Pneumatic Networks for Soft Robotics that Actuate Rapidly

Soft robots actuated by inflation of a pneumatic network (a “pneu‐net”) of small channels in elastomeric materials are appealing for producing sophisticated motions with simple controls. Although current designs of pneu‐nets achieve motion with large amplitudes, they do so relatively slowly (over seconds). This paper describes a new design for pneu‐nets that reduces the amount of gas needed for inflation of the pneu‐net, and thus increases its speed of actuation. A simple actuator can bend from a linear to a quasi‐circular shape in 50 ms when pressurized at ΔP = 345 kPa. At high rates of pressurization, the path along which the actuator bends depends on this rate. When inflated fully, the chambers of this new design experience only one‐tenth the change in volume of that required for the previous design. This small change in volume requires comparably low levels of strain in the material at maximum amplitudes of actuation, and commensurately low rates of fatigue and failure. This actuator can operate over a million cycles without significant degradation of performance. This design for soft robotic actuators combines high rates of actuation with high reliability of the actuator, and opens new areas of application for them.     

Textile Technology for Soft Robotic and Autonomous Garments

Textiles have emerged as a promising class of materials for developing wearable robots that move and feel like everyday clothing. Textiles represent a favorable material platform for wearable robots due to their flexibility, low weight, breathability, and soft hand-feel. Textiles also offer a unique level of programmability because of their inherent hierarchical nature, enabling researchers to modify and tune properties at several interdependent material scales. With these advantages and capabilities in mind, roboticists have begun to use textiles, not simply as substrates, but as functional components that program actuation and sensing. In parallel, materials scientists are developing new materials that respond to thermal, electrical, and hygroscopic stimuli by leveraging textile structures for function. Although textiles are one of humankind's oldest technologies, materials scientists and roboticists are just beginning to tap into their potential. This review provides a textile-centric survey of the current state of the art in wearable robotic garments and highlights metrics that will guide materials development. Recent advances in textile materials for robotic components (i.e., as sensors, actuators, and integration components) are described with a focus on how these materials and technologies set the stage for wearable robots programmed at the material level.     

Zero-Power Shape Retention in Soft Pneumatic Actuators with Extensional and Bending Multistability

Power-free shape retention enables soft pneumatic robots to reduce energy cost and avoid unexpected collapse due to burst or puncture. Existing strategies for pneumatic actuation cannot attain motion locking for trajectories combining extension and bending, one of the most common modes of operation. Here, a design paradigm is introduced for soft pneumatic actuators to enable zero-power locking for shape retention in both extension and bending. The underpinning mechanism is the integration of a pneumatic transmitter and a multistable guider, which are programmed to interact for balanced load transfer, flexural and extension steering, and progressive snapping leading to state locking. Through theory, simulations, and experiments on proof-of-concept actuators, the existence of four distinct regimes of deformation is unveiled, where the constituents first interact during inflation to attain locking in extension and bending, and then cooperate under vacuum to enable fully reversible functionality. Finally, the design paradigm is demonstrated to realize a soft robotic arm capable to lock at desired curvature states at zero-power, and a gripper that safely operates with puncture resistance to grasp and hold objects of various shapes and consistency. The study promises further development for zero-power soft robots endowed with multiple deformation modes, sequential deployment, and tunable multistability.     

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.     

Spider-Inspired,Fully 3D-Printed Micro-Hydraulics for Tiny,Soft Robotics

Many arachnids use internal hemolymph pressure to actuate extension in their leg joints. The inherent large foot displacement-to-body length ratio that arachnids can achieve through hydraulics relative to muscle-based actuators is both energy and volumetrically efficient. Until recent advances in nano/microscale 3D printing with two-photon polymerization (2PP), the physical realization of synthetic complex ‘soft’ joints would have been impossible to replicate and fill with a hydraulic fluid into a sealed sub-millimeter system. Inspired by nature, the smallest scale 3D-printed hydraulic actuator (4.9 × 10⁻⁴ mm³) by more than an order of magnitude is demonstrated. The use of stiff 2PP polymers with micron-scale dimensions enable compliant membranes similar to exoskeletons seen in nature without the requirement for low-modulus materials. The bio-inspired system is designed to mimic similar hydraulic pressure-activated mechanisms in arachnid joints utilized for large displacement motions relative to body length. Using variations on this actuator design, the ability to transmit forces with relatively large magnitudes (milliNewtons) in 3D space is demonstrated, as well as the ability to direct motion that is useful towards microrobotics and medical applications. Microscale hydraulic actuation provides a promising approach toward the transmission of large forces and 3D motions at small scales, previously unattainable in wafer-level 2D microelecromechanical systems (MEMS).     

Soft Actuators and Robots that Are Resistant to Mechanical Damage

This paper characterizes the ability of soft pneumatic actuators and robots to resist mechanical insults that would irreversibly damage or destroy hard robotic systems—systems fabricated in metals and structural polymers, and actuated mechanically—of comparable sizes. The pneumatic networks that actuate these soft machines are formed by bonding two layers of elastomeric or polymeric materials that have different moduli on application of strain by pneumatic inflation; this difference in strain between an extensible top layer and an inextensible, strain‐limiting, bottom layer causes the pneumatic network to expand anisotropically. While all the soft machines described here are, to some extent, more resistant to damage by compressive forces, blunt impacts, and severe bending than most corresponding hard systems, the composition of the strain‐limiting layers confers on them very different tensile and compressive strengths.     

A Stimuli‐Responsive Nanocomposite for 3D Anisotropic Cell‐Guidance and Magnetic Soft Robotics

Stimuli‐responsive materials have the potential to enable the generation of new bioinspired devices with unique physicochemical properties and cell‐instructive ability. Enhancing biocompatibility while simplifying the production methodologies, as well as enabling the creation of complex constructs, i.e., via 3D (bio)printing technologies, remains key challenge in the field. Here, a novel method is presented to biofabricate cellularized anisotropic hybrid hydrogel through a mild and biocompatible process driven by multiple external stimuli: magnetic field, temperature, and light. A low‐intensity magnetic field is used to align mosaic iron oxide nanoparticles (IOPs) into filaments with tunable size within a gelatin methacryloyl matrix. Cells seeded on top or embedded within the hydrogel align to the same axes of the IOPs filaments. Furthermore, in 3D, C2C12 skeletal myoblasts differentiate toward myotubes even in the absence of differentiation media. 3D printing of the nanocomposite hydrogel is achieved and creation of complex heterogeneous structures that respond to magnetic field is demonstrated. By combining the advanced, stimuli‐responsive hydrogel with the architectural control provided by bioprinting technologies, 3D constructs can also be created that, although inspired by nature, express functionalities beyond those of native tissue, which have important application in soft robotics, bioactuators, and bionic devices.     

3D‐Architected Soft Machines with Topologically Encoded Motion

The limited range of mechanical responses achievable by materials compatible with additive manufacturing hinders the 3D printing of continuum soft robots with programmed motion. This paper describes the rapid design and fabrication of low‐density, 3D‐architected soft machines (ASMs) by combining Voronoi tessellation and additive manufacturing. On tendon‐based actuation, ASMs deform according to the topologically encoded buckling of their structure to produce a wide range of motions (contraction, twisting, bending, and cyclic motion). ASMs exhibiting densities as low as 0.094 g cm^?3 (≈8% of bulk polymer) can be rapidly built by the stereolithographic 3D printing of flexible photopolymers or the injection molding of elastomers. The buckling of ASMs can be programmed by inducing gradients in the thickness of their flexible beams or by the localized enlargement of the Voronoi cells to generate complex motions such as multi‐finger gripping or quadrupedal locomotion. The topological architecture of these low‐density soft robots confers them with the stiffness necessary to recover their original shape even after ultrahigh compression (400%) and extension (500%). ASMs expand the range of mechanical properties currently achievable by 3D printed or molded materials to enable the fabrication of soft machines with auxetic mechanical metamaterial properties.     

Biomimetic Color Changing Anisotropic Soft Actuators with Integrated Metal Nanowire Percolation Network Transparent Heaters for Soft Robotics

To add more functionalities and overcome the limitation in conventional soft robots, highly anisotropic soft actuators with color shifting function during actuation is demonstrated for the first time. The electrothermally operating soft actuators with installed transparent metal nanowire percolation network heater allow easy programming of their actuation direction and instantaneous visualization of temperature changes through color change. Due to the unique direction dependent coefficient of thermal expansion mismatch, the suggested actuator demonstrates a highly anisotropic and reversible behavior with very large bending curvature (2.5 cm^?1) at considerably low temperature (≈40 °C) compared to the previously reported electrothermal soft actuators. The mild operating heat condition required for the maximum curvature enables the superior long‐term stability during more than 10 000 operating cycles. Also, the optical transparency of the polymer bilayer and metal nanowire percolation network heater allow the incorporation of the thermochromic pigments to fabricate color‐shifting actuators. As a proof‐of‐concept, various color‐shifting biomimetic soft robots such as color‐shifting blooming flower, fluttering butterfly, and color‐shifting twining tendril are demonstrated. The developed color‐shifting anisotropic soft actuator is expected to open new application fields and functionalities overcoming the limitation of current soft robots.     

Recent Development of Jumping Motions Based on Soft Actuators

Drawing inspiration from the jumping motions of living creatures in nature, jumping robots have emerged as a promising research field over the past few decades due to great application potential in interstellar exploration, military reconnaissance, and life rescue missions. Early reviews mainly focused on jumping robots made of lightweight and rigid materials with mechanical components, concentrating on jumping control and stability. Herein, attention is paid to the jumping mechanisms of soft actuators assembled from various soft smarting materials and powered by different stimulus sources. The challenges and prospects of soft jumping actuators are also discussed. It is hoped that this review will contribute to the further development of soft jumping actuators and broaden their practical applications.     

Chiroptical 3D Actuators for Smart Sensors

Examples of anisotropic movement paired with helical geometry abound in the animal and plant kingdoms are used for a variety of reasons, such as diverse social signaling directed at conspecifics or camouflage to avoid predation. Inspired by these natural phenomena, a smart sensor is developed with a chiroptical 3D actuator that can fold, bend, and twist in response to external stimuli, reflecting light of specific wavelengths, and possessing circular polarization properties. Chirophotonic crystal actuators are constructed with an asymmetric Janus structure and are fabricated by self-assembly, screen printing, and in situ photopolymerization. The optically active layer consists of cholesteric liquid crystal polymer, and the mechanically active layer is composed of a polymeric gel thin film. The programmed in-planar and out-of-planar asymmetric Janus structures control the directionality of various shapes morphing from 2D to 3D. Finite element simulations allow to predict the shape changes associated with these chirophotonic crystal actuators: flower blooming, tendril climbing, eagle hunting, ant lifting, and inchworm moving motions. By utilizing the chirophotonic crystal actuator, a reusable and portable methanol-laced water identifier is developed.     

Selective Stiffening in Soft Actuators by Triggered Phase Transition of Hydrogel-Filled Elastomers

Nature has inspired a new generation of robots that not only imitate the behavior of natural systems but also share their adaptability to the environment and level of compliance due to the materials used to manufacture them, which are typically made of soft matter. In order to be adaptable and compliant, these robots need to be able to locally change the mechanical properties of their soft material-based bodies according to external feedback. In this work, a soft actuator that embodies a highly controllable thermo-responsive hydrogel and changes its stiffness on direct stimulation is proposed. At a critical temperature, this stimulation triggers the reversible transition of the hydrogel, which locally stiffens the elastomeric containment at the targeted location. By dividing the actuator into multiple sections, it is possible to control its macroscopic behavior as a function of the stiffened sections. These properties are evaluated by arranging three actuators into a gripper configuration used to grasp objects. The results clearly show that the approach can be used to develop soft actuators that can modify their mechanical properties on-demand in order to conform to objects or to exert the required force.     

Soft Robotics Programmed with Double Crosslinking DNA Hydrogels

DNA nanotechnology is developed for decades to construct dynamic responsive systems in optics, quantum electronics, and therapeutics. While DNA nanotechnology is a powerful tool in nanomaterials, it is rare to see successful applications of DNA molecules in the macroscopic regime of material sciences. Here, a novel strategy to magnify the nanometer scale DNA self‐assembly into a macroscopic mechanical responsiveness is demonstrated. By incorporating molecularly engineered DNA sequences into a polymeric network, a new type of responsive hydrogel (D‐gel), whose overall morphology is dynamically controlled by DNA hybridization‐induced double crosslinking is able to be created. As a step toward manufacturing, the D‐gel in combination with a bottom‐up 3D printing technology is employed to rapidly create modular macroscopic structures that feature programmable reconfiguration and directional movement, which can even mimic the complex gestures of human hands. Mechanical operations such as catch and release are demonstrated by a proof‐of‐concept hydrogel palm, which possessed great promise for future engineering applications. Compared with previously developed DNA hydrogels, the D‐gel features an ease of synthesis, faster response, and a high degree of programmable control. Moreover, it is possible to scale up the production of D‐gel containing responsive devices through direct 3D printing.     

Rugged Soft Robots using Tough,Stretchable, and Self-Healable Adhesive Elastomers

Soft robots are susceptible to premature failure from physical damages incurred within dynamic environments. To address this, we report an elastomer with high toughness, room temperature self-healing, and strong adhesiveness, allowing both prevention of damages and recovery for soft robotics. By functionalizing polyurethane with hierarchical hydrogen bonds from ureido-4[1H]-pyrimidinone (UPy) and carboxyl groups, high toughness (74.85 MJ m⁻³), tensile strength (9.44 MPa), and strain (2340%) can be achieved. Furthermore, solvent-assisted self-healing at room temperature enables retention of high toughness (41.74 MJ m⁻³), tensile strength (5.57 MPa), and strain (1865%) within only 12 h. The elastomer possesses a high dielectric constant (≈9) that favors its utilization as a self-healing dielectric elastomer actuator (DEA) for soft robotics. Displaying high area strains of ≈31.4% and ≈19.3% after mechanical and electrical self-healing, respectively, the best performing self-healable DEA is achieved. With abundant hydrogen bonds, high adhesive strength without additional curing or heating is also realized. Having both actuation and adhesive properties, a “stick-on” strategy for the assembly of robust soft robots is realized, allowing soft robotic components to be easily reassembled or replaced upon severe damage. This study highlights the potential of soft robots with extreme ruggedness for different operating conditions.     

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile sensing systems based on various sensors can interact safely with the unstructured environments and obtain precise properties of objects (e.g., size and shape). It is essential to develop state-of-the-art sensing technologies for soft grippers to handle different grasping tasks. In this review, the development of tactile sensing techniques for robotic hands is first introduced. Then, the principles and structures of different types of sensors normally adopted in soft grippers, including capacitive tactile sensors, piezoresistive tactile sensors, piezoelectric tactile sensors, fiber Bragg grating (FBG) sensors, vision-based tactile sensors, triboelectric tactile sensors, and other advanced sensors developed recently are briefly presented. Furthermore, sensing modalities and methodologies for soft grippers are also described in aspects of force measurement, perception of object properties, slip detection, and fusion of perception. The application scenarios of soft grippers are also summarized based on these advanced sensing technologies. Finally, the challenges of tactile sensing technologies for soft grippers that need to be tackled are discussed and perspectives in addressing these challenges are pointed out.     

Ultralow Voltage High-Performance Bioartificial Muscles Based on Ionically Crosslinked Polypyrrole-Coated Functional Carboxylated Bacterial Cellulose for Soft Robots

The development of ultralow voltage high-performance bioartificial muscles with large bending strain, fast response time, and excellent actuation durability is highly desirable for promising applications such as soft robotics, active biomedical devices, flexible haptic displays, and wearable electronics. Herein, a novel high-performance low-priced bioartificial muscle based on functional carboxylated bacterial cellulose (FCBC) and polypyrrole (PPy) nanoparticles is reported, exhibiting a large bending strain of 0.93%, long actuated bending durability (96% retention for 5 h) under an ultralow harmonic input of 0.5 V, broad frequency bandwidth up to 10 Hz, fast response time (≈4 s) in DC responses, high energy density (6.81 KJ m⁻³), and high power density (5.11 KW m⁻³), all of which mainly stem from its high surface area and porosity, large specific capacitance, tuned mechanical properties, and strong ionic interactions of cations and anions in ionic liquid with FCBC and PPy nanoparticles. More importantly, bioinspired applications such as the grapple robot, bionic medical stent, bionic flower, and wings-vibrating have been realized. These successful demonstrations offer a viable means for developing high-performance bioartificial muscles for next-generation soft bioelectronics including bioinspired robotics, biomedical microdevices, and wearable electronics.     

Rapid 3D Printing of Electrohydraulic (HASEL) Tentacle Actuators

A comprehensive material system is introduced for the additive manufacturing of electrohydraulic (HASEL) tentacle actuators. This material system consists of a photo‐curable, elastomeric silicone‐urethane with relatively strong dielectric properties (ε_r ≈ 8.8 at 1 kHz) in combination with ionically‐conductive hydrogel and silver paint electrodes that displace a vegetable‐based liquid dielectric under the application of an electric field. The electronic properties of the silicone material as well as the mechanical properties of the constitutive silicone and hydrogel materials are investigated. The hydraulic pressure exerted on the dielectric working fluid in these capacitive actuators is measured in order to characterize their quasi‐static behavior. Various design features enabled by 3D printing influence this behavior—decreasing the voltage at which actuation begins or increasing the force density in the system. Using a capacitance change of >35% across the actuators while powered, a demonstration of self‐sensing inherent to HASELs is shown. Antagonistic pairs of the 3D printed actuators are shown to exert a blocked force of over 400 mN. An electrohydraulic tentacle actuator is then fabricated to demonstrate the use of this material and actuation system in a synthetic hydrostat. This tentacle actuator is shown to achieve motion in a multi‐dimensional space.     

Mutually Exclusive p‐Type and n‐Type Hybrid Electrode of MoS2 and Graphene for Artificial Soft Touch Fingers

Future smart mobile electronics and wearable robotics that can perform delicate activities controlled by artificial intelligence can require rapid motion actuators working at low voltages with acceptable safety and improved energy efficiency. Accordingly, ionic soft actuators can have great potential over other counterparts because they exhibit gentle movements at low voltages, less than 2 V. However, these actuators currently show deficient performances at sub‐1 V voltages in the high‐frequency range because of the lack of electrode materials with the vital antagonistic properties of high capacitance and good conductivity. Herein, a mutually exclusive nanohybrid electrode (pMoS₂‐nSNrGO) is reported consisting of oxide‐doped p‐type molybdenum‐disulfide and sulfur‐nitrogen‐codoped n‐type reduced‐graphene‐oxide. The pMoS₂‐nSNrGO electrode derives high capacitance from MoS₂ and good charge transfer between the two components from p‐n nano‐junctions, resulting in excellent actuation performances (670% improvement compared with rGO electrode at 0.5 V and 1 Hz, together with fast responses up to 15 Hz). With such excellent performances, these actuators can be successfully applied to realize an artificial soft robotic finger system for delicately touching the fragile surfaces of smartphones and tablets. The mutually exclusive pMoS₂‐nSNrGO electrode can open a new way to develop high‐performance soft actuators for soft robotic applications in the future.