Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots

Soft robots outperform the conventional hard robots on significantly enhanced safety, adaptability, and complex motions. The development of fully soft robots, especially fully from smart soft materials to mimic soft animals, is still nascent. In addition, to date, existing soft robots cannot adapt themselves to the surrounding environment, i.e., sensing and adaptive motion or response, like animals. Here, compliant ultrathin sensing and actuating electronics innervated fully soft robots that can sense the environment and perform soft bodied crawling adaptively, mimicking an inchworm, are reported. The soft robots are constructed with actuators of open‐mesh shaped ultrathin deformable heaters, sensors of single‐crystal Si optoelectronic photodetectors, and thermally responsive artificial muscle of carbon‐black‐doped liquid‐crystal elastomer (LCE‐CB) nanocomposite. The results demonstrate that adaptive crawling locomotion can be realized through the conjugation of sensing and actuation, where the sensors sense the environment and actuators respond correspondingly to control the locomotion autonomously through regulating the deformation of LCE‐CB bimorphs and the locomotion of the robots. The strategy of innervating soft sensing and actuating electronics with artificial muscles paves the way for the development of smart autonomous soft robots.     

A Light‐Powered Ultralight Tensegrity Robot with High Deformability and Load Capacity

Traditional hard robots often require complex motion‐control systems to accomplish various tasks, while applications of soft‐bodied robots are limited by their low load‐carrying capability. Herein, a hybrid tensegrity robot composed of both hard and soft materials is constructed, mimicking the musculoskeletal system of animals. Employing liquid crystal elastomer–carbon nanotube composites as artificial muscles in the tensegrity robot, it is demonstrated that the robot is extremely deformable, and its multidirectional locomotion can be entirely powered by light. The tensegrity robot is ultralight, highly scalable, has high load capacity, and can be precisely controlled to move along different paths on multiterrains. In addition, the robot also shows excellent resilience, deployability, and impact‐mitigation capability, making it an ideal platform for robotics for a wide range of applications.     

Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots

Stimuli‐responsive materials offer a distinguished platform to build tether‐free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light‐controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming.     

Self‐Regulating Iris Based on Light‐Actuated Liquid Crystal Elastomer

The iris, found in many animal species, is a biological tissue that can change the aperture (pupil) size to regulate light transmission into the eye in response to varying illumination conditions. The self‐regulation of the eye lies behind its autofocusing ability and large dynamic range, rendering it the ultimate “imaging device” and a continuous source of inspiration in science. In optical imaging devices, adjustable apertures play a vital role as they control the light exposure, the depth of field, and optical aberrations of the systems. Tunable irises demonstrated to date require external control through mechanical actuation, and are not capable of autonomous action in response to changing light intensity without control circuitry. A self‐regulating artificial iris would offer new opportunities for device automation and stabilization. Here, this paper reports the first iris‐like, liquid crystal elastomer device that can perform automatic shape‐adjustment by reacting to the incident light power density. Similar to natural iris, the device closes under increasing light intensity, and upon reaching the minimum pupil size, reduces the light transmission by a factor of seven. The light‐responsive materials design, together with photoalignment‐based control over the molecular orientation, provides a new approach to automatic, self‐regulating optical systems based on soft smart materials.     

3D Printing of Liquid Crystal Elastomeric Actuators with Spatially Programed Nematic Order

Liquid crystal elastomers (LCEs) are soft materials capable of large, reversible shape changes, which may find potential application as artificial muscles, soft robots, and dynamic functional architectures. Here, the design and additive manufacturing of LCE actuators (LCEAs) with spatially programed nematic order that exhibit large, reversible, and repeatable contraction with high specific work capacity are reported. First, a photopolymerizable, solvent‐free, main‐chain LCE ink is created via aza‐Michael addition with the appropriate viscoelastic properties for 3D printing. Next, high operating temperature direct ink writing of LCE inks is used to align their mesogen domains along the direction of the print path. To demonstrate the power of this additive manufacturing approach, shape‐morphing LCEA architectures are fabricated, which undergo reversible planar‐to‐3D and 3D‐to‐3D′ transformations on demand, that can lift significantly more weight than other LCEAs reported to date.     

Remotely Light‐Powered Soft Fluidic Actuators Based on Plasmonic‐Driven Phase Transitions in Elastic Constraint

Materials capable of actuation through remote stimuli are crucial for untethering soft robotic systems from hardware for powering and control. Fluidic actuation is one of the most applied and versatile actuation strategies in soft robotics. Here, the first macroscale soft fluidic actuator is derived that operates remotely powered and controlled by light through a plasmonically induced phase transition in an elastomeric constraint. A multiphase assembly of a liquid layer of concentrated gold nanoparticles in a silicone or styrene–ethylene–butylene–styrene elastic pocket forms the actuator. Upon laser excitation, the nanoparticles convert light of specific wavelength into heat and initiate a liquid‐to‐gas phase transition. The related pressure increase inflates the elastomers in response to laser wavelength, intensity, direction, and on–off pulses. During laser‐off periods, heating halts and condensation of the gas phase renders the actuation reversible. The versatile multiphase materials actuate—like soft “steam engines”—a variety of soft robotic structures (soft valve, pnue‐net structure, crawling robot, pump) and are capable of operating in different environments (air, water, biological tissue) in a single configuration. Tailored toward the near‐infrared window of biological tissue, the structures actuate also through animal tissue for potential medical soft robotic applications.     

Multifunctional “Hydrogel Skins” on Diverse Polymers with Arbitrary Shapes

Slippery and hydrophilic surfaces find critical applications in areas as diverse as biomedical devices, microfluidics, antifouling, and underwater robots. Existing methods to achieve such surfaces rely mostly on grafting hydrophilic polymer brushes or coating hydrogel layers, but these methods suffer from several limitations. Grafted polymer brushes are prone to damage and do not provide sufficient mechanical compliance due to their nanometer‐scale thickness. Hydrogel coatings are applicable only for relatively simple geometries, precluding their use for the surfaces with complex geometries and features. Here, a new method is proposed to interpenetrate hydrophilic polymers into the surface of diverse polymers with arbitrary shapes to form naturally integrated “hydrogel skins.” The hydrogel skins exhibit tissue‐like softness (Young's modulus ≈ 30 kPa), have uniform and tunable thickness in the range of 5–25 µm, and can withstand prolonged shearing forces with no measurable damage. The hydrogel skins also provide superior low‐friction, antifouling, and ionically conductive surfaces to the polymer substrates without compromising their original mechanical properties and geometry. Applications of the hydrogel skins on inner and outer surfaces of various practical polymer devices including medical tubing, Foley catheters, cardiac pacemaker leads, and soft robots on massive scales are further demonstrated.     

轮-履-腿复合仿生机器人步态规划及越障性能分析

为了提高移动机器人的越障性能,实现其自主越障,设计了一种轮-履-腿复合仿生机器人,并对其进行步态规划和越障性能分析.首先,以海龟为仿生对象,通过分析其身体结构和稳定机理,设计了机器人的轮-履-腿复合式移动机构和二自由度支腿结构;同时,基于该机器人的结构特征,利用D-H(Denavit-Hartenberg)法建立了坐标...     

Precisely Size‐Tunable Monodisperse Hairy Plasmonic Nanoparticles via Amphiphilic Star‐Like Block Copolymers

In situ precision synthesis of monodisperse hairy plasmonic nanoparticles with tailored dimensions and compositions by capitalizing on amphiphilic star‐like diblock copolymers as nanoreactors are reported. Such hairy plasmonic nanoparticles comprise uniform noble metal nanoparticles intimately and perpetually capped by hydrophobic polymer chains (i.e., “hairs”) with even length. Interestingly, amphiphilic star‐like diblock copolymer nanoreactors retain the spherical shape under reaction conditions, and the diameter of the resulting plasmonic nanoparticles and the thickness of polymer chains situated on the surface of the nanoparticle can be readily and precisely tailored. These hairy nanoparticles can be regarded as hard/soft core/shell nanoparticles. Notably, the polymer “hairs” are directly and permanently tethered to the noble metal nanoparticle surface, thereby preventing the aggregation of nanoparticles and rendering their dissolution in nonpolar solvents and the homogeneous distribution in polymer matrices with long‐term stability. This amphiphilic star‐like block copolymer nanoreactor‐based strategy is viable and robust and conceptually enables the design and synthesis of a rich variety of hairy functional nanoparticles with new horizons for fundamental research on self‐assembly and technological applications in plasmonics, catalysis, energy conversion and storage, bioimaging, and biosensors.     

Optically Rewritable Transparent Liquid Crystal Displays Enabled by Light‐Driven Chiral Fluorescent Molecular Switches

Functional soft materials exhibiting distinct functionalities in response to a specific stimulus are highly desirable towards the fabrication of advanced devices with superior dynamic performances. Herein, two novel light‐driven chiral fluorescent molecular switches have been designed and synthesized that are able to exhibit unprecedented reversible Z/E photoisomerization behavior along with tunable fluorescence intensity in both isotropic and anisotropic media. Cholesteric liquid crystals fabricated using these new fluorescent molecular switches as chiral dopants exhibit reversible reflection color tuning spanning the visible and infrared region of the spectrum. Transparent display devices have been fabricated using both low chirality and high chirality cholesteric films that operate either exclusively in fluorescent mode or in both fluorescent and reflection mode, respectively. The dual mode display device employing short pitch cholesteric film is able to function on demand under all ambient light conditions including daylight and darkness with fast response and high resolution. Moreover, the proof‐of‐concept for a “remote‐writing board” using cholesteric films containing one of the light‐driven chiral fluorescent molecular switches with ease of fabrication and operation is disclosed herein. Such optically rewritable transparent display devices enabled by light‐driven chiral fluorescent molecular switches pave a new way for developing novel display technology under different lighting conditions.     

Cooling‐Triggered Shapeshifting Hydrogels with Multi‐Shape Memory Performance

Heating‐triggered shape actuation is vital for biomedical applications. The likely overheating and subsequent damage of surrounding tissue, however, severely limit its utilization in vivo. Herein, cooling‐triggered shapeshifting is achieved by designing dual‐network hydrogels that integrate a permanent network for elastic energy storage and a reversible network of hydrophobic crosslinks for “freezing” temporary shapes when heated. Upon cooling to 10 °C, the hydrophobic interactions weaken and allow recovery of the original shape, and thus programmable shape alterations. Further, multiple temporary shapes can be encoded independently at either different temperatures or different times during the isothermal network formation. The ability of these hydrogels to shapeshift at benign conditions may revolutionize biomedical implants and soft robotics.     

“Snowing” Graphene using Microwave Ovens

Developing a simple and industrially scalable method to produce graphene with high quality and low cost will determine graphene's future. The two conventional approaches, chemical vapor deposition and liquid‐phase exfoliation, require either costly substrates with limited production rate or complicated post treatment with limited quality, astricting their development. Herein, an extremely simple process is presented for synthesizing high quality graphene at low‐cost in the gas phase, similar to “snowing,” which is catalyst‐free, substrate‐free, and scalable. This is achieved by utilizing corona discharge of SiO₂/Si in an ordinary household microwave oven at ambient pressure. High quality graphene flakes can “snow” on any substrate, with thin‐flakes even down to the monolayer. In particular, a high yield of ≈6.28% or a rate of up to ≈0.11 g h^?1 can be achieved in a conventional microwave oven. It is demonstrated that the snowing process produces foam‐like, fluffy, 3D macroscopic architectures, which are further used in strain sensors for achieving high sensitivity (average gauge factor ≈ 171.06) and large workable strain range (0%–110%) simultaneously. It is foreseen that this facile and scalable strategy can be extended for “snowing” other functional 2D materials, benefiting their low‐cost production and wide applications.     

Multifunctional Janus Microplates Arrays Actuated by Magnetic Fields for Water/Light Switches and Bio‐Inspired Assimilatory Coloration

Smart dynamic regulation structured surfaces, inspired by nature, which can dynamically change their surface topographies under external stimuli for convertible fluidic and optical properties, have recently motivated significant interest for scientific research and industrial applications. However, there is still high demand for the development of multifunctional dynamically transformable surfaces using facile preparation strategies. In this work, a type of Janus high‐aspect‐ratio magnetically responsive microplates array (HAR‐MMA) is readily fabricated by integrating a flexible laser scanning strategy, smart shape‐memory‐polymer‐based soft transfer, and a simple surface treatment. By applying external magnetic field, instantaneous and reversible deformation of Janus HAR‐MMA can be actuated, so surface wettability can be reversibly switched between superhydrophobic (158°) and hydrophilic (40°) states, based on which a novel magnetically responsive water droplet switch can be realized. Moreover, inspired by the biological assimilatory coloration of chameleons, dynamically color conversion can be skillfully realized by applying different colors on each side of the Janus HAR‐MMA. Finally, as a proof‐of‐concept demonstration in light manipulation, a HAR‐MMA is applied as an optical shutter actuated by external magnetic field with eximious controllability and repeatability. The developed multifunctional HAR‐MMA provides a versatile platform for microfluidic, biomedical, and optical applications.     

Liquid Crystalline Elastomer for Separate or Collective Sensing and Actuation Functions

A porous liquid crystalline elastomer actuator filled with an ionic liquid (PLCE-IL) is shown to exhibit the functions of two classes of materials: electrically responsive, deformable materials for sensing and soft active materials for stimuli-triggered actuation. On one hand, upon the order–disorder phase transition of aligned mesogens, PLCE-IL behaves like a typical actuator capable of reversible shape change and can be used to assemble light-fuelled soft robot. On the other hand, at temperatures below the phase transition, PLCE-IL is an elastomer that can sustain and sense large deformations of various modes as well as environmental condition changes by reporting the corresponding electrical resistance variation. The two distinguished functions can also be used collectively with PLCE-IL integrated in one device. This intelligent feature is demonstrated with an artificial arm. When the arm is manually powered to fold and unfold, the PLCE-IL strip serves as a deformation sensor; while when the manual power is not available, the role of the PLCE-IL strip is switched to an actuator that enables light-driven folding and unfolding of the arm. This study shows that electrically responsive LCEs are a potential materials platform that offers possibilities for merging deformable electronic and actuation applications.     

Skin‐Like Stretchable Fuel Cell Based on Gold‐Nanowire‐Impregnated Porous Polymer Scaffolds

Skin‐like energy devices can be conformally attached to the human body, which are highly desirable to power soft wearable electronics in the future. Here, a skin‐like stretchable fuel cell based on ultrathin gold nanowires (AuNWs) and polymerized high internal phase emulsions (polyHIPEs) scaffolds is demonstrated. The polyHIPEs can offer a high porosity of 80% yet with an overall thickness comparable to human skin. Upon impregnation with electronic inks containing ultrathin (2 nm in diameter) and ultrahigh aspect‐ratio (>10 000) gold nanowires, skin‐like strain‐insensitive stretchable electrodes are successfully fabricated. With such designed strain‐insensitive electrodes, a stretchable fuel cell is fabricated by using AuNWs@polyHIPEs, platinum (Pt)‐modified AuNWs@polyHIPEs, and ethanol as the anode, cathode, and fuel, respectively. The resulting epidermal fuel cell can be patterned and transferred onto skin as “tattoos” yet can offer a high power density of 280 µW cm^?2 and a high durability (>90% performance retention under stretching, compression, and twisting). The results presented here demonstrate that this skin‐thin, porous, yet stretchable electrode is essentially multifunctional, simultaneously serving as a current collector, an electrocatalyst, and a fuel host, indicating potential applications to power future soft wearable 2.0 electronics for remote healthcare and soft robotics.     

Programmable Self‐Assembling 3D Architectures Generated by Patterning of Swellable MOF‐Based Composite Films

The integration of swellable metal–organic frameworks (MOFs) into polymeric composite films is a straightforward strategy to develop soft materials that undergo reversible shape transformations derived from the intrinsic flexibility of MOF crystals. However, a crucial step toward their practical application relies on the ability to attain specific and programmable actuation, which enables the design of self‐shaping objects on demand. Herein, a chemical etching method is demonstrated for the fabrication of patterned composite films showing tunable self‐folding response, predictable and reversible 2D‐to‐3D shape transformations triggered by water adsorption/desorption. These films are fabricated by selective removal of swellable MOF crystals allowing control over their spatial distribution within the polymeric film. Upon exposure to moisture, various programmable 3D architectures, which include a mechanical gripper, a lift, and a unidirectional walking device, are generated. Remarkably, these 2D‐to‐3D shape transformations can be reversed by light‐induced desorption. The reported strategy offers a platform for fabricating flexible MOF‐based autonomous soft mechanical devices with functionalities for micromanipulation, automation, and robotics.     

Highly Surface‐roughened “Flower‐like” Silver Nanoparticles for Extremely Sensitive Substrates of Surface‐enhanced Raman Scattering

Surface‐enhanced Raman scattering (SERS) is a new optical spectroscopic analysis technique with potential for highly sensitive detection of molecules. Recently, many efforts have been made to find SERS substrates with high sensitivity and reproducibility. In this Research News article, we provide a focused review on the synthesis of monodispersed silver particles with a novel, highly roughened, “flower‐like” morphology by reducing silver nitrate with ascorbic acid in aqueous solutions. The nanometer‐scale surface roughness of the particles can provide several hot spots on a single particle, which significantly increases SERS enhancement. The incident polarization‐dependent SERS of individual particles is also studied. Although the different “hot spots” on a single particle can have a strong polarization dependency, the total Raman signals from an individual particle usually have no obvious polarization dependency. Moreover, these flower‐like silver particles can be measured by SERS with high enhancement several times, which indicates the high stability of the hot spots. Hence, the flower‐like silver particles here can serve as highly sensitive and reproducible SERS substrates.     

“All‐in‐One” Gel System for Whole Procedure of Stem‐Cell Amplification and Tissue Engineering

Microsphere (MS)‐based systems provides great advantages for cell expansion and transplantation due to their high surface‐to‐volume ratio and biomimetic environment. However, a MS‐based system that includes cell attachment, proliferation, passage, harvest, cryopreservation, and tissue engineering together has not been realized yet. An “all‐in‐one” gel MS‐based system is established for human adipose‐derived mesenchymal stem cells (hADSCs), realizing real 3D culture with enhanced expansion efficiency and simplified serial cell culture operations, and construction of macrotissues with uniform cell distribution and specific function. A 3D digital light‐processing technology is developed to fabricate gel MSs in an effective way. The printed MSs present a suitable environment with rough surface architecture and the mechanical properties of soft tissues, leading to high cell viability, attachment, proliferation, activity, and differentiation potential. Further, convenient standard operation procedures, including cell passage, detachment, and cryopreservation, are established for cell culture on the gel MSs. Finally, hADSCs‐loaded gel MSs form macrotissues through a “bottom‐up” approach, which demonstrates the potential applications for tissue engineering. These findings exhibit the feasibility and beauty of “all‐in‐one” stem cell culture and tissue engineering system.     

Zero Linear Compressibility in Nondense Borates with a “Lu‐Ban Stool”‐Like Structure

Discovering materials that exhibit zero linear compressibility (ZLC) behavior under hydrostatic pressure is extremely difficult. To date, only a handful of ZLC materials have been found, and almost all of them are ultrahard materials with densified structures. Here, to explore ZLC in nondense materials, a structural model analogous to the structure of the “Lu‐Ban stool,” a product of traditional Chinese woodworking invented 2500 years ago, is proposed. The application of this model to borates leads to the discovery of ZLC in AEB₂O₄ (AE = Ca and Sr) with the unique “Lu‐Ban stool”‐like structure, which can obtain a subtle mechanical balance between pressure‐induced expansion and contraction effects. Coupled with the very wide ultraviolet transparent windows, the ZLC behavior of AEB₂O₄ may result in some unique but important applications. The applications of the “Lu‐Ban stool” model open a new route for pursuing ZLC materials in nondense structural systems.     

“Electro‐Typing” on a Carbon‐Nanoparticles‐Filled Polymeric Film using Conducting Atomic Force Microscopy

Next‐generation electrical nanoimprinting of a polymeric data sheet based on charge trapping phenomena is reported here. Carbon nanoparticles (CNPs) (waste carbon product) are deployed into a polymeric matrix (polyaniline) (PANI) as a charge trapping layer. The data are recorded on the CNPs‐filled polyaniline device layer by “electro‐typing” under a voltage pulse (V_ET, from ±1 to ±7 V), which is applied to the device layer through a localized charge‐injection method. The core idea of this device is to make an electrical image through the charge trapping mechanism, which can be “read” further by the subsequent electrical mapping. The density of stored charges at the carbon–polyaniline layer, near the metal/polymer interface, is found to depend on the voltage amplitude, i.e., the number of injected charge carriers. The relaxation of the stored charges is studied by different probe voltages and for different devices, depending on the percolation of the CNPs into the PANI. The polymeric data sheet retains the recorded data for more than 6 h, which can be refreshed or erased at will. Also, a write–read–erase–read cycle is performed for the smallest “bit” of stored information through a single contact between the probe and the device layer.