A Highly Robust Amphibious Soft Robot with Imperceptibility Based on a Water-Stable and Self-Healing Ionic Conductor.

Dielectric elastomer actuators (DEAs) are widely exploited for actuating soft machines and granting soft robots with capability to operate in both underwater and on-land environments is important to make them adapt to more complex situations. Here, a DEA-driven, highly robust, amphibious imperceptible soft robot (AISR) based on an all-environment stable ionic conductive material is presented. A soft, self-healable, all-environment stable ionic conductor is developed by introducing cooperative ion-dipole interactions to provide underwater stability as well as efficient suppression of ion penetration. By tuning molecular structures of the material, a 50-time device lifetime increase compared with unmodified [EMI][TFSI]-based devices and excellent underwater actuating performance is achieved. With the synthesized ionic electrode, the DEA-driven soft robot exhibits amphibious functionality to traverse hydro-terrestrial regions. When encountering damage, the robot shows good resilience and can self-heal underwater and it also exhibits imperceptibility to light, sound, and heat.

Superstretchable, yet stiff, fatigue-resistant ligament-like elastomers.

Ligaments are flexible and stiff tissues around joints to support body movements, showing superior toughness and fatigue-resistance. Such a combination of mechanical properties is rarely seen in synthetic elastomers because stretchability, stiffness, toughness, and fatigue resistance are seemingly incompatible in materials design. Here we resolve this long-standing mismatch through a hierarchical crosslinking design. The obtained elastomer can endure 30,000% stretch and exhibit a Young's modulus of 18 MPa and toughness of 228 MJ m-3, outperforming all the reported synthetic elastomers. Furthermore, the fatigue threshold is as high as 2,682 J m-2, the same order of magnitude as the ligaments (~1,000 J m-2). We reveal that the dynamic double-crosslinking network composed of Li+-O interactions and PMMA nanoaggregates allows for a hierarchical energy dissipation, enabling the elastomers as artificial ligaments in soft robotics.