A unimorph nanocomposite dielectric elastomer for large out-of-plane actuation

Hollow fiber-based strain sensors with desirable modulus and sensitivity at effective deformation for dexterous electroelastomer cylindrical actuator

The electroelastomer cylindrical actuators, a typical representation of soft actuators, have recently aroused increasing interest owing to their advantages in flexibility, deformability, and spatial utilization rate. Proprioception is crucial for controlling and monitoring the shape and position of these actuators. However, most existing flexible sensors have a modulus mismatch with the actuation unit, hindering the free movement of these actuators. Herein, a low-modulus strain sensor based on laser-induced cellular graphitic flakes (CGF) onto the surface of hollow TPU fibers (HTF) is present. Through the electrostatic self-assembly technology, the flexible sensor features a unique hybrid sensing unit including soft HTF as substrate and rigid CGF as conductive path. As a result, the sensor simultaneously possesses desirable modulus (~0.155 MPa), a gauge factor of 220.3 (25% < ε < 50%), fast response/recovery behaviors (31/62 ms), and a low detection limit (0.1% strain). Integrating the sensor onto the electroelastomer cylindrical actuators enables precise measurement of deformation modes, directions, and quantity. As proof-of-concept demonstrations, a prototype soft robot with high-precision perception is successfully designed, achieving real-time detection of its deformations during the crawling process. Thus, the proposed scheme sheds new light on the development of intelligent soft robots.

Boosting the Actuation Performance of a Dynamic Supramolecular Polyurethane-Urea Elastomer via Kinetic Control

The ongoing soft actuation has accentuated the demand for dielectric elastomers (DEs) capable of large deformation to replace the traditional rigid mechanical apparatus. However, the low actuation strain of DEs considerably limits their practical applications. This work developed high-performance polyurethane-urea (PUU) elastomers featuring large actuation strains utilizing an approach of kinetic control over the microphase separation structure during the fabrication process. Additionally, disulfide (DS) bonds were incorporated as dynamic chemical linkages to effectively heal the mechanical damage in the resulting elastomer (PUUDS). Alteration in processing conditions creates notable differences in the rate of phase separation among the multiphase materials. A faster phase separation rate is associated with a reduced degree of microphase separation, increased spacing within hard domains, a higher proportion of disordered hydrogen bonds, and hydrogen bonding index. These changes synergistically improved the electromechanical properties of the PUUDS elastomers, thereby enhancing their actuation performance. The sample processed under the fastest phase separation condition showed the lowest Young's modulus and a pronounced dielectric response at low frequencies. The electrostriction effect accounts for 89% of the total electromechanical coupling, achieving a significant reduction in the driving voltage during actuation. The maximum actuation strain recorded was 21.6% at an electric field of 45 MV/m. Benefiting from the fully reversible dynamic network, the damaged PUUDS elastomer can be healed and restored to its original elongation at break after 3 h at room temperature. Practical application was demonstrated through the development of a miniature butterfly model constructed from a single-layer PUUDS elastomer, showcasing potential applications in soft robotics. These findings highlight the critical role of kinetic control in optimizing the performance of advanced DEs.

Soft Artificial Muscle of Poly(vinyl chloride) Gel with an Imperceptible Liquid Metal Electrode

Electrodes with high electrical conductivity, yet good flexibility and mechanical compliance, are critical for electroactive artificial muscles. Herein, a promising liquid metal (LM) electrode is proposed by transforming eutectic gallium-indium (EGaIn) LM with high surface tension into paste-like LM with solid Ga2O3 shells. The developed compliant LM electrode not only shows high conductivity and negligible additional stiffness but also displays excellent electrical stability during cyclic actuation. Based on the LM electrode, the poly(vinyl chloride) gel (PVCG) artificial muscle developed exhibits the maximum actuation strain of 18.7% at a low electric field strength of 9 V μm-1 and maintains excellent durability without obvious performance attenuation after 10,000 s. A comparison shows that the as-developed PVCG artificial muscle is superior over that based on widely used carbon electrodes. Moreover, an artificial upper limb and crawling worm were manufactured to explore the great potential of PVCG artificial muscle in the robotic field. In addition, the practical application demonstration of the PVCG artificial muscle in the biomimetics field is also successfully fulfilled through the design of reasonable structures. Due to its easy fabrication, excellent electrical conductivity, and high mechanical compliance, the newly developed LM electrode is promising for high-performance PVCG artificial muscles in bionic robots.

Microscopic in situ observation of electromechanical instability in a dielectric elastomer actuator utilizing transparent carbon nanotube electrodes

Electromechanical instability (EMI) restricts the performance of dielectric elastomer actuators (DEAs), leading to premature electrical breakdown at a certain voltage. However, macro-level observations using traditional carbon grease electrodes have failed to capture the detailed features of EMI. In this study, we investigated EMI at the microscopic scale by fabricating transparent and conductive single-walled carbon nanotube (SWCNT) electrodes. Our findings reveal that EMI predominantly occurs in highly localized regions with dimensions on the order of tens of micrometers. This snap-through instability is likely induced by pre-existing defects within the elastomer, such as air voids or conductive particles, which reduce the critical voltage required for EMI in the flawed areas. From the perspective of phase transition principles, these defects act as heterogeneous nucleation sites for new phase embryos, thereby lowering the energy barrier for the electromechanical phase transition (i.e., EMI) compared to homogeneous nucleation in an ideally impurity-free elastomer. This study clarifies the longstanding discrepancy between theoretically predicted deformation bursts and the experimentally observed macroscopic continuous expansion of DEAs under low pre-stretch conditions. Additionally, it underscores the critical importance of material purity in mitigating electromechanical instability.

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 bio-inspired co-simulation crawling robot enabled by a carbon dot-doped dielectric elastomer

Flexible actuation materials play a crucial role in biomimetic robots. Seeking methods to enhance actuation and functionality is one of the directions in which actuators strive to meet the high-performance and diverse requirements of environmental conditions. Herein, by utilizing the method of adsorbing N-doped carbon dots (NCDs) onto SiO2 to form clusters of functional particles, a NCDs@SiO2/PDMS elastomer was prepared and its combined optical and electrical co-stimulation properties were effectively harnessed to develop a biomimetic crawling robot resembling Rhagophthalmus (firefly). The introduction of NCDs@SiO2 cluster particles not only effectively improves the mechanical and dielectric properties of the elastomer but also exhibits fluorescence response and actuation response under the co-stimulation of UV and electricity, respectively. Additionally, a hybrid dielectric elastomer actuator (DEA) with a transparent SWCNT mesh electrode exhibits two notable advancements: an 826% increase in out-of-plane displacement under low electric field stimulation compared to the pure matrix and the ability of NCDs to maintain a stable excited state within the polymer for an extended duration under UV-excitation. Simultaneously, the transparent biomimetic crawling robot can stealthily move in specific environments and fluoresce under UV light.

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.

Soft Sensors and Actuators for Wearable Human-Machine Interfaces

Haptic human-machine interfaces (HHMIs) combine tactile sensation and haptic feedback to allow humans to interact closely with machines and robots, providing immersive experiences and convenient lifestyles. Significant progress has been made in developing wearable sensors that accurately detect physical and electrophysiological stimuli with improved softness, functionality, reliability, and selectivity. In addition, soft actuating systems have been developed to provide high-quality haptic feedback by precisely controlling force, displacement, frequency, and spatial resolution. In this Review, we discuss the latest technological advances of soft sensors and actuators for the demonstration of wearable HHMIs. We particularly focus on highlighting material and structural approaches that enable desired sensing and feedback properties necessary for effective wearable HHMIs. Furthermore, promising practical applications of current HHMI technology in various areas such as the metaverse, robotics, and user-interactive devices are discussed in detail. Finally, this Review further concludes by discussing the outlook for next-generation HHMI technology.

Understanding the Impact of Active-to-Passive Area Ratio on Deformation in One-Dimensional Dielectric Elastomer Actuators with Uniaxial Strain State

There is increasing interest in the use of novel elastomers with inherent or modified advanced dielectric and mechanical properties, as components of dielectric elastomer actuators (DEA). This requires corresponding techniques to assess their electro-mechanical performance. A common way to test dielectric materials is the fabrication of actuators with pre-stretch fixed by a stiff frame. This results in the problem that the electrode size has an influence on the achievable actuator displacement and strain, which is detrimental to the comparability of experiments. This paper presents an in-depth study of the active-to-passive ratio with the aim of investigating the influence of the coverage ratio on uniaxial actuator displacement and strain. To model the effect, a simple lumped-parameter model is proposed. The model shows that the coverage ratio for maximal displacement is 50%. To validate the model results, experiments are carried out. For this, a rectangular, fiber-reinforced DEA is used to assess the relation of the coverage ratio and deformation. Due to the stiffness of the fibers, highly anisotropic mechanical properties are achieved, leading to the uniaxial strain behavior of the actuator, which allows the validation of the one-dimensional model. To consider the influence of the simplifications in the lumped-parameter model, the results are compared to a hyperelastic model. In summary, it is shown that the ratio of the active-to-passive area has a significant influence on the actuator deformation. Both the model and experiments confirm that an active-to-passive ratio of 50% is particularly advantageous in most cases.

Composite elastomers with on-demand convertible phase separations achieve large and healable electro-actuation

Phase separation has been widely exploited for fabricating structured functional materials. Generally, after being fabricated, the phase structure in a hybrid material system has been set at a specific length scale and remains unchanged during the lifespan of the material. Herein, we report a strategy to construct on-demand and reversible phase switches among homogenous, nano- and macro-phase separation states in a composite elastomer during its lifespan. We trigger the nanophase separation by super-saturating an elastomer matrix with a carefully selected small-molecule organic compound (SMOC). The nanoparticles of SMOC that precipitate out upon quenching will stretch the elastomer network, yet remain stably arrested in the elastomer matrix at low temperatures for a long time. However, at elevated temperatures, the nano-phase separation will transform into the macro-one. The elastic recovery will drive the SMOC onto the elastomer surface. The phase-separated structures can be reconfigured through the homogeneous solution state at a further elevated temperature. Taking advantage of the reversible phase switches leads to a novel strategy for designing high-performance dielectric elastomers. The in situ formed nanoparticles can boost the electro-actuation performance by eliminating electro-mechanical instability and lead to a very large actuation strain (∼146%). Once the actuator broke down, SMOC could on-demand be driven to the breakdown holes and heal the actuator.

Design Analysis and Actuation Performance of a Push-Pull Dielectric Elastomer Actuator

Dielectric elastomer actuation has been extensively investigated and applied to bionic robotics and intelligent actuators due to its status as an excellent actuation technique. As a conical dielectric elastomer actuator (DEA) structure extension, push-pull DEA has been explored in controlled acoustics, microfluidics, and multi-stable actuation due to its simple fabrication and outstanding performance. In this paper, a theoretical model is developed to describe the electromechanical behavior of push-pull DEA based on the force balance of the mass block in an actuator. The accuracy of the proposed model is experimentally validated by employing the mass block in the construction of the actuator as the object of study. The actuation displacement of the actuator is used as the evaluation indication to investigate the effect of key design parameters on the actuation performance of the actuator, its failure mode, and critical failure voltage. A dynamic actuator model is proposed and used with experimental data to explain the dynamic response of the actuator, its natural frequency, and the effect of variables. This work provides a strong theoretical background for dielectric elastomer actuators, as well as practical design and implementation experience.

Additively manufactured unimorph dielectric elastomer actuators: Design, materials, and fabrication

Dielectric elastomer actuator (DEA) is a smart material that holds promise for soft robotics due to the material's intrinsic softness, high energy density, fast response, and reversible electromechanical characteristics. Like for most soft robotics materials, additive manufacturing (AM) can significantly benefit DEAs and is mainly applied to the unimorph DEA (UDEA) configuration. While major aspects of UDEA modeling are known, 3D printed UDEAs are subject to specific material and geometrical limitations due to the AM process and require a more thorough analysis of their design and performance. Furthermore, a figure of merit (FOM) is an analytical tool that is frequently used for planar DEA design optimization and material selection but is not yet derived for UDEA. Thus, the objective of the paper is modeling of 3D printed UDEAs, analyzing the effects of their design features on the actuation performance, and deriving FOMs for UDEAs. As a result, the derived analytical model demonstrates dependence of actuation performance on various design parameters typical for 3D printed DEAs, provides a new optimum thickness to Young's modulus ratio of UDEA layers when designing a 3D printed DEA with fixed dielectric elastomer layer thickness, and serves as a base for UDEAs' FOMs. The FOMs have various degrees of complexity depending on considered UDEA design features. The model was numerically verified and experimentally validated through the actuation of a 3D printed UDEA. The fabricated and tested UDEA design was optimized geometrically by controlling the thickness of each layer and from the material perspective by mixing commercially available silicones in non-standard ratios for the passive and dielectric layers. Finally, the prepared non-standard mix ratios of the silicones were characterized for their viscosity dynamics during curing at various conditions to investigate the silicones' manufacturability through AM.

Multicomponent and multifunctional integrated miniature soft robots

Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.

Real time high voltage capacitance for rapid evaluation of dielectric elastomer actuators

Dielectric elastomer actuators (DEAs) are soft electromechanical transducers that have enabled robotic, haptic, and optical applications. Despite their advantages in high specific energy, large bandwidth, and simple fabrication, their widespread adoption is limited by poor long-term performance. While the mechanical work output has been studied extensively, the electrical energy input has rarely been characterized. Here we report a method to continuously monitor high voltage capacitance during DEA actuation to directly measure the electrical energy consumption. Our approach can track energy conversion efficiency, but also show changes in the device's properties in real-time. This unprecedented insight enables a novel way to study DEAs, evaluate degradation mechanisms, and correlate material structure to device performance. Moreover, it provides a data acquisition platform for data-driven optimization and prediction of long-term actuator performance. This work is a necessary step towards developing ultra-resilient DEAs and enabling a wide range of applications, from wearable devices to soft machines across different scales.

Self-Healable, Self-Repairable, and Recyclable Electrically Responsive Artificial Muscles

Elastomers with high dielectric permittivity that self-heal after electric breakdown and mechanical damage are important in the emerging field of artificial muscles. Here, a one-step process toward self-healable, silicone-based elastomers with large and tunable permittivity is reported. Anionic ring-opening polymerization of cyanopropyl-substituted cyclic siloxanes yields elastomers with polar side chains. The equilibrated product is composed of networks, linear chains, and cyclic compounds. The ratio between the components varies with temperature and allows realizing materials with largely different properties. The silanolate end groups remain active, which is the key to self-healing. Elastomeric behavior is observed at room temperature, while viscous flow dominates at higher temperatures (typically 80 °C). The elasticity is essential for reversible actuation and the thermoreversible softening allows for self-healing and recycling. The dielectric permittivity can be increased to a maximum value of 18.1 by varying the polar group content. Single-layer actuators show 3.8% lateral actuation at 5.2 V µm-1 and self-repair after a breakdown, while damaged ones can be recycled integrally. Stack actuators reach an actuation strain of 5.4 ± 0.2% at electric fields as low as 3.2 V µm-1 and are therefore promising for applications as artificial muscles in soft robotics.

Structure and Dielectric Properties of TPU Composite Filled with CNTs@PDA Nanofibers and MXene Nanosheets

Thermoplastic polyurethane (TPU) is a kind of dielectric elastomer (DE) which can behave as an actuator, altering thickness strain in response to electrical stimulation. The composites are made up of fillers with a very high dielectric constant that are spread in a polymer matrix. It is very difficult to obtain large deformation at low voltage. In this study, we made two-dimensional (2D) MXene nanosheets with excellent conductivity and one-dimensional (1D) polydopamine (PDA)-modified CNT fiber fillers. After that, TPU dielectric elastomer films made of MXene/CNTs or MXene/CNTs@PDA were prepared. The results showed that the dielectric constant and dielectric loss of TPU dielectric film including MXene/CNTs were much higher than that containing MXene/CNTs@PDA, although Young’s modulus and breakdown strength (E_b) were significantly lower. At the same time, these two types of dielectric films had a significantly higher dielectric constant and dielectric loss than pure TPU dielectric film, and their breakdown strength was significantly lower. The compatibility of CNTs@PDA fibers with the TPU matrix improves after PDA modification, and the dispersion of CNTs@PDA fibers improves, resulting in an increase in Young’s modulus. MXene with a two-dimensional nanosheet structure increases the breakdown strength of the TPU dielectric elastomer under the condition of the addition of a tiny quantity. To summarize, the dielectric constant, dielectric loss, Young’s modulus, and dielectric elastomer breakdown strength are mutually restrictive conditions, and the relationship between all parties must be balanced to obtain obvious deformation properties.

Designing Soft Mobile Machines Enabled by Dielectric Elastomer Minimum Energy Structures

Dielectric elastomers (DE) are ideal electro-active polymers with large voltage-induced deformation for the design and realization of soft machines. Among the diversity of configurations of DE-based soft machines, dielectric elastomer minimum energy structures (DEMES) are unique due to their ease of fabrication, readiness to extend into multiple segments, and versatility of design configurations. Despite many successful demonstrations of DEMES actuators, these DEMES devices are limited to immobile use. We report several possible implementations of soft mobile machines through the combination of DEMES design, finite element simulation, and experiment. Our designs mimic the biomimetic locomotion of inchworms and marry complex components such as ratchet wheels with soft DEMES actuators. We even elucidate that buckling of DE can be harnessed to achieve asymmetric feet, which is otherwise realized via more complicated means. The examples presented here enrich DE devices’ design and provide valuable insights into the design and fabrication of soft machines that other soft-active materials enable. All the codes and files used in this paper can be downloaded from GitHub.