Dielectric Elastomer Fiber Actuators with Aqueous Electrode

Dielectric elastomer actuators (DEAs) are one of the promising actuation technologies for soft robotics. This study proposes a fiber-shaped DEA, namely dielectric elastomer fiber actuators (DEFAs). The actuator consisted of a silicone tube filled with the aqueous electrode (sodium chloride solution). Furthermore, it could generate linear and bending actuation in a water environment, which acts as the ground side electrode. Linear-type DEFA and bending-type DEFA were fabricated and characterized to prove the concept. A mixture of Ecoflex 00–30 (Smooth-On) and Sylgard 184 (Dow Corning) was employed in these actuators for the tube part, which was 75.0-mm long with outer and inner diameters of 6.0 mm and 5.0 mm, respectively. An analytical model was constructed to design and predict the behavior of the devices. In the experiments, the linear-type DEFA exhibited an actuation strain and force of 1.3% and 42.4 mN, respectively, at 10 kV (~20 V/µm) with a response time of 0.2 s. The bending-type DEFA exhibited an actuation angle of 8.1° at 10 kV (~20 V/µm). Subsequently, a jellyfish-type robot was developed and tested, which showed the swimming speed of 3.1 mm/s at 10 kV and the driving frequency of 4 Hz. The results obtained in this study show the successful implementation of the actuator concept and demonstrate its applicability for soft robotics.

Controllable Bistable Smart Composite Structures Driven by Liquid Crystal Elastomer

In this article, we proposed a new way to achieve monostable and bistable characteristics of composite layers based on liquid crystal elastomer (LCE). A smart trilayer composite structure is fabricated using LCE and acrylic elastomer, which can have several morphologies. It keeps flat at room temperature and can deform into a monostable saddle or bistable cylinder surface in response to simple temperature changes. The reversible deformation can be controlled through two parameters including geometrical size and actuation strain. The LCE can be programmed to generate different actuation strains by different formulas during synthesis or different mechanical stretches during UV radiation. The deformed morphology for different sample sizes and actuation strain is calculated using Finite element simulation. By comparison with the experimental results, we confirm that the phenomena can be captured through numerical simulations. Furthermore, to have a quantitative understanding, we use numerical simulation to calculate the deformation of the composite structure by tuning these two parameters and give a morphological portrait illustrating the relationship between the deformed shape and control parameters.

Actuating Compact Augmented Reality Devices by Artificial Muscle

An artificial muscle actuator resolves practical engineering problems in compact wearable devices, which are limited to conventional actuators such as electromagnetic actuators. Abstracting the fundamental advantages of an artificial muscle actuator provides a small-scale, high-power actuating system for developing varifocal augmented reality (AR) glasses and naturally fit haptic gloves. Here, we design a shape memory alloy (SMA)-based lightweight and high-power artificial muscle actuator, the so-called compliant amplified SMA actuator (CASA). Despite its light weight (0.22 g), the CASA has a high power density of 1.7 kW/kg and an actuation strain of 300%. We show how CASA enables image depth control and an immersive tactile response in the form of AR glasses and haptic gloves whose thin form factor and high power density can hardly be achieved by conventional actuators.

Electrospun liquid crystal elastomer microfiber actuator

Fibers capable of generating axial contraction are commonly seen in nature and engineering applications. Despite the broad applications of fiber actuators, it is still very challenging to fabricate fiber actuators with combined large actuation strain, fast response speed, and high power density. Here, we report the fabrication of a liquid crystal elastomer (LCE) microfiber actuators using a facile electrospinning technique. Owing to the extremely small size of the LCE microfibers, they can generate large actuation strain (~60 percent) with a fast response speed (<0.2 second) and a high power density (400 watts per kilogram), resulting from the nematic-isotropic phase transition of liquid crystal mesogens. Moreover, no performance degradation is detected in the LCE microfibers after 106 cycles of loading and unloading with the maximum strain of 20 percent at high temperature (90 degree Celsius). The small diameter of the LCE microfiber also results in a self-oscillatory behavior in a steady temperature field. In addition, with a polydopamine coating layer, the actuation of the electrospun LCE microfiber can be precisely and remotely controlled by a near-infrared laser through photothermal effect. Using the electrospun LCE microfiber actuator, we have successfully constructed a microtweezer, a microrobot, and a light-powered microfluidic pump.

Investigation of the Effect of Spin Crossover on the Static and Dynamic Properties of MEMS Microcantilevers Coated with Nanocomposite Films of [Fe(Htrz)2(trz)](BF4)@P(VDF-TrFE)

We used a spray-coating process to cover silicon microcantilevers with ca. 33 wt% [Fe(Htrz)2(trz)](BF4)@P(VDF70-TrFE30) nanocomposite thin films of 1500 nm thickness. The bilayer cantilevers were then used to investigate the thermomechanical properties of the composites through a combined static and dynamic flexural analysis. The out-of-plane flexural resonance frequencies were used to assess the Young’s modulus of the spray-coated films (3.2 GPa). Then, the quasi-static flexural bending data allowed us to extract the actuation strain (1.3%) and an actuation stress (7.7 MPa) associated with the spin transition in the composite.

Biomimetic high performance artificial muscle built on sacrificial coordination network and mechanical training process

Artificial muscle materials promise incredible applications in actuators, robotics and medical apparatus, yet the ability to mimic the full characteristics of skeletal muscles into synthetic materials remains a huge challenge. Herein, inspired by the dynamic sacrificial bonds in biomaterials and the self-strengthening of skeletal muscles by physical exercise, high performance artificial muscle material is prepared by rearrangement of sacrificial coordination bonds in the polyolefin elastomer via a repetitive mechanical training process. Biomass lignin is incorporated as a green reinforcer for the construction of interfacial coordination bonds. The prepared artificial muscle material exhibits high actuation strain (>40%), high actuation stress (1.5 MPa) which can lift more than 10,000 times its own weight with 30% strain, characteristics of excellent self-strengthening by mechanical training, strain-adaptive stiffening, and heat/electric programmable actuation performance. In this work, we show a facile strategy for the fabrication of intelligent materials using easily available raw materials.

Optimization of Phase-Change Material–Elastomer Composite and Integration in Kirigami-Inspired Voxel-Based Actuators

Phase-change material–elastomer composite (PCMEC) actuators are composed of a soft elastomer matrix embedding a phase-change fluid, typically ethanol, in microbubbles. When increasing the temperature, the phase change in each bubble induces a macroscopic expansion of the matrix. This class of actuators is promising for soft robotic applications because of their high energy density and actuation strain, and their low cost and easy manufacturing. However, several limitations must be addressed, such as the high actuation temperature and slow actuation speed. Moreover, the lack of a consistent design approach limits the possibility to build PCMEC-based soft robots able to achieve complex tasks. In this work, a new approach to manufacture PCMEC actuators with different fluid–elastomer combinations without altering the quality of the samples is proposed. The influence of the phase-change fluid and the elastomer on free elongation and bending is investigated. We demonstrate that choosing an appropriate fluid increases the actuation strain and speed, and decreases the actuation temperature compared with ethanol, allowing PCMECs to be used in close contact with the human body. Similarly, by using different elastomer materials, the actuator stiffness can be modified, and the experimental results showed that the curvature is roughly proportional to the inverse of Young’s modulus of the pure matrix. To demonstrate the potential of the optimized PCMECs, a kirigami-inspired voxel-based design approach is proposed. PCMEC cubes are molded and reinforced externally by paper. Cuts in the paper induce anisotropy into the structure. Elementary voxels deforming according to the basic kinematics (bending, torsion, elongation, compression and shear) are presented. The combination of these voxels into modular and reconfigurable structures could open new possibilities towards the design of flexible robots able to perform complex tasks.

Experimentally identified models of McKibben soft actuators as primary movers and passive structures

Soft robots join body and actuation, forming their structure from the same elements that induce motion. Soft actuators are commonly modeled or characterized as primary movers, but their second role as support structure introduces strain-pressure combinations outside of normal actuation. This manuscript examines a more complete set of possible strain-pressure combinations for McKibben actuators, including passive, or unpressurized, deformation, pressurized extension and compression of a pressurized actuator beyond the maximum actuation strain. Each region is investigated experimentally, and empirical force-displacement-pressure relationships are identified. Particular focus is placed on ensuring empirical relationships are consistent at boundaries between an actuator's strain-pressure regions. The presented methodology is applied to seven McKibben actuator designs, which span variations in wall thickness, enclosure material and actuator diameter. Empirical results demonstrate a trade-off between maximum contraction strain and force required to passively extend. The results also show that stiffer elastomers require an extreme increase in pressure to contract without a compensatory increase in maximum achieved force. Empirical force-displacement-pressure models were developed for each variant across all the studied strain-pressure regions, enabling future design variation studies for soft robots that use actuators as structures.

Adaptively Reconstructing Network of Soft Elastomers to Increase Strand Rigidity: towards Free-Standing Electro-Actuation Strain over 100%

Soft biological tissues and muscles composed of the semiflexible networks exhibit rapid strain-hardening behaviors to protect them from accidental rupture. In contrast, synthetic soft elastomers, usually featured with flexible networks,...