Strain-programmable fiber-based artificial muscle

A Novel Polyoxymethylene Fiber-Based Artificial Muscle Enabled Stable Actuating Behavior

Due to superior water/chemical resistance, constructing novel polyoxymethylene (POM) fiber-based artificial muscles (AM) is significant for developing advanced flexible actuating devices with high stability. However, strong crystallizing ability and low amorphous content of POM fibers were disadvantageous for them to achieve ideal actuating performance as artificial muscles. Herein, thermoplastic polyurethane elastomer (TPU) was blended with POM to regulate its crystalline behavior widely, while POM/TPU fibers were prepared by melt spinning-hot drawing/heat setting, and a mandrel-coiled POM fiber-based AM was constructed for the first time by further merged/twisted/coiled processes. With increasing fiber draw ratio/TPU content, the increased orientation factors/amorphous content of stretched POM fibers substantially enhanced the actuation properties of muscles. Meanwhile, by controlling merging/twisting/coiling geometries, the actuating properties of muscles are further optimized. Under 14 V actuating voltage/200 load-to-weight ratio, the max shrinkage strain/work capacity of POM/20T-600%f AM achieve 40.23%/34.69 J kg-1, reaching 201%/434% of those of typical mammalian skeletal muscle. Moreover, POM fiber-based AM exhibit superior cyclic actuating stability due to thermal stable oriented crystalline structures of fiber during the actuating process, while in alkali resistance tests, the maximum shrinkage strain retention reach 94.11%, much higher than that of nylon 66 sewing threads AM (53.56%).

Recent Progress of Soft and Bioactive Materials in Flexible Bioelectronics

Materials that establish functional, stable interfaces to targeted tissues for long-term monitoring/stimulation equipped with diagnostic/therapeutic capabilities represent breakthroughs in biomedical research and clinical medicine. A fundamental challenge is the mechanical and chemical mismatch between tissues and implants that ultimately results in device failure for corrosion by biofluids and associated foreign body response. Of particular interest is in the development of bioactive materials at the level of chemistry and mechanics for high-performance, minimally invasive function, simultaneously with tissue-like compliance and in vivo biocompatibility. This review summarizes the most recent progress for these purposes, with an emphasis on material properties such as foreign body response, on integration schemes with biological tissues, and on their use as bioelectronic platforms. The article begins with an overview of emerging classes of material platforms for bio-integration with proven utility in live animal models, as high performance and stable interfaces with different form factors. Subsequent sections review various classes of flexible, soft tissue-like materials, ranging from self-healing hydrogel/elastomer to bio-adhesive composites and to bioactive materials. Additional discussions highlight examples of active bioelectronic systems that support electrophysiological mapping, stimulation, and drug delivery as treatments of related diseases, at spatiotemporal resolutions that span from the cellular level to organ-scale dimension. Envisioned applications involve advanced implants for brain, cardiac, and other organ systems, with capabilities of bioactive materials that offer stability for human subjects and live animal models. Results will inspire continuing advancements in functions and benign interfaces to biological systems, thus yielding therapy and diagnostics for human healthcare.

Autonomous 3D Self-Sensing Hybrid Membrane Actuator for Interactive Communicating

The advancement of intelligent soft actuators is progressively emphasizing the incorporation of environmental sensing capability to actuation, thereby enhancing the adaptability and interactivity of artificial systems. In the current situation where the sensing and actuation functions of soft actuators are generally separated, this work proposes an autonomous three-dimensional (3D) noncontact sensory actuator (NSA), based on the coupling of ″dielectric polarization-electrothermal conversion-thermal actuation″ triple effects. Specifically, the NSA hybrid membrane is composed of multiple interpenetrating networks, including a boron nitride nanosheet (BNNS) dielectric network for electrostatic field sensing and polarization, a silver nanowires (AgNWs) percolation network for dielectric enhancement and electrothermal conversion, and thermally contracted shape memory fiber (SMF) and thermally expanded polydimethylsiloxane (PDMS) networks for directional actuation. Based on the principle of electrostatic field and dielectric polarization, the SMF/BNNS composite (SMF-BN) fibrous membrane can logically sense the noncontact 3D motion, static/dynamic state of external objects, and distinguish material categories. Subsequently, the output sensing potential facilitates the built-in AgNWs nanonetwork heater to trigger electrothermal actuation of NSA. Lastly, as a biomimetic tongue, the autonomous noncontact "sensing-decision-actuating" of NSA is verified by seamless energy conversion in the process of sensing "prey" approaching and capturing. The proposed sensory actuator would facilitate multimodal integration for future wearable and human-machine-environment interaction technologies.

Harnessing chemistry for plant-like machines: from soft robotics to energy harvesting in the phytosphere

Nature, especially plants, can inspire scientists and engineers in the development of bioinspired machines able to adapt and interact with complex unstructured environments. Advances in manufacturing techniques, such as 3D printing, have expanded the range of materials and structures that can be fabricated, enabling better adaptation to specific applications and closer mimicking of natural systems. Furthermore, biohybrid systems-integrating plant-based or living materials-are getting attention for their ability to introduce functionalities not possible with purely synthetic materials. This joint feature article reviews and highlights recent works of two groups in microfabrication and plant-inspired robotics as well as plant-hybrid systems for energy conversion with applications in soft robotics to environmental sensing, reforestation, and autonomous drug-delivery in plant tissue.

Self-Sustained Liquid Crystal Elastomer Actuators with Geometric Zero-Elastic-Energy Modes

Recently, a novel and fascinating actuation mode of liquid crystal elastomers (LCEs), known as geometric zero-elastic-energy modes (ZEEMs), has drawn intensive research interest. Based on this actuation mechanism, LCE actuators exhibit untethered, autonomous movements under external stimulations, demonstrating significant potential for applications in intelligent soft robots, autonomous energy conversion systems, and smart optical tuning components. This perspective provides a timely summary of the current research on LCE actuators based on ZEEMs and highlights their future development trends and prospects, which will be of great interest to broad communities of researchers in fields of LCEs, biomimetic smart materials, soft robotics, and actuators.

Force-Trainable Liquid Crystal Elastomer Enabled by Mechanophore-Induced Radical Polymerization

In nature, organisms adapt to environmental changes through training to learn new abilities, offering valuable insights for developing intelligent materials. However, replicating this "adaptive learning" in synthetic materials presents a significant challenge. This study introduces a feasible approach to train liquid crystal elastomers (LCEs) by integrating a mechanophore tetraarylsuccinonitrile into their main chain, addressing the challenge of enabling synthetic materials to exchange substances with their environment. Inspired by biological training, the LCEs can self-strengthen and acquire new functionalities through mechanical stress-induced radical polymerization. The research not only enhances the mechanical performance of LCEs, but also endows them with the ability to learn properties such as flexibility, light responsiveness, and fluorescence. These advancements are crucial for overcoming the limitations of current materials, paving the way for the creation of advanced intelligent soft materials with autonomous self-improvement, akin to the adaptive skills of living organisms.

Thermally Drawn Shape and Stiffness Programmable Fibers for Medical Devices

Despite the significant advantages of Shape Memory Polymers (SMPs), material processing and production challenges have limited their applications. Recent advances in fiber manufacturing offer a novel approach to processing polymers, broadening the functions of fibers beyond optical applications. In this study, a thermal drawing technique for SMPs to fabricate Shape Memory Polymer Fibers (SMPFs) tailored for medical applications, featuring programmable stiffness and shape control is developed. Rheological and differential scanning calorimetry analyses are conducted to assess SMP's compatibility with the proposed thermal drawing process and applications, leading to the production of multilumen, multimaterial SMPFs activated at body temperature. Different properties of SMPFs are investigated in three medical devices: stiffness-adjustable catheters, softening neural interface, and shape-programmable cochlear implants. Comprehensive characterization of these devices demonstrates the potential of thermally drawn SMPs to be employed in a wide range of applications demanding programmable mechanical properties.

Microsensor-Internalized Fibers as Autonomously Controllable Soft Actuators

Despite their strengths in flexibility and miniaturization, the stable operation of soft actuators under ever-changing environmental and biological conditions is hindered by the lack of applicable methods using internal sensors to detect unintentional stimuli. Here, the integration of a microscale driving source and sensors in a single fiber via thermal drawing is presented as a strategy to scalably produce autonomously responsive, feedback-controllable soft actuators. The regulation of the input electrothermal stimuli via a closed loop control system that is based on completely coupled internal sensory components enables multimodal actuation of fiber-based actuators, which is further demonstrated through preservation of actuating conditions, actuation of selected devices in their bundles, and modulation of motion characteristics. The approach to manufacturing autonomously controllable soft actuators can expand applications of soft actuators in kaleidoscopic biomedical and bioengineering fields for transportation, robotics, and prosthetics.

Mandrel-free fabrication of giant spring-index and stroke muscles for diverse applications

Methods for making high-spring-index polymer fiber or yarn muscles have required expensive fabrication by wrapping around a mandrel, which limits their practical applications. We demonstrate an inexpensive mandrel-free method for making polymer muscles that can have a spring index of >50 and a contractile tensile stroke exceeding 97%. This method enables the spring index to be varied along a muscle's length by varying the plying twist, resulting in muscles that transition between homochiral and heterochiral when either heated or cooled. We demonstrate use of these polymer muscles for robots and environmentally driven comfort-adjusting jackets. This mandrel-free method was used to make high-spring-index carbon nanotube yarns for mechanical energy harvesters, self-powered strain sensors, and solvent-driven and electrochemically driven artificial muscles.

Integrated thermal management-sensing-actuation functional artificial muscles

Electrothermal-driven polymer fiber-based artificial muscles with helical or twisted structures are promising due to their low cost and high energy density output. However, the current cooling methods for these muscles, such as natural cooling or cold-liquid baths, limit their actuation frequency, especially for large-diameter artificial muscles, posing a technical barrier to their broader application. In this study, we developed an advanced tubular fluidic pump by introducing carbon nanotube electrodes, achieving pumping capabilities over 2 times that of conventional electrodes. We integrated this pump with tubular fiber artificial muscles, creating fluid pump-cooled electrothermal artificial muscle systems with parallel and series configurations. This integration reduced cooling time to about one-ninth of the original and increased mechanical energy output power density by 3 times, expanding the effective actuation frequency range by 3.5 times. Additionally, to effective control artificial muscle actuation, we incorporated a resistive sensing layer directly onto the surface of the artificial muscles, enabling position monitoring. On the application front, we demonstrated the potential of these artificial muscles in thermally responsive functional composite materials, deformable mechanical components, and bionic origami wrist joints.

Azobenzene-Functionalized Semicrystalline Liquid Crystal Elastomer Springs for Underwater Soft Robotic Actuators

As actuated devices become smaller and more complex, there is a need for smart materials and structures that directly function as complete mechanical units without an external power supply. The strategy uses light-powered, twisted, and coiled azobenzene-functionalized semicrystalline liquid crystal elastomer (AC-LCE) springs. This twisting and coiling, which has previously been used for only thermally, electrochemically, or absorption-powered muscles, maximizes uniaxial and radial actuation. The specially designed photochemical muscles can undergo about 60% tensile stroke and provide 15 kJ m-3 of work capacity in response to light, thus providing about three times and two times higher performance, respectively, than previous azobenzene actuators. Since this actuation is photochemical, driven by ultraviolet (UV) light and reversed by visible light, isothermal actuation can occur in a range of environmental conditions, including underwater. In addition, photoisomerization of the AC-LCEs enables unique latch-like actuation, eliminating the need for continuous energy application to maintain the stroke. Also, as the light-powered muscles processed to be either homochiral or heterochiral, the direction of actuation can be reversed. The presented approach highlights the novel capabilities of photochemical actuator materials that can be manipulated in untethered, isothermal, and wet environmental conditions, thus suggesting various potential applications, including underwater soft robotics.

Humidity-Sensing and Moisture-Steering Liquid Crystal Elastomer Actuator

A liquid crystal elastomer (LCE) actuator capable of colorimetric humidity sensing is realized. The designed LCE features acid protonated amino azobenzene side groups in its structure, which endow the actuator with the hygroscopicity and act as the humidity reporter via color changes. Given that the protonated and deprotonated chromophore absorb visible light at different wavelengths, when the protonated LCE is under higher humidity, it absorbs more water that deprotonates azobenzene and leads to a change in color. This humidity-dependent color change is fast, because surface protonation of the actuator is enough. The initial color and the sensitivity to humidity variation are determined by the extent of acid protonation, and the reversible color changes are distinguishable by the naked eye over a wide humidity range. The humidity sensing of LCE actuator in motion is demonstrated using thermally driven rolling rod actuators. Moreover, through spatial-selective exposure of the rolling rod actuator to water mist, the moisture can act as a stimulus to change or reverse the rolling direction and reduce the rolling speed. The achieved nature-inspired colorimetric humidity sensing capability represents an intelligent function for LCE actuators and may widen their application scope.

Self-Healing Yet Strong Actuator Materials with Muscle-Like Diastole and Contraction via Multilevel Relaxations

Skeletal muscles represent a role model in soft robotics featuring agile locomotion and incredible mechanical robustness. However, existing actuators lack an optimal combination of actuation parameters (including actuation modes, work capacity, mechanical strength, and damage repair) to rival biological tissues. Here, a biomimetic structural design strategy via multilevel relaxations (α/β/γ/δ-relaxation) modulation is proposed for mechanical robust and healable actuator materials with muscle-like diastole and contraction abilities by orientational alignment of dendritic polyphenol-modified nano-assembles in eutectogels. The anisotropic hierarchical micro-nanostructures assembled by supramolecular interaction mimic the relative slippage of actin filaments and myosin in muscles, ensuring bistable actuation through rapid thermal α-relaxation and expansion. Furthermore, kinetically active secondary β/γ/δ-relaxation at reconfigurable interfaces can conquer the limited self-healing ability of fixed-orientation polymeric chains. The obtained artificial muscle exhibits high output actuation, robust mechanical properties (tensile strength of 33.5 MPa), and desired functional, mechanical self-healing efficiency (89.7%), exceeding typical natural muscles in living systems. The bionic micro-nano design strategy achieves bottom-up cooperative relaxation modulation to integrate all-round performance of natural muscles, which paves the way for substantial advancements in next-generation intelligent robotics.

Large stroke radially oriented MXene composite fiber tensile artificial muscles

Actuation is normally dramatically enhanced by introducing so much yarn fiber twist that the fiber becomes fully coiled. In contrast, we found that usefully high muscle strokes and contractile work capacities can be obtained for non-twisted MXene (Ti3C2Tx) fibers comprising MXene nanosheets that are stacked in the fiber direction. The MXene fiber artificial muscles are called MFAMs. We obtained MFAMs that have high modulus in both the radial and axial directions by spinning a solution containing MXene nanosheets dispersed in an aqueous cellulose solution. We observed a highly reversible muscle contraction of 21.0% for a temperature increase from 25° to 125°C. The tensile actuation of MFAMs mainly results from reversible hydrogen bond orientation change during heating, which decreases intra-sheet spacing. The MFAMs exhibited fast, stable actuation to multiple temperature-generating stimuli, which increases their applications in smart textiles, robotic arms, and robotic grippers.

MXene Hybridized Polymer with Enhanced Electromagnetic Energy Harvest for Sensitized Microwave Actuation and Self-Powered Motion Sensing

Polymeric microwave actuators combining tissue-like softness with programmable microwave-responsive deformation hold great promise for mobile intelligent devices and bionic soft robots. However, their application is challenged by restricted electromagnetic sensitivity and intricate sensing coupling. In this study, a sensitized polymeric microwave actuator is fabricated by hybridizing a liquid crystal polymer with Ti3C2Tx (MXene). Compared to the initial counterpart, the hybrid polymer exhibits unique space-charge polarization and interfacial polarization, resulting in significant improvements of 230% in the dielectric loss factor and 830% in the apparent efficiency of electromagnetic energy harvest. The sensitized microwave actuation demonstrates as the shortened response time of nearly 10 s, which is merely 13% of that for the initial shape memory polymer. Moreover, the ultra-low content of MXene (up to 0.15 wt%) benefits for maintaining the actuation potential of the hybrid polymer. An innovative self-powered sensing prototype that combines driving and piezoelectric polymers is developed, which generates real-time electric potential feedback (open-circuit potential of ~ 3 mV) during actuation. The polarization-dominant energy conversion mechanism observed in the MXene-polymer hybrid structure furnishes a new approach for developing efficient electromagnetic dissipative structures and shows potential for advancing polymeric electromagnetic intelligent devices.

Chain Friction and Lubrication Balanced Ultra-Tough Polyacrylates With Wide-Span Switchable Stiffness for Strain-Programmable Deformation

Natural mollusks perform complex mechanical actions through reversible large-strain deformation and stiffness switching, which are challenging to achieve simultaneously in synthetic materials. Herein, it is shown that a set of polyacrylates designed according to a chain friction and lubrication balanced strategy shows ultra-stretchability (λ up to 324), high resilience (near 100% recovery at strain ≥ 100), and wide-span stiffness switching (up to 2073 times). The typical emulsion polymerization method and casting technique are adopted to fabricate the polyacrylate films. Quaternary ammonium surfactants are used as the emulsifier and reserved in the polymer matrix to enhance the chain segment lubrication with their long alkyl group but improve the whole chain friction through the formation of nano-eutectics. These polyacrylates undergo multimodal mechanical responses, including temperature- or time-programmed deformation and load-bearing like artificial muscles. This molecular design principle and synthetic method provide a robust platform for the fabrication of ultra-tough polymers for soft robots with multiple customized functions.

Scalable Layered Heterogeneous Hydrogel Fibers with Strain-Induced Crystallization for Tough, Resilient, and Highly Conductive Soft Bioelectronics

The advancement of soft bioelectronics hinges critically on the electromechanical properties of hydrogels. Despite ongoing research into diverse material and structural strategies to enhance these properties, producing hydrogels that are simultaneously tough, resilient, and highly conductive for long-term, dynamic physiological monitoring remains a formidable challenge. Here, a strategy utilizing scalable layered heterogeneous hydrogel fibers (LHHFs) is introduced that enables synergistic electromechanical modulation of hydrogels. High toughness (1.4 MJ m-3) and resilience (over 92% recovery from 200% strain) of LHHFs are achieved through a damage-free toughening mechanism that involves dense long-chain entanglements and reversible strain-induced crystallization of sodium polyacrylate. The unique symmetrical layered structure of LHHFs, featuring distinct electrical and mechanical functional layers, facilitates the mixing of multi-walled carbon nanotubes to significantly enhance electrical conductivity (192.7 S m-1) without compromising toughness and resilience. Furthermore, high-performance LHHF capacitive iontronic strain/pressure sensors and epidermal electrodes are developed, capable of accurately and stably capturing biomechanical and bioelectrical signals from the human body under long-term, dynamic conditions. The LHHF offers a promising route for developing hydrogels with uniquely integrated electromechanical attributes, advancing practical wearable healthcare applications.

Scalable Production of Functional Fibers with Nanoscale Features for Smart Textiles

Functional fibers, retaining nanoscale characteristics or nanomaterial properties, represent a significant advance in nanotechnology. Notably, the combination of scalable manufacturing with cutting-edge nanotechnology further expands their utility across numerous disciplines. Manufacturing kilometer-scale functional fibers with nanoscale properties are critical to the evolution of smart textiles, wearable electronics, and beyond. This review discusses their design principles, manufacturing technologies, and key advancements in the mass production of such fibers. In addition, it summarizes the current applications and state of progress in scalable fiber technologies and provides guidance for future advances in multifunctional smart textiles, by highlighting the upcoming impending demands for evolving nanotechnology. Challenges and directions requiring sustained effort are also discussed, including material selection, device design, large-scale manufacturing, and multifunctional integration. With advances in functional fibers and nanotechnology in large-scale production, wearable electronics, and smart textiles could potentially enhance human-machine interaction and healthcare applications.

Wet-Spinning Carbon Nanotube/Shape Memory Polymer Composite Fibers with High Actuation Stress and Predesigned Shape Change

Actuators based on shape memory polymers and composites incorporating nanomaterial additives have been extensively studied; achieving both high output stress and precise shape change by low-cost, scalable methods is a long-term-desired yet challenging task. Here, conventional polymers (polyurea) and carbon nanotube (CNT) fillers are combined to fabricate reinforced composite fibers with exceptional actuation performance, by a wet-spinning method amenable for continuous production. It is found that a thermal-induced shrinkage step could obtain densified strong fibers, and the presence of CNTs effectively promotes the tensile orientation of polymer molecular chains, leading to much improved mechanical properties. Consequently, the CNT/ polyurea composite fibers exhibit stresses as high as 33 MPa within 0.36 s during thermal actuation, and stresses up to 22 MPa upon electrical stimulation enabled by the built-in conductive CNT networks. Utilizing the flexible thin fibers, various shape change behavior are also demonstrated including the conversion between different structures/curvatures, and recovery of predefined simple patterns. This high-performance composite fibers, capable of both thermal and electrical actuation and produced by low-cost materials and fabrication process, may find many potential applications in wearable devices, robotics, and biomedical areas.

Flexible multimaterial fibers in modern biomedical applications

Biomedical devices are indispensable in modern healthcare, significantly enhancing patients' quality of life. Recently, there has been a drastic increase in innovations for the fabrication of biomedical devices. Amongst these fabrication methods, the thermal drawing process has emerged as a versatile and scalable process for the development of advanced biomedical devices. By thermally drawing a macroscopic preform, which is meticulously designed and integrated with functional materials, hundreds of meters of multifunctional fibers are produced. These scalable flexible multifunctional fibers are embedded with functionalities such as electrochemical sensing, drug delivery, light delivery, temperature sensing, chemical sensing, pressure sensing, etc. In this review, we summarize the fabrication method of thermally drawn multifunctional fibers and highlight recent developments in thermally drawn fibers for modern biomedical application, including neural interfacing, chemical sensing, tissue engineering, cancer treatment, soft robotics and smart wearables. Finally, we discuss the existing challenges and future directions of this rapidly growing field.

Kilogram-scale production of strong and smart cellulosic fibers featuring unidirectional fibril alignment

Multifunctional fibers with high mechanical strength enable advanced applications of smart textiles, robotics, and biomedicine. Herein, we reported a one-step degumming method to fabricate strong, stiff, and humidity-responsive smart cellulosic fibers from abundant natural grass. The facile process involves partially removing lignin and hemicellulose functioning as glue in grass, which leads to the separation of vessels, parenchymal cells, and cellulosic fibers, where cellulosic fibers are manufactured at kilogram scale. The resulting fibers show dense and unidirectional fibril structure at both micro- and nano-scales, which demonstrate high tensile strength of ∼0.9 GPa and Young's modulus of 72 GPa, being 13- and 14-times higher than original grass. Inspired by stretchable plant tendrils, we developed a humidity-responsive actuator by engineering cellulosic fibers into the spring-like structures, presenting superior response rate and lifting capability. These strong and smart cellulosic fibers can be manufactured at large scale with low cost, representing promising a fiber material derived from renewable and sustainable biomass.

Thermally drawn multi-material fibers: from fundamental research to industrial applications

Thermally drawn fiber devices, with their complex micro- to nanoscale architectures, hold great promises not only for scientific research but also for scalable industrial applications in soft smart systems.

Multifunctional Magnetic Muscles for Soft Robotics

Despite recent advancements, artificial muscles have not yet been able to strike the right balance between exceptional mechanical properties and dexterous actuation abilities that are found in biological systems. Here, we present an artificial magnetic muscle that exhibits multiple remarkable mechanical properties and demonstrates comprehensive actuating performance, surpassing those of biological muscles. This artificial muscle utilizes a composite configuration, integrating a phase-change polymer and ferromagnetic particles, enabling active control over mechanical properties and complex actuating motions through remote laser heating and magnetic field manipulation. Consequently, the magnetic composite muscle can dynamically adjust its stiffness as needed, achieving a switching ratio exceeding 2.7 × 10³. This remarkable adaptability facilitates substantial load-bearing capacity, with specific load capacities of up to 1000 and 3690 for tensile and compressive stresses, respectively. Moreover, it demonstrates reversible extension, contraction, bending, and twisting, with stretchability exceeding 800%. We leverage these distinctive attributes to showcase the versatility of this composite muscle as a soft continuum robotic manipulator. It adeptly executes various programmable responses and performs complex tasks while minimizing mechanical vibrations. Furthermore, we demonstrate that this composite muscle excels across multiple mechanical and actuation aspects compared to existing actuators.

Origami-Inspired Bionic Soft Robot Stomach with Self-Powered Sensing

The stomach is a vital organ in the human digestive system, and its digestive condition is critical to human health. The physical movement of the stomach during digestion is controlled by the circular and oblique muscles. Existing stomach simulators are unable to realistically reproduce the physical movement of the stomach. Due to the complexity of gastric motility, it is challenging to simulate and sense gastric motility. This study proposes for the first time a bionic soft robotic stomach (BSRS) with an integrated drive and sensing structure inspired by origami and self-powered sensing technology. This soft stomach (SS) can realistically simulate and sense the movements of various parts of the human stomach in real-time. The contraction force and contraction rate of the BSRS are investigated with different viscosity contents, and the experimental values are similar to the physiological range (maximum contraction force is 3.2 N, and maximum contraction rate is 0.8). This paper provides an experimental basis for the study of gastric digestive medicine and food science by simulating the peristaltic motion of the BSRS according to the human stomach and by combining the triboelectric nanogenerator (TENG) sensing technology to monitor the motion of the BSRS in real-time.

High-performance electrically responsive artificial muscle materials for soft robot actuation

Traditional robotic devices are often bulky and rigid, making it difficult for them to adapt to the soft and complex shapes of the human body. In stark contrast, soft robots, as a burgeoning class of robotic technology, showcase exceptional flexibility and adaptability, positioning them as compelling contenders for a diverse array of applications. High-performance electrically responsive artificial muscle materials (ERAMMs), as key driving components of soft robots, can achieve efficient motion and deformation, as well as more flexible and precise robot control, attracting widespread attention. This paper reviews the latest advancements in high-performance ERAMMs and their applications in the field of soft robot actuation, using ionic polymer-metal composites and dielectric elastomers as typical cases. Firstly, the definition, characteristics, and electro-driven working principles of high-performance ERAMMs are introduced. Then, the material design and synthesis, fabrication processes and optimization, as well as characterization and testing methods of the ERAMMs are summarized. Furthermore, various applications of two typical ERAMMs in the field of soft robot actuation are discussed in detail. Finally, the challenges and future directions in current research are analyzed and anticipated. This review paper aims to provide researchers with a reference for understanding the latest research progress in high-performance ERAMMs and to guide the development and application of soft robots. STATEMENT OF SIGNIFICANCE.

Fibres-threads of intelligence-enable a new generation of wearable systems

Fabrics represent a unique platform for seamlessly integrating electronics into everyday experiences. The advancements in functionalizing fabrics at both the single fibre level and within constructed fabrics have fundamentally altered their utility. The revolution in materials, structures, and functionality at the fibre level enables intimate and imperceptible integration, rapidly transforming fibres and fabrics into next-generation wearable devices and systems. In this review, we explore recent scientific and technological breakthroughs in smart fibre-enabled fabrics. We examine common challenges and bottlenecks in fibre materials, physics, chemistry, fabrication strategies, and applications that shape the future of wearable electronics. We propose a closed-loop smart fibre-enabled fabric ecosystem encompassing proactive sensing, interactive communication, data storage and processing, real-time feedback, and energy storage and harvesting, intended to tackle significant challenges in wearable technology. Finally, we envision computing fabrics as sophisticated wearable platforms with system-level attributes for data management, machine learning, artificial intelligence, and closed-loop intelligent networks.

2-dimensional impact-damping electrostatic actuators with elastomer-enhanced auxetic structure

Biomimetic robots yearn for compliant actuators that are comparable to biological muscle in both functions and structural properties. For that, electrostatic actuators have been developed to imitate bio-muscle in features of fast response, high power, energy-efficiency, etc. However, those actuators typically lack impact damping performance, making them vulnerable and unstable in real applications. Here, we present auxetic electrostatic actuators that address this issue and demonstrate muscle-like performance by using elastomer-enhanced auxetics and electrostatic zipping mechanism. The proposed actuators contract linearly on applied voltage, producing large actuation strength (15 N) and contraction ratio (59%). Fabricated from readily available materials, our prototypes can quickly attenuate vibrations caused by impacts and absorb shock energy in 0.3 s. Furthermore, leveraging their 2-dimensional working mode and self-locking mechanism, a stiffness-changing muscle for a robotic arm and an active tensegrity device exemplify the potential applications of auxetic electrostatic actuators to a wide range of bionic robots.

Fast and Slow-Twitch Actuation via Twisted Liquid Crystal Elastomer Fibers

The performance of robotic systems can benefit from low-density material actuators that emulate muscle typology (e.g., fast and slow twitch) of natural systems. Recent reports detail the thermomechanical, chemical, electrical, and pneumatic response of twisted and coiled fibers. The geometrical constraints imparted on typically commodity materials realize distinguished stimuli-induced actuation including low density, high force, and moderate stroke. Here, actuators are prepared by twisting fibers composed of liquid crystal elastomers (LCEs). The actuators combine the inherent stimuli-response of LCEs with the geometrical constraints of twisted fiber actuators to dramatically increase the deformation rate, specific work, and achievable force output. In some geometries, the thermomechanical response of the LCE exhibits a pseudo-first-order transition.

Elasto-plastic effects on shape-shifting electron-beam-patterned gel-based micro-helices

Shape-shifting helical gels have been created by various routes, notably by photolithography. We explore electron-beam lithography as an alternative to prescribe microhelix formation in tethered patterns of pure poly(acrylic acid). Simulations indicate the nanoscale spatial distribution of deposited energy that drives the loss of acid groups and crosslinking. Upon exposure to buffer, a patterned line converts to a 3D helix whose cross section comprises a crosslinked and hydrophobic core surrounded by a high-swelling pH-responsive corona. Through-thickness asymmetries generate out-of-plane bending to drive helix formation. The relative core and corona fractions are determined by the electron dose which in turn controls the helical radius and pitch. Increasing pH substantially raises the swelling stress and the rod elongates plastically. The pitch concurrently changes from minimal to non-minimal. The in-plane asymmetry driving this change can be attributed to shear-band formation in the hydrophobic core. Subsequent pH cycling drives elastic cycling of the helical properties. These findings illustrate the effects of elastoplastic deformation on helical properties and elaborate unique attributes of electron lithography as an alternate means to create shape-shifting structures.

Crack-Resistant and Tissue-Like Artificial Muscles with Low Temperature Activation and High Power Density

Constructing soft robotics with safe human-machine interactions requires low-modulus, high-power-density artificial muscles that are sensitive to gentle stimuli. In addition, the ability to resist crack propagation during long-term actuation cycles is essential for a long service life. Herein, a material design is proposed to combine all these desirable attributes in a single artificial muscle platform. The design involves the molecular engineering of a liquid crystalline network with crystallizable segments and an ethylene glycol flexible spacer. A high degree of crystallinity can be afforded by utilizing aza-Michael chemistry to produce a low covalent crosslinking density, resulting in crack-insensitivity with a high fracture energy of 33 720 J m-2 and a high fatigue threshold of 2250 J m-2. Such crack-resistant artificial muscle with tissue-matched modulus of 0.7 MPa can generate a high power density of 450 W kg-1 at a low temperature of 40 °C. Notably, because of the presence of crystalline domains in the actuated state, no crack propagation is observed after 500 heating-cooling actuation cycles under a static load of 220 kPa. This study points to a pathway for the creation of artificial muscles merging seemingly disparate, but desirable properties, broadening their application potential in smart devices.

Knotted Artificial Muscles for Bio-Mimetic Actuation under Deepwater

Muscles featuring high frequency and high stroke linear actuation are essential for animals to achieve superior maneuverability, agility, and environmental adaptability. Artificial muscles are yet to match their biological counterparts, due to inferior actuation speed, magnitude, mode, or adaptability. Inspired by the hierarchical structure of natural muscles, artificial muscles are created that are powerful, responsive, robust, and adaptable. The artificial muscles consist of knots braided from 3D printed liquid crystal elastomer fibers and thin heating threads. The unique hierarchical, braided knot structure offers amplified linear stroke, force rate, and damage-tolerance, as verified by both numerical simulations and experiments. In particular, the square knotted artificial muscle shows reliable cycles of actuation at 1Hz in 3000m depth underwater. Potential application is demonstrated by propelling a model boat. Looking ahead, the knotted artificial muscles can empower novel biomedical devices and soft robots to explore various environments, from inside human body to the mysterious deep sea.

Electrochemically-driven actuators: from materials to mechanisms and from performance to applications

Soft actuators, pivotal for converting external energy into mechanical motion, have become increasingly vital in a wide range of applications, from the subtle engineering of soft robotics to the demanding environments of aerospace exploration. Among these, electrochemically-driven actuators (EC actuators), are particularly distinguished by their operation through ion diffusion or intercalation-induced volume changes. These actuators feature notable advantages, including precise deformation control under electrical stimuli, freedom from Carnot efficiency limitations, and the ability to maintain their actuated state with minimal energy use, akin to the latching state in skeletal muscles. This review extensively examines EC actuators, emphasizing their classification based on diverse material types, driving mechanisms, actuator configurations, and potential applications. It aims to illuminate the complicated driving mechanisms of different categories, uncover their underlying connections, and reveal the interdependencies among materials, mechanisms, and performances. We conduct an in-depth analysis of both conventional and emerging EC actuator materials, casting a forward-looking lens on their trajectories and pinpointing areas ready for innovation and performance enhancement strategies. We also navigate through the challenges and opportunities within the field, including optimizing current materials, exploring new materials, and scaling up production processes. Overall, this review aims to provide a scientifically robust narrative that captures the current state of EC actuators and sets a trajectory for future innovation in this rapidly advancing field.

Interference Morphology of Free-Growing Tendrils and Application of Self-Locking Structures

Organisms can adapt to various complex environments by obtaining optimal morphologies. Plant tendrils evolve an extraordinary and stable spiral morphology in the free-growing stage. By combining apical and asymmetrical growth strategies, the tendrils can adjust their morphology to wrap around and grab different supports. This phenomenon of changing tendril morphology through the movement of growth inspires a thoughtful consideration of the laws of growth that underlie it. In this study, tendril growth is modeled based on the Kirchhoff rod theory to obtain the exact morphological equations. Based on this, the movement patterns of the tendrils are investigated under different growth strategies. It is shown that the self-interference phenomenon appears as the tendril grows, allowing it to hold onto its support more firmly. In addition, a finite element model is constructed using continuum media mechanics and following the finite growth theory to simulate tendril growth. The growth morphology and self-interference phenomenon of tendrils are observed visually. Furthermore, an innovative class of fluid elastic actuators is designed to verify the growth phenomena of tendrils, which can realize the wrapping and locking functions. Several experiments are conducted to measure the end output force and the smallest size that can be clamped, and the output efficiency of the elastic actuator and the optimal working pressure are verified. The results presented in this study could reveal the formation law of free tendril spiral morphology and provide an inspiring idea for the programmability and motion control of bionic soft robots, with promising applications in the fields of underwater rescue and underwater picking.

Effective On-Line Performance Modulation and Efficient Continuous Preparation of Ultra-Long Twisted and Coiled Polymer Artificial Muscles for Engineering Applications

Artificial muscle is a kind of thread-like actuator that can produce contractile strain, generate force, and output mechanical work under external stimulations to imitate the functions and achieve the performances of biological muscles. It can be used to actuate various bionic soft robots and has broad application prospects. The electrically controlled twisted and coiled polymer (TCP) artificial muscles, with the advantages of high power density, large stroke and low driving voltage, while also being electrolyte free, are the most practical. However, the relationship between the muscle performances and its preparation parameters is not very clear yet, and the complete procedure of designing and preparing TCP muscles according to actual needs has not been established. Besides, current preparation approaches are very time-consuming and cannot make ultra-long TCP muscles. These problems greatly limit wide applications of TCP artificial muscles. In this study, we studied and built the relationship between the actuating performances of TCP muscles and their preparation parameters, so that suitable TCP muscles can be easily designed and prepared according to actual requirements. Moreover, an efficient preparation method integrating one-step annealing technique has been developed to realize on-line performance modulation and continuous fabrication of ultra-long TCP muscles. By graphically assembling long muscles on heat-resist films, we designed and produced a series of fancy soft robots (butterfly, flower, starfish), which can perform various bionic movements and complete specific tasks. This work has achieved efficient on-demand preparation and large-scale assembly of ultra-long TCP muscles, laying solid foundations for their engineering applications in soft robot field.

High Performance Proprioceptive Fiber Actuators Based on Ag Nanoparticles-Incorporated Hybrid Twisted and Coiled System

Thermally driven fiber actuators are emerging as promising tools for a range of robotic applications, encompassing soft and wearable robots, muscle function restoration, assistive systems, and physical augmentation. Yet, to realize their full potential in practical applications, several challenges, such as a high operational temperature, incorporation of intrinsic self-sensing capabilities for closed-loop feedback control, and reliance on bulky, intricate actuation systems, must be addressed. Here, an Ag nanoparticles-based twisted and coiled fiber actuator that achieves a high contractile actuation of ≈36% is reported at a considerably low operational temperature of ≈83 °C based on a synergistic effect of constituent fiber elements with low glass transition temperatures. The fiber actuator can monitor its contractile actuation in real-time based on the piezoresistive properties inherent to its Ag-based conductive region, demonstrating its proprioceptive sensing capability. By exploiting this capability, the proprioceptive fiber actuator adeptly maintains its intended contractile behavior, even when faced with unplanned external disturbances. To demonstrate the capabilities of the fiber actuator, this study integrates it into a closed-loop feedback-controlled bionic arm as an artificial muscle, offering fresh perspectives on the future development of intelligent wearable devices and soft robotic systems.

Structuring and Shaping of Mechanically Robust and Functional Hydrogels toward Wearable and Implantable Applications

Hydrogels possess unique features such as softness, wetness, responsiveness, and biocompatibility, making them highly suitable for biointegrated applications that have close interactions with living organisms. However, conventional man-made hydrogels are usually soft and brittle, making them inferior to the mechanically robust biological hydrogels. To ensure reliable and durable operation of biointegrated wearable and implantable devices, mechanical matching and shape adaptivity of hydrogels to tissues and organs are essential. Recent advances in polymer science and processing technologies have enabled mechanical engineering and shaping of hydrogels for various biointegrated applications. In this review, polymer network structuring strategies at micro/nanoscales for toughening hydrogels are summarized, and representative mechanical functionalities that exist in biological materials but are not easily achieved in synthetic hydrogels are further discussed. Three categories of processing technologies, namely, 3D printing, spinning, and coating for fabrication of tough hydrogel constructs with complex shapes are reviewed, and the corresponding hydrogel toughening strategies are also highlighted. These developments enable adaptive fabrication of mechanically robust and functional hydrogel devices, and promote application of hydrogels in the fields of biomedical engineering, bioelectronics, and soft robotics.

Carbon Nanotube-Directed 7 GPa Heterocyclic Aramid Fiber and Its Application in Artificial Muscles

Poly(p-phenylene-benzimidazole-terephthalamide) (PBIA) fibers with excellent mechanical properties are widely used in fields that require impact-resistant materials such as ballistic protection and aerospace. The introduction of heterocycles in polymer chains increases their flexibility and makes it easier to optimize the fiber structure. However, the inadequate orientation of polymer chains is one of the main reasons for the large difference between the measured and theoretical mechanical properties of PBIA fibers. Herein, carbon nanotubes (CNTs) are selected as an orientation seed. Their structural features allow CNTs to orient during the spinning process, which can induce an orderly arrangement of polymers and improve the orientation of the fiber microstructure. To ensure the complete 1D topology of long CNTs (≈10 µm), PBIA is used as an efficient dispersant to overcome dispersion challenges. The p-CNT/PBIA fibers (10 µm single-walled carbon nanotube 0.025 wt%) exhibit an increase of 22% in tensile strength and 23% in elongation, with a maximum tensile strength of 7.01 ± 0.31 GPa and a reinforcement efficiency of 893.6. The artificial muscle fabricated using CNT/PBIA fibers exhibits a 34.8% contraction and a 25% lifting of a 2 kg dumbbell, providing a promising paradigm for high-performance organic fibers as high-load smart actuators.

Multimodal Soft Robotic Actuation and Locomotion

Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.

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.

Ultra-Large Stress and Strain Polymer Nanocomposite Actuators Incorporating a Mutually-Interpenetrated, Collective-Deformation Carbon Nanotube Network

Stimulus-responsive polymer-based actuators are extensively studied, with the challenging goal of achieving comprehensive performance metrics that include large output stress and strain, fast response, and versatile actuation modes. The design and fabrication of nanocomposites offer a promising route to integrate the advantages of both polymers and nanoscale fillers, thus ensuring superior performance. Here, it is started from a three-dimensional (3D) porous sponge to fabricate a mutually interpenetrated nanocomposite, in which the embedded carbon nanotube (CNT) network undergoes collective deformation with the shape memory polymer (SMP) matrix during large-degree stretching and releasing, increases junction density with polymer chains and enhances molecular orientation. These features result in substantial improvement of the overall mechanical properties and during thermally actuated contraction, the bulk SMP/CNT composites exhibit output stresses up to 19.5 ± 0.97 MPa and strains up to 69%, accompanied by a rapid response and high energy density, exceeding the majority of recent reports. Furthermore, electrical actuation is also demonstrated via uniform Joule heating across the self-percolated CNT network. Applications such as low-temperature thermal actuated vascular stent and wound dressing are explored. These findings lay out a universal blueprint for developing robust and highly deformable SMP/CNT nanocomposite actuators with broad potential applications.

Soft multi-layer actuators integrated with the functions of electrical energy harvest and storage

Soft multi-layer actuators are smart, lightweight, and flexible, which can be used in a wide range of fields such as artificial muscles, advanced medical devices, and wearable devices. The research on the actuation property of the soft actuators has made significant progress, paving the way for the controllable motions of the actuators. However, compared with the intelligence and adaptability of life in nature, these actuators still have the problem of insufficient intelligence. The phenomenon is reflected in a lack of continuous supply of energy. Therefore, it has become a development trend to combine functions such as energy harvesting, storage, and conversion with actuators to build intelligent actuators. This concept presents a synopsis of the advancements made in soft actuators that have been coupled with the capabilities of electrical energy harvesting and storage. The design concepts and typical applications of this soft smart actuators are introduced in detail. Finally, the future research directions and applications of smart actuators are prospected from our perspective.

Bioinspired Stimuli-Responsive Materials for Soft Actuators

Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.

Chain-Level Analysis of Reinforced Polyethylene through Stretch-Induced Crystallization

Herein, we propose a large-scale simulation approach to perform the stretch-induced crystallization of entangled polyethylene (PE) melts. Sufficiently long (1000 ns) united-atom molecular dynamics (UAMD) simulations for 16000 chains of 1000 consecutive CH2 united-atom particles under periodic boundary conditions were performed to achieve the crystallinity observed in experiments. Before the isothermal crystallization process, we applied uniaxial stretching as pre-elongation to the embedded strain memory on the entangled PE melts. We confirmed significant differences in the morphologies of crystal domains and scattering patterns for pre-elongation ratios of 400% and 800%. The obtained scattering patterns were consistent with the experimental results. Uniaxial stretching MD simulations revealed that the elastic modulus at 800% pre-elongation was stronger than that at 400% pre-elongation. From this observation, we can derive the structure-property relationship, wherein the magnitude of the pre-elongation governs the crystal domain structures and mechanical properties.

Fiberbots: Robotic fibers for high-precision minimally invasive surgery

Precise manipulation of flexible surgical tools is crucial in minimally invasive surgical procedures, necessitating a miniature and flexible robotic probe that can precisely direct the surgical instruments. In this work, we developed a polymer-based robotic fiber with a thermal actuation mechanism by local heating along the sides of a single fiber. The fiber robot was fabricated by highly scalable fiber drawing technology using common low-cost materials. This low-profile (below 2 millimeters in diameter) robotic fiber exhibits remarkable motion precision (below 50 micrometers) and repeatability. We developed control algorithms coupling the robot with endoscopic instruments, demonstrating high-resolution in situ molecular and morphological tissue mapping. We assess its practicality and safety during in vivo laparoscopic surgery on a porcine model. High-precision motion of the fiber robot delivered endoscopically facilitates the effective use of cellular-level intraoperative tissue identification and ablation technologies, potentially enabling precise removal of cancer in challenging surgical sites.

Soft Fiber/Textile Actuators: From Design Strategies to Diverse Applications

Fiber/textile-based actuators have garnered considerable attention due to their distinctive attributes, encompassing higher degrees of freedom, intriguing deformations, and enhanced adaptability to complex structures. Recent studies highlight the development of advanced fibers and textiles, expanding the application scope of fiber/textile-based actuators across diverse emerging fields. Unlike sheet-like soft actuators, fibers/textiles with intricate structures exhibit versatile movements, such as contraction, coiling, bending, and folding, achieved through adjustable strain and stroke. In this review article, we provide a timely and comprehensive overview of fiber/textile actuators, including structures, fabrication methods, actuation principles, and applications. After discussing the hierarchical structure and deformation of the fiber/textile actuator, we discuss various spinning strategies, detailing the merits and drawbacks of each. Next, we present the actuation principles of fiber/fabric actuators, along with common external stimuli. In addition, we provide a summary of the emerging applications of fiber/textile actuators. Concluding with an assessment of existing challenges and future opportunities, this review aims to provide a valuable perspective on the enticing realm of fiber/textile-based actuators.

Encoded sewing soft textile robots

Incorporating soft actuation with soft yet durable textiles could effectively endow the latter with active and flexible shape morphing and motion like mollusks and plants. However, creating highly programmable and customizable soft robots based on textiles faces a longstanding design and manufacturing challenge. Here, we report a methodology of encoded sewing constraints for efficiently constructing three-dimensional (3D) soft textile robots through a simple 2D sewing process. By encoding heterogeneous stretching properties into three spatial seams of the sewed 3D textile shells, nonlinear inflation of the inner bladder can be guided to follow the predefined spatial shape and actuation sequence, for example, tendril-like shape morphing, tentacle-like sequential manipulation, and bioinspired locomotion only controlled by single pressure source. Such flexible, efficient, scalable, and low-cost design and formation methodology will accelerate the development and iteration of soft robots and also open up more opportunities for safe human-robot interactions, tailored wearable devices, and health care.

Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications

Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as "intelligent," "smart," and "adaptive" materials, which add vagueness to the broad innovation among literature. Therefore, a clear, functional, and descriptive naming scheme is proposed in which a previously vague name-Soft Material for Soft Actuators-can remain clear and concise-Phase-Change Elastomers for Artificial Muscles. By synthesizing the working principle, material, and application into a naming scheme, the searchability of soft robotics can be enhanced and applied to other fields. The field of thermo-active soft actuators spans multiple domains and requires added clarity. Thermo-active actuators have potential for a variety of applications spanning virtual reality haptics to assistive devices. This review offers a comprehensive guide to selecting the type of thermo-active actuator when one has an application in mind. In addition, it discusses future directions and improvements that are necessary for implementation.

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.

Sustainable electronic textiles towards scalable commercialization

Textiles represent a fundamental material format that is extensively integrated into our everyday lives. The quest for more versatile and body-compatible wearable electronics has led to the rise of electronic textiles (e-textiles). By enhancing textiles with electronic functionalities, e-textiles define a new frontier of wearable platforms for human augmentation. To realize the transformational impact of wearable e-textiles, materials innovations can pave the way for effective user adoption and the creation of a sustainable circular economy. We propose a repair, recycle, replacement and reduction circular e-textile paradigm. We envisage a systematic design framework embodying material selection and biofabrication concepts that can unify environmental friendliness, market viability, supply-chain resilience and user experience quality. This framework establishes a set of actionable principles for the industrialization and commercialization of future sustainable e-textile products.

X-crossing pneumatic artificial muscles

Artificial muscles are promising in soft exoskeletons, locomotion robots, and operation machines. However, their performance in contraction ratio, output force, and dynamic response is often imbalanced and limited by materials, structures, or actuation principles. We present lightweight, high-contraction ratio, high-output force, and positive pressure-driven X-crossing pneumatic artificial muscles (X-PAMs). Unlike PAMs, our X-PAMs harness the X-crossing mechanism to directly convert linear motion along the actuator axis, achieving an unprecedented 92.9% contraction ratio and an output force of 207.9 Newtons per kilogram per kilopascal with excellent dynamic properties, such as strain rate (1603.0% per second), specific power (5.7 kilowatts per kilogram), and work density (842.9 kilojoules per meter cubed). These properties can overcome the slow actuation of conventional PAMs, providing robotic elbow, jumping robot, and lightweight gripper with fast, powerful performance. The robust design of X-PAMs withstands extreme environments, including high-temperature, underwater, and long-duration actuation, while being scalable to parallel, asymmetric, and ring-shaped configurations for potential applications.