Fracture-driven power amplification in a hydrogel launcher.

Robotic tasks that require robust propulsion abilities such as jumping, ejecting or catapulting require power-amplification strategies where kinetic energy is generated from pre-stored energy. Here we report an engineered accumulated strain energy-fracture power-amplification method that is inspired by the pressurized fluidic squirting mechanism of Ecballium elaterium (squirting cucumber plants). We realize a light-driven hydrogel launcher that harnesses fast liquid vapourization triggered by the photothermal response of an embedded graphene suspension. This vapourization leads to appreciable elastic energy storage within the surrounding hydrogel network, followed by rapid elastic energy release within 0.3 ms. These soft hydrogel robots achieve controlled launching at high velocity with a predictable trajectory. The accumulated strain energy-fracture method was used to create an artificial squirting cucumber that disperses artificial seeds over metres, which can further achieve smart seeding through an integrated radio-frequency identification chip. This power-amplification strategy provides a basis for propulsive motion to advance the capabilities of miniaturized soft robotic systems.

Material assembly from collective action of shape-changing polymers.

Some animals form transient, responsive and solid-like ensembles through dynamic structural interactions. These ensembles demonstrate emergent responses such as spontaneous self-assembly, which are difficult to achieve in synthetic soft matter. Here we use shape-morphing units comprising responsive polymers to create solids that self-assemble, modulate their volume and disassemble on demand. The ensemble is composed of a responsive hydrogel, liquid crystal elastomer or semicrystalline polymer ribbons that reversibly bend or twist. The dispersions of these ribbons mechanically interlock, inducing reversible aggregation. The aggregated liquid crystal elastomer ribbons have a 12-fold increase in the yield stress compared with cooled dispersion and contract by 34% on heating. Ribbon type, concentration and shape dictate the aggregation and govern the global mechanical properties of the solid that forms. Coating liquid crystal elastomer ribbons with a liquid metal begets photoresponsive and electrically conductive aggregates, whereas seeding cells on hydrogel ribbons enables self-assembling three-dimensional scaffolds, providing a versatile platform for the design of dynamic materials.

Safe Supervisory Control of Soft Robot Actuators.

Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article introduces a feedback strategy for safe soft actuator operation during control of a soft robot. To do so, a supervisory controller monitors actuator state and dynamically saturates control inputs to avoid conditions that could lead to physical damage. We prove that, under certain conditions, the supervisory controller is stable and verifiably safe. We then demonstrate completely onboard operation of the supervisory controller using a soft thermally actuated robot limb with embedded shape memory alloy actuators and sensing. Tests performed with the supervisor verify its theoretical properties and show stabilization of the robot limb's pose in free space. Finally, experiments show that our approach prevents overheating during contact, including environmental constraints and human touch, or when infeasible motions are commanded. This supervisory controller, and its ability to be executed with completely onboard sensing, has the potential to make soft robot actuators reliable enough for practical use.

Selective and Controlled Grafting from PVDF-Based Materials by Oxygen-Tolerant Green-Light-Mediated ATRP.

Poly(vinylidene fluoride) (PVDF) shows excellent chemical and thermal resistance and displays high dielectric strength and unique piezoelectricity, which are enabling for applications in membranes, electric insulators, sensors, or power generators. However, its low polarity and lack of functional groups limit wider applications. While inert, PVDF has been modified by grafting polymer chains by atom transfer radical polymerization (ATRP), albeit via an unclear mechanism, given the strong C-F bonds. Herein, we applied eosin Y and green-light-mediated ATRP to modify PVDF-based materials. The method gave nearly quantitative (meth)acrylate monomer conversions within 2 h without deoxygenation and without the formation of unattached homopolymers, as confirmed by control experiments and DOSY NMR measurements. The gamma distribution model that accounts for broadly dispersed polymers in DOSY experiments was essential and serves as a powerful tool for the analysis of PVDF. The NMR analysis of poly(methyl acrylate) graft chain-ends on PVDF-CTFE (statistical copolymer with chlorotrifluoroethylene) was carried out successfully for the first time and showed up to 23 grafts per PVDF-CTFE chain. The grafting density was tunable depending on the solvent composition and light intensity during the grafting. The initiation proceeded either from the C-Cl sites of PVDF-CTFE or via unsaturations in the PVDF backbones. The dehydrofluorinated PVDF was 20 times more active than saturated PVDF during the grafting. The method was successfully applied to modify PVDF, PVDF-HFP, and Viton A401C. The obtained PVDF-CTFE-g-PnBMA materials were investigated in more detail. They featured slightly lower crystallinity than PVDF-CTFE (12-18 vs 24.3%) and had greatly improved mechanical performance: Young's moduli of up to 488 MPa, ductility of 316%, and toughness of 46 × 106 J/m3.

Statistical field theory of polarizable polymer chains with nonlocal dipolar interactions.

The electromechanical response of polymeric soft matter to applied electric fields is of fundamental scientific interest as well as relevant to technologies for sensing and actuation. Several existing theoretical and numerical approaches for polarizable polymers subject to a combined applied electric field and stretch are based on discrete monomer models. In these models, accounting for the interactions between the induced dipoles on monomers is challenging due to the nonlocality of these interactions. On the other hand, the framework of statistical field theory provides a continuous description of polymer chains that potentially enables a tractable way to account for these interactions. However, prior formulations using this framework have been restricted to the case of weak anisotropy of the monomer polarizability. This paper formulates a general approach based in the framework of statistical field theory to account for the nonlocal nature of the dipolar interactions without any restrictions on the anisotropy or nonlinearity of the polarizability of the monomer. The approach is based on three key elements: (1) the statistical field theory framework, in which the discrete monomers are regularized to a continuous dipole distribution, (2) a replacement of the nonlocal dipole-dipole interactions by the local electrostatics partial differential equation with the continuous dipole distribution as the forcing, and (3) the use of a completely general relation between the polarization and the local electric field. Rather than treat the dipole-dipole interactions directly, the continuous description in the field theory enables the computationally tractable nonlocal-to-local transformation. Further, it enables the use of a realistic statistical-mechanical ensemble wherein the average far-field applied electric field is prescribed, rather than prescribing the applied field at every point in the polymer domain. The model is applied, using the finite element method, to study the electromechanical response of a polymer chain in the ensemble with fixed far-field applied electric field and fixed chain stretch. The nonlocal dipolar interactions are found to increase, over the case where dipole-dipole interactions are neglected, the magnitudes of the polarization and electric field by orders of magnitude as well as significantly change their spatial distributions. Next, the effect of the relative orientation between the applied field and the chain on the local electric field and polarization is studied. The model predicts that the elastic response of the polymer chain is linear, consistent with the Gaussian approximation, and largely unchanged by the orientation of the applied electric field, though the polarization and local electric field distributions are significantly impacted.

Intrinsically Multistable Soft Actuator Driven by Mixed-Mode Snap-Through Instabilities.

Actuators utilizing snap-through instabilities are widely investigated for high-performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability within a single actuator unit still remains an open challenge. Here, a soft actuator is presented that uses shape memory alloy (SMA) and mixed-mode elastic instabilities to achieve intrinsically multistable shape reconfiguration. The multistable actuator unit consists of six stable states, including two pure bending states and four bend-twist states. The actuator is composed of a pre-stretched elastic membrane placed between two elastomeric frames embedded with SMA coils. By controlling the sequence and duration of SMA activation, the actuator is capable of rapid transition between all six stable states within hundreds of milliseconds. Principles of energy minimization are used to identify actuation sequences for various types of stable state transitions. Bending and twisting angles corresponding to various prestretch ratios are recorded based on parameterizations of the actuator's geometry. To demonstrate its application in practical conditions, the multistable actuator is used to perform visual inspection in a confined space, light source tracking during photovoltaic energy harvesting, and agile crawling.

A Gradient Stiffness-Programmed Circuit Board by Spatially Controlled Phase-Transition of Supercooled Hydrogel for Stretchable Electronics Integration.

Due to emerging demands in soft electronics, there is an increasing need for material architectures that support robust interfacing between soft substrates, stretchable electrical interconnects, and embedded rigid microelectronics chips. Though researchers have adopted rigid-island structures to solve the issue, this approach merely shifts stress concentrations from chip-conductor interfaces to rigid-island-soft region interfaces in the substrate. Here, a gradient stiffness-programmed circuit board (GS-PCB) that possesses high stretchability and stability with surface mounted chips is introduced. The board comprises a stiffness-programmed hydrogel substrate and a laser-patterned liquid metal conductor. The hydrogel simultaneously obtains a large stiffness disparity and robust interfaces between rigid-islands and soft regions. These seemingly contradictory conditions are accomplished by adopting a gradient stiffness structure at the interfaces, enabled by combining polymers with different interaction energies and a supercooled sodium acetate solution. By integrating the gel with laser-patterned liquid metal with exceptional properties, GS-PCB exhibits higher electromechanical stability than other rigid-island research. To highlight the practicality of this approach, a finger-sensor device that successfully distinguishes objects by direct physical contact is fabricated, demonstrating its stability under various mechanical disturbances.