LM-Jelly: Liquid Metal Enabled Biomimetic Robotic Jellyfish

Fingertip-Inspired Spatially Anisotropic Inductive Liquid Metal Sensors with Ultra-Wide Range, High Linearity and Exceptional Stability

The advancement of robotic behavior and intelligence has led to an urgent demand for improving their sensitivity and interactive capabilities, which presents challenges in achieving multidimensional, wide-ranging, and reliable tactile sensing. Here an anisotropic inductive liquid metal sensor (AI-LMS) is introduced inspired by the human fingertip, which inherently possesses the capability to detect spatially multi-axis pressure with a wide sensing range, exceptional linearity, and signal stability. Additionally, it can detect very small pressures and responds swiftly to prescribed forces. Compared to resistive signals, inductive signals offer significant advantages. Further, integrated with a deep neural network model, the AI-LMS can decouple multi-axis pressures acting simultaneously upon it. Notably, the sensing range of Ecoflex and PDMS-based AI-LMS can be expanded by a factor of 4 and 9.5, respectively. For practical illustrations, a high-precision surface scanning reconstruction system is developed capable of capturing intricate details of 3D surface profiles. The utilization of biomimetic AI-LMS as robotic fingertips enables real-time discrimination of diverse delicate grasping behaviors across different fingers. The innovations and unique features in sensing mechanisms and structural design are expected to bring transformative changes and find extensive applications in the field of soft robotics.

Magnetointeractive Cr2Te3-Coated Liquid Metal Droplets for Flexible Memory Arrays and Wearable Sensors

Magnetic liquid metal droplets, featured by unique fluidity, metallic conductivity, and magnetic reactivity, are of growing significance for next-generation flexible electronics. Conventional fabrication routes, which typically incorporate magnetic nanoparticles into liquid metals, otherwise encounter the pitfall pertaining to surface adhesivity and corrosivity over device modules. Here, an innovative approach of synergizing liquid metals with 2D magnetic materials is presented, accordingly creating chromium(III)-telluride-coated liquid metal (CT-LM) droplets via a simple self-assembly process. The CT-LM droplets exhibit controllable deformation and locomotion under magnetic fields, demonstrate nonadherence to various surfaces, and enable cost-effective recycling of components. The functionality of CT-LM droplets is validated through their use in magnetointeractive memory devices to enable sensing/storing 64 magnetic paths and in wearable sensors as the flexible vibrator for dynamic gesture recognition with machine learning assistance. This work opens new avenues for the functional droplet design and broadens the horizons of flexible electronics.

3D Printed Magnetic Bionic Robot Inspired by Octopus for Drug Transportation

The octopus has attracted widespread attention owing to its unique underwater movement and its ability to escape with inkjets, which also promoted the development of underwater bionic robots. This study introduces a magnetic octopus robot (MOR) 3D printed with PA6/NdFeB composite material, which has good magnetic responsiveness and rigidity to cope with complex environments. The MOR can roll and rotate through complex terrain and passages because of its eight-claw structure. It also has amphibious locomotion and can pass through narrow gaps of 37.5% of its height by deformation. In addition, the MOR can not only clamp, transport, and release solids but also liquids by adding silicone hollow spheres, which indicates the potential of the MOR to be used in medical applications for transporting solid or liquid drugs. This research will help broaden the application prospects of magnetron robots in the field of medical drug transportation.

The Liquid Metal Age: A Transition From Hg to Ga

This review offers an illuminating journey through the historical evolution and modern-day applications of liquid metals, presenting a comprehensive view of their significance in diverse fields. Tracing the trajectory from mercury applications to contemporary innovations, the paper explores their pivotal role in industry and research. The analysis spans electrical switches, mechanical applications, electrodes, chemical synthesis, energy storage, thermal transport, electronics, and biomedicine. Each section examines the intricacies of liquid metal integration, elucidating their contributions to technological advancements and societal progress. Moreover, the review critically appraises the challenges and prospects inherent in liquid metal applications, addressing issues of recycling, corrosion management, device stability, economic feasibility, translational hurdles, and market dynamics. By delving into these complexities, the paper advances scholarly understanding and offers actionable insights for researchers, engineers, and policymakers. It aims to catalyze innovation, foster interdisciplinary collaboration, and promote liquid metal-enabled solutions for societal needs. Through its comprehensive analysis and forward-looking perspective, this review serves as a guide for navigating the landscape of liquid metal applications, bridging historical legacies with contemporary challenges, and highlighting the transformative potential of liquid metals in shaping future technologies.

Transformable 3D curved high-density liquid metal coils - an integrated unit for general soft actuation, sensing and communication

Rigid solenoid coils have long been indispensable in modern intelligent devices. However, their sparse structure and challenging preparation of flexible coils for soft robots impose limitations. Here, a transformable 3D curved high-density liquid metal coil (HD-LMC) is introduced that surpasses the structural density level of enameled wire. The fabrication technique employed for high-density channels in elastomers is universally applicable. Such HD-LMCs demonstrated excellent performance in pressure, temperature, non-contact distance sensors, and near-field communication. Soft electromagnetic actuators thus achieved significantly improved the electromagnetic force and power density. Moreover, precise control of swinging tail motion enables a bionic pufferfish to swim. Finally, HD-LMC is further utilized to successfully implement a soft rotary robot with integrated sensing and actuation capabilities. This groundbreaking research provides a theoretical and experimental basis for expanding the applications of liquid metal-based multi-dimensional complex flexible electronics and is expected to be widely used in liquid metal-integrated robotic systems.

Bioinspired Liquid Metal Based Soft Humanoid Robots

The pursuit of constructing humanoid robots to replicate the anatomical structures and capabilities of human beings has been a long-standing significant undertaking and especially garnered tremendous attention in recent years. However, despite the progress made over recent decades, humanoid robots have predominantly been confined to those rigid metallic structures, which however starkly contrast with the inherent flexibility observed in biological systems. To better innovate this area, the present work systematically explores the value and potential of liquid metals and their derivatives in facilitating a crucial transition towards soft humanoid robots. Through a comprehensive interpretation of bionics, an overview of liquid metals' multifaceted roles as essential components in constructing advanced humanoid robots-functioning as soft actuators, sensors, power sources, logical devices, circuit systems, and even transformable skeletal structures-is presented. It is conceived that the integration of these components with flexible structures, facilitated by the unique properties of liquid metals, can create unexpected versatile functionalities and behaviors to better fulfill human needs. Finally, a revolution in humanoid robots is envisioned, transitioning from metallic frameworks to hybrid soft-rigid structures resembling that of biological tissues. This study is expected to provide fundamental guidance for the coming research, thereby advancing the area.

Fast and Facile Liquid Metal Printing via Projection Lithography for Highly Stretchable Electronic Circuits

Soft electronic circuits are crucial for wearable electronics, biomedical technologies, and soft robotics, requiring soft conductive materials with high conductivity, high strain limit, and stable electrical performance under deformation. Liquid metals (LMs) have become attractive candidates with high conductivity and fluidic compliance, while effective manufacturing methods are demanded. Digital light processing (DLP)-based projection lithography is a high-resolution and high-throughput printing technique for primarily polymers and some metals. If LMs can be printed with DLP as well, the entire soft devices can be fabricated by one printer in a streamlined and highly efficient process. Herein, fast and facile DLP-based LM printing is achieved. Simply with 5-10 s of patterned ultraviolet (UV)-light exposure, a highly conductive and stretchable pattern can be printed using a photo-crosslinkable LM particle ink. The printed eutectic gallium indium traces feature high resolution (≈20 µm), conductivity (3 × 106 S m-1), stretchability (≈2500%), and excellent stability (consistent performance at different deformation). Various patterns are printed in diverse material systems for broad applications including stretchable displays, epidermal strain sensors, heaters, humidity sensors, conformal electrodes for electrography, and multi-layer actuators. The facile and scalable process, excellent performance, and diverse applications ensure its broad impact on soft electronic manufacturing.

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.

Bismuth-based liquid metals: advances, applications, and prospects

Bismuth-based liquid metals (LMs) are a large group of alloys with melting points slightly above room temperature. They are associated with fewer encapsulation constraints than room temperature LMs such as mercury, sodium-potassium alloys, and gallium-based alloys and are more likely to remain stable in the natural environment. In addition, their low melting point properties enable them to soften and melt via easy control. Bismuth-based alloys can also be modified with metal-based, carbon-based, and ceramic-based micro/nano particles as well as polymeric materials to create a series of novel composites owing to their outstanding functions. Based on these considerations, this review provides a comprehensive overview of bismuth-based LMs. The categories of bismuth and bismuth-based LMs are first briefly introduced to better systematize the physical and chemical properties of bismuth-based LMs. Based on these properties, bismuth-based LMs have been prepared using various methods, and this review briefly categorizes these preparation methods based on their finished forms (lumps, powders, and films). In addition, this review details the research progress of bismuth-based LMs in the fields of printed electronics, 3D printing, thermal management, biomedicine, chemical engineering, and deformable robotics. Finally, the challenges and future opportunities of bismuth-based LMs in the development process are discussed and visualized from different perspectives.

Principles and methods of liquid metal actuators

As a promising material, liquid metals (LMs) have gained considerable interest in the field of soft robotics due to their ability to move as designed routines or change their shape dramatically under external stimuli. Inspired by the science fiction film Terminator, tremendous efforts have been devoted to liquid robots with high compliance and intelligence. How to manipulate LM droplets is crucial to achieving this goal. Accordingly, this review is dedicated to presenting the principles driving LMs and summarizing the potential methods to develop LM actuators of high maneuverability. Moreover, the recent progress of LM robots based on these methods is overviewed. The challenges and prospects of implementing autonomous robots have been proposed.

Liquid Metal Combinatorics toward Materials Discovery

Liquid metals and their derivatives provide several opportunities for fundamental and practical exploration worldwide. However, the increasing number of studies and shortage of desirable materials to fulfill different needs also pose serious challenges. Herein, to address this issue, a generalized theoretical frame that is termed as "Liquid Metal Combinatorics" (LMC) is systematically presented, and summarizes promising candidate technical routes toward new generation material discovery. The major categories of LMC are defined, and eight representative methods for manufacturing advanced materials are outlined. It is illustrated that abundant targeted materials can be efficiently designed and fabricated via LMC through deep physical combinations, chemical reactions, or both among the main bodies of liquid metals, surface chemicals, precipitated ions, and other materials. This represents a large class of powerful, reliable, and modular methods for innovating general materials. The achieved combinatorial materials not only maintained the typical characteristics of liquid metals but also displayed distinct tenability. Furthermore, the fabrication strategies, wide extensibility, and pivotal applications of LMC are classified. Finally, by interpreting the developmental trends in the area, a perspective on the LMC is provided, which warrants its promising future for society.

Bioinspired soft robots for deep-sea exploration

The deep ocean, Earth's untouched expanse, presents immense challenges for exploration due to its extreme pressure, temperature, and darkness. Unlike traditional marine robots that require specialized metallic vessels for protection, deep-sea species thrive without such cumbersome pressure-resistant designs. Their pressure-adaptive forms, unique propulsion methods, and advanced senses have inspired innovation in designing lightweight, compact soft machines. This perspective addresses challenges, recent strides, and design strategies for bioinspired deep-sea soft robots. Drawing from abyssal life, it explores the actuation, sensing, power, and pressure resilience of multifunctional deep-sea soft robots, offering game-changing solutions for profound exploration and operation in harsh conditions.

Jelly-Z: swimming performance and analysis of twisted and coiled polymer (TCP) actuated jellyfish soft robot

Monitoring, sensing, and exploration of over 70% of the Earth's surface that is covered with water is permitted through the deployment of underwater bioinspired robots without affecting the natural habitat. To create a soft robot actuated with soft polymeric actuators, this paper describes the development of a lightweight jellyfish-inspired swimming robot, which achieves a maximum vertical swimming speed of 7.3 mm/s (0.05 body length/s) and is characterized by a simple design. The robot, named Jelly-Z, utilizes a contraction-expansion mechanism for swimming similar to the motion of a Moon jellyfish. The objective of this paper is to understand the behavior of soft silicone structure actuated by novel self-coiled polymer muscles in an underwater environment by varying stimuli and investigate the associated vortex for swimming like a jellyfish. To better understand the characteristics of this motion, simplified Fluid-structure simulation, and particle image velocimetry (PIV) tests were conducted to study the wake structure from the robot's bell margin. The thrust generated by the robot was also characterized with a force sensor to ascertain the force and cost of transport (COT) at different input currents. Jelly-Z is the first robot that utilized twisted and coiled polymer fishing line (TCPFL) actuators for articulation of the bell and showed successful swimming operations. Here, a thorough investigation on swimming characteristics in an underwater setting is presented theoretically and experimentally. We found swimming metrics of the robot are comparable with other jellyfish-inspired robots that have utilized different actuation mechanisms, but the actuators used here are scalable and can be made in-house relatively easily, hence paving way for further advancements into the use of these actuators.

A Hydrogel-Based Self-Sensing Underwater Actuator

Soft robots made of hydrogels are suited for underwater exploration due to their biocompatibility and compliancy. Yet, reaching high dexterity and actuation force for hydrogel-based actuators is challenging. Meanwhile, real-time proprioception is critical for feedback control. Moreover, sensor integration to mimic living organisms remains problematic. To address these challenges, we introduce a hydrogel actuator driven by hydraulic force with a fast response (time constant 0.83 s). The highly stretchable and conductive hydrogel (1400% strain) is molded into the PneuNet shape, and two of them are further assembled symmetrically to actuate bi-directionally. Then, we demonstrate its bionic application for underwater swimming, showing 2 cm/s (0.19 BL/s) speed. Inspired by biological neuromuscular systems' sensory motion, which unifies the sensing and actuation in a single unit, we explore the hydrogel actuator's self-sensing capacity utilizing strain-induced resistance change. The results show that the soft actuator's proprioception can monitor the undulation in real-time with a sensitivity of 0.2%/degree. Furthermore, we take a finite-element method and first-order differential equations to model the actuator's bending in response to pressure. We show that such a model can precisely predict the robot's bending response over a range of pressures. With the self-sensing actuator and the proposed model, we expect the new approach can lead to future soft robots for underwater exploration with feedback control, and the underlying mechanism of the undulation control might offer significant insights for biomimetic research.