturing process makes it simple to expand the structurally stable yarn muscles into fabric muscles, opening up new opportunities to advance the usage of yarn-based actuators in smart textiles, medical materials, intelligent plants, and other versatile fields.

Stepwise Artificial Yarn Muscles with Energy-Free Catch States Driven by Aluminum-Ion Insertion

Present artificial muscles have been suffering from poor actuation step precision and the need of energy input to maintain actuated states due to weak interactions between guest and host materials or the unstable structural changes. Herein, these challenges are addressed by deploying a mechanism of reversible faradaic insertion and extraction reactions between tetrachloroaluminate ions and collapsed carbon nanotubes. This mechanism allows tetrachloroaluminate ions as a strong but dynamic "locker" to achieve an energy-free high-tension catch state and programmable stepwise actuation in the yarn muscle. When powered off, the muscle nearly 100% maintained any achieved contractile strokes even under loads up to 96,000 times the muscle weight. The actuation mechanism allowed the programmable control of stroke steps down to 1% during reversible actuation. The isometric stress generated by the yarn muscle (14.6 MPa in maximum, 40 times that of skeletal muscles) was also energy freely lockable and step controllable with high precision. Importantly, when fully charged, the muscle stored energy with a high capacity of 102 mAh g^-1, allowing the muscle as a battery to power secondary muscles or other devices.

Modeling dynamic swelling of polymer-based artificial muscles

Polymer-based artificial muscles are lightweight, are flexible, can have variable stiffness, and provide actuation in applications in which heavy actuators are not feasible. Achieving device requirements, such as strain, strain rate, lifetime, achievable work, and efficiency, requires material and muscle geometry design. This study is motivated by the possibility of significant actuation from twisted and coiled polymer (TCP) fibers that rely on radial swelling to produce reversible work. Modeling the actuation of advanced polymers is essential for defining design metrics. An analytical thermodynamic expression based on Flory-Rehner Theory was combined with a numerical transport model in order to simulate transient swelling of a polymeric network driven by diffusion and migration. Radial swelling of polymer fibers was modeled, including parametric studies and comparison to experimental data. By increasing the transport distance, swelling is shown to increase the time to equilibrium, but this can be more than compensated by applying voltage to take advantage of ion migration/electroosmotic drag. This work indicates that, in addition to migration, dimensions smaller than 100 micrometers here are needed to achieve the sub-second response times of natural muscles. The impact of polymer swelling on transport in polymers is directly evaluated by locally accounting for the length increase of discrete elements due to solvent presence, which cannot be done analytically. Furthermore, strain and work done by swelling a TCP is modelled, and the benefit of anisotropic swelling and constant modulus is quantified.

Oscillating light engine realized by photothermal solvent evaporation

Continuous mechanical work output can be generated by using combustion engines and electric motors, as well as actuators, through on/off control via external stimuli. Solar energy has been used to generate electricity and heat in human daily life; however, the direct conversion of solar energy to continuous mechanical work has not been realized. In this work, a solar engine is developed using an oscillating actuator, which is realized through an alternating volume decrease of each side of a polypropylene/carbon black polymer film induced by photothermal-derived solvent evaporation. The anisotropic solvent evaporation and fast gradient diffusion in the polymer film sustains oscillating bending actuation under the illumination of divergent light. This light-driven oscillator shows excellent oscillation performance, excellent loading capability, and high energy conversion efficiency, and it can never stop with solvent supply. The oscillator can cyclically lift up a load and output work, exhibiting a maximum specific work of 30.9 × 10⁻⁵ J g⁻¹ and a maximum specific power of 15.4 × 10⁻⁵ W g⁻¹ under infrared light. This work can inspire the development of autonomous devices and provide a design strategy for solar engines.

Developing an oscillating actuator that can directly convert solar energy into mechanical energy is highly desirable. Here, authors report a solvent-assisted light-driven oscillator by porous film that achieves excellent oscillating actuation performance and can even oscillate by carrying a load under light irradiation.

Temperature-dependent resistance of carbon nanotube fibers

Carbon nanotube fibers are highly recommended in the field of temperature sensor application owing to their excellent electrical conductivity and thermal conductivity. Here, this work demonstrated the rapid thermal response behaviour of CNT fibers fabricated by floating catalyst CVD method, which was measured by anin situtechnique based on the CNT film electric heater with excellent electrothermal response properties. The temperature dependences of resistance and structure were both explored. Experimental investigation indicates that the reduction in the inter-CNT interspace in the fibers caused by thermally driven actuation was dominantly responsible for the decrease of the fibers resistance during the heating process. Especially, the heated fibers showed 7.2% decrease in electrical resistance at the applied square-wave voltage of 8 V, and good temperature sensitivity (-0.15% °C^-1). The as-prepared CNT fibers also featured a rapid and reversible electrical resistance response behaviour when exposed to external heating stimulation. Additionally, with the increment of temperature and twist-degree, the generated contraction actuation increased, which endowed the CNT fibers with more decrease in electrical resistance. These observations further suggested that the temperature-dependent conduction behavior of the CNT fibers with a high reversibility and repeatability was strongly correlated with their structure response to heat stimulation. As a consequence, the temperature-conduction behavior described here may be applied in other CNT-structured fibers and facilitated the improvement in their temperature-sensing applications.

A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments

Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.

What is an artificial muscle? A comparison of soft actuators to biological muscles

Interest in emulating the properties of biological muscles that allow for fast adaptability and control in unstructured environments has motivated researchers to develop new soft actuators, often referred to as 'artificial muscles'. The field of soft robotics is evolving rapidly as new soft actuator designs are published every year. In parallel, recent studies have also provided new insights for understanding biological muscles as 'active' materials whose tunable properties allow them to adapt rapidly to external perturbations. This work presents a comparative study of biological muscles and soft actuators, focusing on those properties that make biological muscles highly adaptable systems. In doing so, we briefly review the latest soft actuation technologies, their actuation mechanisms, and advantages and disadvantages from an operational perspective. Next, we review the latest advances in understanding biological muscles. This presents insight into muscle architecture, the actuation mechanism, and modeling, but more importantly, it provides an understanding of the properties that contribute to adaptability and control. Finally, we conduct a comparative study of biological muscles and soft actuators. Here, we present the accomplishments of each soft actuation technology, the remaining challenges, and future directions. Additionally, this comparative study contributes to providing further insight on soft robotic terms, such as biomimetic actuators, artificial muscles, and conceptualizing a higher level of performance actuator named artificial supermuscle. In conclusion, while soft actuators often have performance metrics such as specific power, efficiency, response time, and others similar to those in muscles, significant challenges remain when finding suitable substitutes for biological muscles, in terms of other factors such as control strategies, onboard energy integration, and thermoregulation.

Self-sensing coaxial muscle fibers with bi-lengthwise actuation

Artificial muscle fibers as a promising biomimetic actuator are needed for such applications as smart soft robots, muscle function restoration, and physical augmentation. Currently developed artificial muscle fibers have shown attractive performance in contractile and torsional actuations. However, the contractile muscle fibers do not have the capability of stimulus-responsive elongation, and real-time identifying their contractile position by themselves is still challenging. We report herein the preparation of a Ti₃C₂T_x MXene/single walled carbon-nanotubes (SWCNTs)-coated carbon nanotube (CNT)@polydimethylsiloxane (PDMS) coaxial muscle fiber that integrates the important features of self-position sensing and bi-lengthwise actuation. The bi-lengthwise actuation is realized by utilizing the large expansion coefficient difference of PDMS in response to solvent and heat, which results in ∼5% maximum elongation by n-heptane adsorption and ∼19% maximum contraction by electric heating under the optimal conditions. Meanwhile, due to the piezoresistive effect of the MXene/SWCNTs layer, the resistance change of this coating layer is almost linearly dependent on the contraction of the coaxial muscle fiber, providing a function of real-time self-position sensing. Furthermore, an application of using a bundle of these multifunctional coaxial muscle fibers for a bionic arm has been demonstrated, which provides new insights into the design of integrated intelligent artificial muscles with synergistic multiple functions.

The Power of Fiber Twist

Nature's evolution over billions of years has led to the development of different kinds of twisted structures in a variety of biological species. Twisted fibers from nanoscale- to micrometer-scale diameter have been prepared by mimicking natural twisted structures. Mechanically inserting twist in a yarn is an efficient and important method, which generates internal stress, changes the macromolecular orientation, and increases compactness. Recently, twist insertion has been found to produce interesting fiber properties, including chemical, mechanical, electrical, and thermal properties. This Account summarizes recent progress in how twist insertion affects the chemical and physical properties of fibers and describes their applications in artificial spider silk, artificial muscles, refrigeration, and electricity generation.Twist and associated chirality widely arise in nature from molecules to nano- and microscale materials to macroscopic objects such as DNA, RNA, peptides, and chromosomes. Such twisted architectures play an important role in improving the mechanical properties and enabling biological functions. Inspired by the beauty and interesting properties of twisted structures, a wide range of artificial chiral materials with twisted or coiled structures have been prepared, from organic and inorganic nanorods, nanotubes, and nanobelts to macroscopic architectures and buildings.An efficient way to prepare twisted materials is by inserting twist in fibers or yarns, which is an ancient technique used to make yarns or ropes (Wang, R., et al. Science 2019, 366, 216-221. Mu, J., et al. Science 2019, 365, 150-155). During the twisting process, torque is generated in fibers or yarns, the structure of the polymer chains becomes helically oriented, and the fibers in a yarn become more compact. Therefore, the twisting of fibers and yarns can produce novel chemical, mechanical, electrical, and thermal properties (Dou, Y., et al. Nat. Commun. 2019, 10, 1-10. Kim, S. H., et al. Science 2017, 357, 773-778). This Account focuses on the novel properties generated by twist insertion. The mechanical stress and strain can be optimized in a yarn by twist insertion, and different types of fibers exhibit rather different mechanisms.In the first section, we will focus on recent progress in improving the mechanical properties of twisted fibers, including carbon nanotube yarns, single-filament fibers, and hydrogel fibers. Torque was generated by twist insertion in a fiber or a yarn, and the balance of internal torsional stress can be changed by causing a change in yarn volume. This will result in twist release and torsional and tensile actuations of the yarn, which will be described in the second section. Twisting a yarn generally makes it more compact, which will result in a mechanically induced change in capacitance, supercapacitance, and other useful electrochemical properties when a conducting yarn is in an electrolyte. Such processes were used to develop novel devices for twist-based electricity generation, called twistrons, which will be discussed in the third section. Twist insertion or release also changes the polymer chain orientation or crystal structure, resulting in changes in entropy. This is called the twistocaloric effect, which was used to develop a new cooling method, and will be discussed in the last section.

Programmable Contractile Actuations of Twisted Spider Dragline Silk Yarns

The contraction behavior of spider dragline silk upon water exposure has drawn particular interest in developing humidity-responsive smart materials. We report herein that the spider dragline silk yarns with moderate twists can generate much improved lengthwise contraction of 60% or an isometric stress of 11 MPa when wetted by water. Upon the removal of the absorbed water, the dried and contracted spider silk yarns showed programmable contractile actuations. These yarns can be plastically stretched to any specified lengths between the fully contracted state and the state before supercontraction and return to the fully contracted state when wetted. Moreover, the generated isometric stress of these yarns is also programmable, depending on the stretching ratio. The mechanism of the programmable reversible contraction is based on the plastic mechanical property of the dried and contracted spider silk yarns, which can be explained by the variation of the hydrogen bonds and the secondary structures of the proteins in spider dragline silk. Humidity alarm switches, smart doors, and wound healing devices based on the programmable contractile actuations of the spider silk yarns were demonstrated, which provide application scenarios for the supercontraction of spider dragline silk.

A Photoactuator Based on Stiffness-Variable Carbon Nanotube Nanocomposite Yarn

Actuators based on carbon nanotube (CNT) yarn have attracted extensive attention due to their great properties and potential applications such as artificial muscles, sensors, intelligent robots, and so on. However, the CNT yarn actuators with one-dimensional structure were often only used to drive through electrochemical, thermal, or electrical stimulation, which limits the applications of CNT yarn actuators. In addition, the slow response speed, low output stress, uncontrollable driving deformation, and self-recovery without an external stimulus are also great challenges. Here, we propose a photoactuator with large output stress, fast response speed, large and reversible driving deformation, and good reusability based on stiffness-variable CNT nanocomposite yarn (CNT-NCY). Such a CNT-NCY photoactuator can achieve torsional and contractive actuation under irradiation of near-infrared (NIR) light; it is important that the actuation is reversible and controllable. The maximum rotation rate of the CNT-NCY photoactuator during the torsional actuation is about 45 rpm, and the contractive deformation can reach more than 9%. This CNT-NCY photoactuator can create more than 12 MPa output stress, which is 40 times higher than that of the human skeletal muscle. The driving mechanism of this CNT-NCY photoactuator has been analyzed, and its potential application has also been demonstrated.

Shape memory nanocomposite fibers for untethered high-energy microengines

Classic rotating engines are powerful and broadly used but are of complex design and difficult to miniaturize. It has long remained challenging to make large-stroke, high-speed, high-energy microengines that are simple and robust. We show that torsionally stiffened shape memory nanocomposite fibers can be transformed upon insertion of twist to store and provide fast and high-energy rotations. The twisted shape memory nanocomposite fibers combine high torque with large angles of rotation, delivering a gravimetric work capacity that is 60 times higher than that of natural skeletal muscles. The temperature that triggers fiber rotation can be tuned. This temperature memory effect provides an additional advantage over conventional engines by allowing for the tunability of the operation temperature and a stepwise release of stored energy.

Ultrastrong and Highly Sensitive Fiber Microactuators Constructed by Force-Reeled Silks

Fiber microactuators are interesting in wide variety of emerging fields, including artificial muscles, biosensors, and wearable devices. In the present study, a robust, fast-responsive, and humidity-induced silk fiber microactuator is developed by integrating force-reeling and yarn-spinning techniques. The shape gradient, together with hierarchical rough surface, allows these silk fiber microactuators to respond rapidly to humidity. The silk fiber microactuator can reach maximum rotation speed of 6179.3° s-1 in 4.8 s. Such a response speed (1030 rotations per minute) is comparable with the most advanced microactuators. Moreover, this microactuator generates 2.1 W kg-1 of average actuation power, which is twice higher than fiber actuators constructed by cocoon silks. The actuating powers of silk fiber microactuators can be precisely programmed by controlling the number of fibers used. Lastly, theory predicts the observed performance merits of silk fiber microactuators toward inspiring the rational design of water-induced microactuators.

Carbon Nanotubes in Biomedicine

Nowadays, biomaterials have become a crucial element in numerous biomedical, preclinical, and clinical applications. The use of nanoparticles entails a great potential in these fields mainly because of the high ratio of surface atoms that modify the physicochemical properties and increases the chemical reactivity. Among them, carbon nanotubes (CNTs) have emerged as a powerful tool to improve biomedical approaches in the management of numerous diseases. CNTs have an excellent ability to penetrate cell membranes, and the sp² hybridization of all carbons enables their functionalization with almost every biomolecule or compound, allowing them to target cells and deliver drugs under the appropriate environmental stimuli. Besides, in the new promising field of artificial biomaterial generation, nanotubes are studied as the load in nanocomposite materials, improving their mechanical and electrical properties, or even for direct use as scaffolds in body tissue manufacturing. Nevertheless, despite their beneficial contributions, some major concerns need to be solved to boost the clinical development of CNTs, including poor solubility in water, low biodegradability and dispersivity, and toxicity problems associated with CNTs' interaction with biomolecules in tissues and organs, including the possible effects in the proteome and genome. This review performs a wide literature analysis to present the main and latest advances in the optimal design and characterization of carbon nanotubes with biomedical applications, and their capacities in different areas of preclinical research.

Artificial muscle with reversible and controllable deformation based on stiffness-variable carbon nanotube spring-like nanocomposite yarn

Carbon nanotube yarn actuators are in great demand for flexible devices or intelligent applications. Artificial muscles based on carbon nanotube yarn have achieved great progress over past decades. However, uncontrollable, small deformations and relatively slow deformation recovery are still great challenges for carbon nanotube yarn artificial muscles. Here we propose an artificial muscle based on a stiffness-variable carbon nanotube spring-like nanocomposite yarn. This nanocomposite yarn can be fabricated as artificial muscles by directly inflating epoxy resin on spring-like carbon nanotube yarn, and it shows a rapid response, and reversible and controllable deformation. The driving mechanism of the nanocomposite yarn artificial muscle is based on the change in the resin modulus controlled by Joule heat. This novel nanocomposite yarn artificial muscle can work at low voltages (≤0.8 V), and the whole reversible driving process is completed within 5 seconds (the deformation recovery process is about 2 seconds). The strain of the nanocomposite yarn artificial muscle is controlled by applied voltages, and the maximum strain can reach more than 12%. The novel nanocomposite yarn artificial muscle can produce output forces more than 20 times higher than human skeletal muscle. This CNT nanocomposite yarn artificial muscle with a spiral structure shows potential applications for actuators, sensors and micro robots.

Enhancing the Work Capacity of Electrochemical Artificial Muscles by Coiling Plies of Twist-Released Carbon Nanotube Yarns

Twisted-yarn-based artificial muscles can potentially be used in diverse applications, such as valves in microfluidic devices, smart textiles, air vehicles, and exoskeletons, because of their high torsional and tensile strokes, high work capacities, and long cycle life. Here, we demonstrate electrochemically powered, hierarchically twisted carbon nanotube yarn artificial muscles that have a contractile work capacity of 3.78 kJ/kg, which is 95 times the work capacity of mammalian skeletal muscles. This record work capacity and a tensile stroke of 15.1% were obtained by maximizing yarn capacitance by optimizing the degree of inserted twist in component yarns that are plied until fully coiled. These electrochemically driven artificial muscles can be operated in reverse as mechanical energy harvesters that need no externally applied bias. In aqueous sodium chloride electrolyte, a peak electrical output power of 0.65 W/kg of energy harvester was generated by 1 Hz sinusoidal elongation.

Moisture-Responsive Natural Fiber Coil-Structured Artificial Muscles

Miniature linear actuators, also known as artificial muscles, mimic the contractile action of skeletal muscles and have potentials in applications, such as soft robotics, prosthetics, exoskeletons, and smart textiles. Natural fibers commonly used in textiles, such as wool, cotton, and flax, are highly anisotropic materials in response to moisture stimulus. Here, we report that this anisotropic property of the natural fibers can be utilized to provide musclelike contractile motions when they are constructed into springlike cylindrical coils by twist insertion. The treatment and conversion of these natural fibers into high-performance musclelike actuators are described. The musclelike actuators made from natural fibers can provide output strain, stress, and work capacity that are orders of magnitude higher than those of animal skeletal muscles and many artificial muscles made from synthetic materials. The natural fiber artificial muscles are demonstrated for potential applications in smart textiles to alleviate body discomfort caused by sweating during sports and other physical activities.

Large-Stroke Electrochemical Carbon Nanotube/Graphene Hybrid Yarn Muscles

Artificial muscles are reported in which reduced graphene oxide (rGO) is trapped in the helical corridors of a carbon nanotube (CNT) yarn. When electrochemically driven in aqueous electrolytes, these coiled CNT/rGO yarn muscles can contract by 8.1%, which is over six times that of the previous results for CNT yarn muscles driven in an inorganic electrolyte (1.3%). They can contract to provide a final stress of over 14 MPa, which is about 40 times that of natural muscles. The hybrid yarn muscle shows a unique catch state, in which 95% of the contraction is retained for 1000 s following charging and subsequent disconnection from the power supply. Hence, they are unlike thermal muscles and natural muscles, which need to consume energy to maintain contraction. Additionally, these muscles can be reversibly cycled while lifting heavy loads.

Self-plied and twist-stable carbon nanotube yarn artificial muscles driven by organic solvent adsorption

Artificial yarn/fiber muscles have recently attracted considerable interest for various applications. These muscles can provide large-stroke tensile and torsional actuations, resulting from inserted twists. However, tensional tethering of twisted muscles is generally needed to avoid muscle snarling and untwisting. In this paper a carbon nanotube (CNT) yarn muscle that is tethering-free and twist-stable is reported. The yarn muscle is prepared by allowing the self-plying of a coiled CNT yarn. When driven by acetone adsorption, this muscle shows decoupled actuations, which provide fast and reversible ∼13.3% contraction strain against a constant stress corresponding to ∼38 000 times the muscle weight but almost zero torsional strokes. The cycling test shows that the self-plied muscle has very good structural stability and actuation reversibility. Applied joule heating can help increase the desorption of acetone and increase the operation frequency of the self-plied muscle. Furthermore, by controlling the coupling between the joule heating and acetone adsorption/desorption, tensile actuations from negative to positive have been achieved. This twist-stable feature could considerably facilitate the practical applications of such muscle.

Artificial Muscles: Mechanisms, Applications, and Challenges

The area of artificial muscle is a highly interdisciplinary field of research that has evolved rapidly in the last 30 years. Recent advances in nanomaterial fabrication and characterization, specifically carbon nanotubes and nanowires, have had major contributions in the development of artificial muscles. However, what can artificial muscles really do for humans? This question is considered here by first examining nature's solutions to this design problem and then discussing the structure, actuation mechanism, applications, and limitations of recently developed artificial muscles, including highly oriented semicrystalline polymer fibers; nanocomposite actuators; twisted nanofiber yarns; thermally activated shape-memory alloys; ionic-polymer/metal composites; dielectric-elastomer actuators; conducting polymers; stimuli-responsive gels; piezoelectric, electrostrictive, magnetostrictive, and photostrictive actuators; photoexcited actuators; electrostatic actuators; and pneumatic actuators.

Fast Torsional Artificial Muscles from NiTi Twisted Yarns

Torsional artificial muscles made of multiwalled carbon nanotube/niobium nanowire yarns have shown remarkable torsional speed and gravimetric torque. The muscle structure consists of a twisted yarn with half of its length infiltrated with a stimuli-responsive guest material such as paraffin wax. The volumetric expansion of the guest material creates the torsional actuation in the yarn. In the present work, we show that this type of actuation is not unique to wax-infiltrated carbon multiwalled nanotube (MWCNT) or niobium nanowire yarns and that twisted yarn of NiTi alloy fibers also produces fast torsional actuation. By gold-plating half the length of a NiTi twisted yarn and Joule heating it, we achieved a fully reversible torsional actuation of up to 16°/mm with peak torsional speed of 10 500 rpm and gravimetric torque of 8 N·m/kg. These results favorably compare to those of MWCNTs and niobium nanowire yarns.

The best features of diamond nanothread for nanofibre applications

Carbon fibres have attracted interest from both the scientific and engineering communities due to their outstanding physical properties. Here we report that recently synthesized ultrathin diamond nanothread not only possesses excellent torsional deformation capability, but also excellent interfacial load-transfer efficiency. Compared with (10,10) carbon nanotube bundles, the flattening of nanotubes is not observed in diamond nanothread bundles, which leads to a high-torsional elastic limit that is almost three times higher. Pull-out tests reveal that the diamond nanothread bundle has an interface transfer load of more than twice that of the carbon nanotube bundle, corresponding to an order of magnitude higher in terms of the interfacial shear strength. Such high load-transfer efficiency is attributed to the strong mechanical interlocking effect at the interface. These intriguing features suggest that diamond nanothread could be an excellent candidate for constructing next-generation carbon fibres.

Carbon-Nanotube Fibers for Wearable Devices and Smart Textiles

Carbon-nanotube (CNT) fibers integrate such properties as high mechanical strength, extraordinary structural flexibility, high thermal and electrical conductivities, novel corrosion and oxidation resistivities, and high surface area, which makes them a very promising candidate for next-generation smart textiles and wearable devices. A brief review of the preparation of CNT fibers and recently developed CNT-fiber-based flexible and functional devices, which include artificial muscles, electrochemical double-layer capacitors, lithium-ion batteries, solar cells, and memristors, is presented.

Hydro-actuation of hybrid carbon nanotube yarn muscles

Hybrid hydro-responsive actuators are developed by infiltrating carbon nanotube yarns using poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate). These actuators demonstrate impressive rotation and contraction in response to water due to volumetric expansion of the helical arrangement of carbon nanotubes. The total torsional stroke is 3720 revolutions per m and the simultaneously generated contractive strain reaches 24% at a paddle-to-yarn mass ratio of 350. The contraction output can furthermore be significantly enhanced by constraining the rotational motion and it reaches 68% with an applied stress of 1 MPa. Additionally, hybrid yarns exhibit an approximately linear response to humidity changes and show extra capability of electrical actuation, which, combined with the excellent hydro-actuation performance, endow them with great potential for a variety of applications including artificial muscles, hydro-driven generators, moisture switches and microfluidic mixers.

New twist on artificial muscles

Lightweight artificial muscle fibers that can match the large tensile stroke of natural muscles have been elusive. In particular, low stroke, limited cycle life, and inefficient energy conversion have combined with high cost and hysteretic performance to restrict practical use. In recent years, a new class of artificial muscles, based on highly twisted fibers, has emerged that can deliver more than 2,000 J/kg of specific work during muscle contraction, compared with just 40 J/kg for natural muscle. Thermally actuated muscles made from ordinary polymer fibers can deliver long-life, hysteresis-free tensile strokes of more than 30% and torsional actuation capable of spinning a paddle at speeds of more than 100,000 rpm. In this perspective, we explore the mechanisms and potential applications of present twisted fiber muscles and the future opportunities and challenges for developing twisted muscles having improved cycle rates, efficiencies, and functionality. We also demonstrate artificial muscle sewing threads and textiles and coiled structures that exhibit nearly unlimited actuation strokes. In addition to robotics and prosthetics, future applications include smart textiles that change breathability in response to temperature and moisture and window shutters that automatically open and close to conserve energy.

Actuating Fibers: Design and Applications

Actuators are devices capable of moving or controlling objects and systems by applying mechanical force on them. Among all kinds of actuators with different shapes, fibrous ones deserve particular attention. In spite of their apparent simplicity, actuating fibers allow for very complex actuation behavior. This review discusses different approaches for the design of actuating fibers, and their advantages and disadvantages. We also discuss the prospects for the design of fibers with advanced architectures and complex actuation behavior.

Strong, Twist-Stable Carbon Nanotube Yarns and Muscles by Tension Annealing at Extreme Temperatures

A high-speed incandescent tension annealing process (ITAP) is used to increase the modulus and strength of twist-spun carbon nanotube yarns by up to 12-fold and 2.6-fold, respectively, provide remarkable resistance to oxidation and powerful protonating acids, and freeze yarn untwist. This twist stability enables torsional artificial-muscle motors having improved performance and minimizes problematic untwist during weaving nanotube yarns.

Bio-inspired, Moisture-Powered Hybrid Carbon Nanotube Yarn Muscles

Hygromorph artificial muscles are attractive as self-powered actuators driven by moisture from the ambient environment. Previously reported hygromorph muscles have been largely limited to bending or torsional motions or as tensile actuators with low work and energy densities. Herein, we developed a hybrid yarn artificial muscle with a unique coiled and wrinkled structure, which can be actuated by either changing relative humidity or contact with water. The muscle provides a large tensile stroke (up to 78%) and a high maximum gravimetric work capacity during contraction (2.17 kJ kg(-1)), which is over 50 times that of the same weight human muscle and 5.5 times higher than for the same weight spider silk, which is the previous record holder for a moisture driven muscle. We demonstrate an automatic ventilation system that is operated by the tensile actuation of the hybrid muscles caused by dew condensing on the hybrid yarn. This self-powered humidity-controlled ventilation system could be adapted to automatically control the desired relative humidity of an enclosed space.

Electrospun Aligned Fibrous Arrays and Twisted Ropes: Fabrication, Mechanical and Electrical Properties, and Application in Strain Sensors

Electrospinning (e-spinning) is a versatile technique to fabricate ultrathin fibers from a rich variety of functional materials. In this paper, a modified e-spinning setup with two-frame collector is proposed for the fabrication of highly aligned arrays of polystyrene (PS) and polyvinylidene fluoride (PVDF) nanofibers, as well as PVDF/carbon nanotube (PVDF/CNT) composite fibers. Especially, it is capable of producing fibrous arrays with excellent orientation over a large area (more than 14 cm × 12 cm). The as-spun fibers are suspended and can be easily transferred to other rigid or flexible substrates. Based on the aligned fibrous arrays, twisted long ropes are also prepared. Compared with the aligned arrays, twisted PVDF/CNT fiber ropes show enhanced mechanical and electrical properties and have potential application in microscale strain sensors.