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

Irreproducible SEBS wrinkling based on spin evaporation enabling identifiable artificial finger pad electronics

Irreproducible wrinkling, characterized by randomly arranged ridges or creases on material surfaces, has significant potential for application in entity identification and anti-counterfeiting. However, active research in this field is hindered because the existing wrinkling methods face challenges in realizing discernible patterns and potential applications of submillimeter-scale wavelength wrinkles are yet to be identified. Herein, we propose a strategy to create unique and irreproducible styrene-ethylene-butylene-styrene (SEBS) wrinkles using "spin evaporation", a technique that rapidly removes the solvent by spinning. We demonstrate the realization of SEBS wrinkles with wavelengths of hundreds of micrometers with high randomness, irreproducibility, and resistance to external stimuli. Importantly, to demonstrate the potential application of the wrinkle, we suggest and fabricate a human-finger-like fully soft identifiable artificial finger pad electronics and integrate it with a soft bimodal sensing system. The artificial finger pad mimics human finger pad features such as identification, object recognition, and effective grasping. Further integration of this pad into soft robots, cephalopods, and prosthetic skin offers insightful potential for the proposed wrinkling method in various fields.

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.

Flexible Passive Wireless Sensing Platform with Frequency Mapping and Multimodal Fusion

As one of the core parts of the Internet-of-things (IOTs), multimodal sensors have exhibited great advantages in fields such as human-machine interaction, electronic skin, and environmental monitoring. However, current multimodal sensors substantially introduce a bloated equipment architecture and a complicated decoupling mechanism. In this work we propose a multimodal fusion sensing platform based on a power-dependent piecewise linear decoupling mechanism, allowing four parameters to be perceived and decoded from the passive wireless single component, which greatly broadens the configurable freedom of a sensor in the IOT. A systematic model is employed to analyze the linear sensing properties and ensure the feasibility of the scheme. The excitation power dependence provides an efficient and quantitative linear decoupling strategy of unidentified combinations for multiple stimuli. As a validation for a wearable device such as electronic skin (e-skin), the functionalized sensing film polyaniline/graphene oxide (PANI/GO) is served to synchronously monitor humidity, temperature, ultraviolet, and proximity through the mapping in resonant frequency (fs). Compared with the output errors of ∼18.00%, ∼17.50%, ∼15.00%, and ∼20.00%, the maximum experimental errors of temperature, humidity, ultraviolet, and proximity are 5.70%, 4.00%, 5.00%, and 8.30% after decoupling, respectively. In general, the developed single-component multimodal fusion sensing platform offers a strategic advantage for a miniaturization, passive wireless, and inexpensive (less than $1) signal identification system with a facile circuit layout.

MXene-based kirigami designs: showcasing reconfigurable frequency selectivity in microwave regime

Today's wireless environments, soft robotics, and space applications demand delicate design of devices with tunable performances and simple fabrication processes. Here we show strain-based adjustability of RF/microwave performance by applying frequency-selective patterns of conductive Ti3C2Tx MXene coatings on low-cost acetate substrates under ambient conditions. The tailored performances were achieved by applying frequency-selective patterns of thin Ti3C2Tx MXene coatings with high electrical conductivity as a replacement to metal on low-cost flexible acetate substrates under ambient conditions. Under quasi-axial stress, the Kirigami design enables displacements of individual resonant cells, changing the overall electromagnetic performance of a surface (i.e., array) within a simulated wireless channel. Two flexible Kirigami-inspired prototypes were implemented and tested within the S, C, and X (2-4 GHz, 4-8 GHz, and 8-12 GHz) microwave frequency bands. The resonant surface, having ~1/4 of the size of a standard A4 paper, was able to steer a beam of scattered waves from each resonator by ~25°. Under a strain of 22%, the resonant frequency of the wired co-planar resonator was shifted by 400 MHz, while the reflection coefficient changed by 158%. Deforming the geometry impacted the spectral response of the components across three arbitrary frequencies in the 4-10 GHz frequency range. With this proof of concept, we anticipate implementing thin films of MXenes on technologically relevant substrates, achieving multi-functionality through cost-effective and straightforward manufacturing.

An Untethered Soft Crawling Robot Driven by Wireless Power Transfer Technology

Soft robots based on flexible materials have attracted the attention due to high flexibility and great environmental adaptability. Among the common driving modes, electricity, light, and magnetism have the limitations of wiring, poor penetration capability, and sophisticated equipment, respectively. Here, an emerging wireless driving mode is proposed for the soft crawling robot based on wireless power transfer (WPT) technology. The receiving coil at the robot's tail, as an energy transfer station, receives energy from the transmitting coil and supplies the electrothermal responsiveness to drive the robot's crawling. By regulating the WPT's duration to control the friction between the robot and the ground, bidirectional crawling is realized. Furthermore, the receiving coil is also employed as a sensory organ to equip the robot with localization, ID recognition, and sensing capabilities based on electromagnetic coupling. This work provides an innovative and promising strategy for the design and integration of soft crawling robots, exhibiting great potential in the field of intelligent robots.

Untethered soft actuators for soft standalone robotics

Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.

Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet

Magnetic actuation has been well exploited for untethered manipulation and locomotion of small-scale robots in complex environments such as intracorporeal lumens. Most existing magnetic actuation systems employ a permanent magnet onboard the robot. However, only 2-DoF orientation of the permanent-magnet robot can be controlled since no torque can be generated about its axis of magnetic moment, which limits the dexterity of manipulation. Here, we propose a new magnetic actuation method using a single soft magnet with an anisotropic geometry (e.g., triaxial ellipsoids) for full 3-DoF orientation manipulation. The fundamental actuation principle of anisotropic magnetization and 3-DoF torque generation are analytically modeled and experimentally validated. The hierarchical orientation stability about three principal axes is investigated, based on which we propose and validate a multi-step open-loop control strategy to alternatingly manipulate the direction of the longest axis of the soft magnet and the rotation about it for dexterous 3-DoF orientation manipulation.

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.

Caterpillar-inspired soft crawling robot with distributed programmable thermal actuation

Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)-based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.

Mechanical responses of soft magnetic robots with various geometric shapes: locomotion and deformation

Soft magnetic robots have attracted tremendous interest owning to their controllability and manoeuvrability, demonstrating great prospects in a number of industrial areas. However, further explorations on the locomotion and corresponding deformation of magnetic robots with complex configurations are still challenging. In the present study, we analyse a series of soft magnetic robots with various geometric shapes under the action of the magnetic field. First, we prepared the matrix material for the robot, that is, the mixture of silicone and magnetic particles. Next, we fabricated a triangular robot whose locomotion speed and warping speed are approximately 1.5 and 9 mm/s, respectively. We then surveyed the generalised types of robots with other shapes, where the movement, grabbing, closure and flipping behaviours were fully demonstrated. The experiments show that the arching speed and grabbing speed of the cross-shaped robot are around 4.8 and 3.5 mm/s, the crawling speed of the pentagram-shaped robot is 3.5 mm/s, the pentahedron-shaped robot can finish its closure motion in 1 s and the arch-shaped robot can flip forward and backward in 0.5 s. The numerical simulation based on the finite element method has been compared with the experimental results, and they are in excellent agreement. The results are beneficial to engineer soft robots under the multi-fields, which can broaden the eyes on inventing intellectual devices and equipment.