RESUMEN
Self-sensing actuators are critical to artificial robots with biomimetic proprio-/exteroception properties of biological neuromuscular systems. Existing add-on approaches, which physically blend heterogeneous sensor/actuator components, fall short of yielding satisfactory solutions, considering their suboptimal interfaces, poor adhesion, and electronic/mechanical property mismatches. Here, a single homogeneous material platform is reported by creating a silver-polymer framework (SPF), thus realizing the seamless sensing-actuation unification. The SPF-enabled elastomer is highly stretchable (1200%), conductive (0.076 S m-1 ), and strong (0.76 MPa in-strength), where the stretchable polymer matrix synthesis and in situ silver nanoparticles reduction are accomplished simultaneously. Benefiting from the multimodal sensing capability from its architecture itself (mechanical and thermal cues), self-sensing actuation (proprio-deformations and external stimuli perceptions) is achieved for the SPF-based pneumatic actuator, alongside an excellent load-lifting attribute (up to 3700 times its own weight), substantiating its advantage of the unified sensing-actuation feature in a single homogenous material. In view of its human somatosensitive muscular systems imitative functionality, the reported SPF bodes well for use with next-generation functional tissues, including artificial skins, human-machine interfaces, self-sensing robots, and otherwise dynamic materials.