Integrated mechanical computing for autonomous soft machines.

Mechanical computing offers a new modality to formulate computational autonomy in intelligent matter or machines without any external powering or active elements. Transition (or solitary) waves, induced by nonreciprocity in mechanical metamaterials comprising a chain of bistable elements, have proven to be a key ingredient for dissipation-free transmission and computation of mechanical information. However, advanced processing of mechanical information in existing designs is hindered by its dissipation when interacting with networked logic gates. Here, we present a metamaterial design strategy that allows non-dispersive mechanical solitary waves to compute multi-level cascaded logic functions, termed 'integrated mechanical computing', by propagating through a network of structurally heterogeneous computing units. From a perspective of characteristic potential energy, we establish an analytical framework that helps in understanding the solitary wave-based mechanical computation, and governs the mechanical design of key determinants for realizing cascaded logic computation, such as soliton profile and logic elements. The developed integrated mechanical computing systems are shown to receive, transmit and compute mechanical information to actuate intelligent soft machine prototypes in a seamless and integrated manner. These findings would pave the way for future intelligent robots and machines that perform computational operations between various non-electrical environmental inputs.

Micro- and nanofabrication of dynamic hydrogels with multichannel information.

Creating micro/nanostructures containing multi-channel information within responsive hydrogels presents exciting opportunities for dynamically changing functionalities. However, fabricating these structures is immensely challenging due to the soft and dynamic nature of hydrogels, often resulting in unintended structural deformations or destruction. Here, we demonstrate that dehydrated hydrogels, treated by a programmable femtosecond laser, can allow for a robust fabrication of micro/nanostructures. The dehydration enhances the rigidity of the hydrogels and temporarily locks the dynamic behaviours, significantly promoting their structural integrity during the fabrication process. By utilizing versatile dosage domains of the femtosecond laser, we create micro-grooves on the hydrogel surface through the use of a high-dosage mode, while also altering the fluorescent intensity within the rest of the non-ablated areas via a low-dosage laser. In this way, we rationally design a pixel unit containing three-channel information: structural color, polarization state, and fluorescent intensity, and encode three complex image information sets into these channels. Distinct images at the same location were simultaneously printed onto the hydrogel, which can be observed individually under different imaging modes without cross-talk. Notably, the recovered dynamic responsiveness of the hydrogel enables a multi-information-encoded surface that can sequentially display different information as the temperature changes.

Magnetic Putty as a Reconfigurable, Recyclable, and Accessible Soft Robotic Material.

Magnetically hard materials are widely used to build soft magnetic robots, providing large magnetic force/torque and macrodomain programmability. However, their high magnetic coercivity often presents practical challenges when attempting to reconfigure magnetization patterns, requiring a large magnetic field or heating. In this study, magnetic putty is introduced as a magnetically hard and soft material with large remanence and low coercivity. It is shown that the magnetization of magnetic putty can be easily reoriented with maximum magnitude using an external field that is only one-tenth of its coercivity. Additionally, magnetic putty is a malleable, autonomous self-healing material that can be recycled and repurposed. The authors anticipate magnetic putty could provide a versatile and accessible tool for various magnetic robotics applications for fast prototyping and explorations for research and educational purposes.

Underwater maneuvering of robotic sheets through buoyancy-mediated active flutter.

Falling leaves flutter from side to side due to passive and intrinsic fluid-body coupling. Exploiting the dynamics of passive fluttering could lead to fresh perspectives for the locomotion and manipulation of thin, planar objects in fluid environments. Here, we show that the time-varying density distribution within a thin, planar body effectively elicits minimal momentum control to reorient the principal flutter axis and propel itself via directional fluttery motions. We validated the principle by developing a swimming leaf with a soft skin that can modulate local buoyancy distributions for active flutter dynamics. To show generality and field applicability, we demonstrated underwater maneuvering and manipulation of adhesive and oil-skimming sheets for environmental remediation. These findings could inspire future intelligent underwater robots and manipulation schemes.

Ultraflexible and transparent electroluminescent skin for real-time and super-resolution imaging of pressure distribution.

The ability to image pressure distribution over complex three-dimensional surfaces would significantly augment the potential applications of electronic skin. However, existing methods show poor spatial and temporal fidelity due to their limited pixel density, low sensitivity, or low conformability. Here, we report an ultraflexible and transparent electroluminescent skin that autonomously displays super-resolution images of pressure distribution in real time. The device comprises a transparent pressure-sensing film with a solution-processable cellulose/nanowire nanohybrid network featuring ultrahigh sensor sensitivity (>5000 kPa-1) and a fast response time (<1 ms), and a quantum dot-based electroluminescent film. The two ultrathin films conform to each contact object and transduce spatial pressure into conductivity distribution in a continuous domain, resulting in super-resolution (>1000 dpi) pressure imaging without the need for pixel structures. Our approach provides a new framework for visualizing accurate stimulus distribution with potential applications in skin prosthesis, robotics, and advanced human-machine interfaces.

Soft Modular Electronic Blocks (SMEBs): A Strategy for Tailored Wearable Health-Monitoring Systems.

Precise monitoring of human body signals can be achieved by soft, conformal contact and precise arrangement of wearable devices to the desired body positions. So far, no design and fabrication methodology in soft wearable devices is able to address the variations in the form factor of the human body such as the various sizes and shapes of individual body parts, which can significantly cause misalignments and the corresponding inaccurate monitoring. Here, a concept of soft modular electronic blocks (SMEBs) enabling the assembly of soft wearable systems onto human skin with functions and layouts tailored to the form factors of individuals' bodies is presented. Three types of SMEBs are developed as fundamental building blocks for functional modularization. The physical design of SMEBs is optimized for a mechanically stable island-bridge configuration. The prepared SMEBs can be integrated onto a target body part through rapid, room-temperature (RT) assembly (<5 s) using an oxygen plasma-induced siloxane bonding method. A soft metacarpophalangeal (MP) joints flexion monitoring system that is tailored to allow for accurate monitoring for multiple individuals with unique joint and hand sizes is demonstrated.

Bioinspired dual-morphing stretchable origami.

Nature demonstrates adaptive and extreme shape morphing via unique patterns of movement. Many of them have been explained by monolithic shape-changing mechanisms, such as chemical swelling, skin stretching, origami/kirigami morphing, or geometric eversion, that were successfully mimicked in artificial analogs. However, there still remains an unexplored regime of natural morphing that cannot be reproduced in artificial systems by a "single-mode" morphing mechanism. One example is the "dual-mode" morphing of Eurypharynx pelecanoides (commonly known as the pelican eel), which first unfolds and then inflates its mouth to maximize the probability of engulfing the prey. Here, we introduce pelican eel-inspired dual-morphing architectures that embody quasi-sequential behaviors of origami unfolding and skin stretching in response to fluid pressure. In the proposed system, fluid paths were enclosed and guided by a set of entirely stretchable origami units that imitate the morphing principle of the pelican eel's stretchable and foldable frames. This geometric and elastomeric design of fluid networks, in which fluid pressure acts in the direction that the whole body deploys first, resulted in a quasi-sequential dual-morphing response. To verify the effectiveness of our design rule, we built an artificial creature mimicking a pelican eel and reproduced biomimetic dual-morphing behavior. By compositing the basic dual-morphing unit cells into conventional origami frames, we demonstrated architectures of soft machines that exhibit deployment-combined adaptive gripping, crawling, and large range of underwater motion. This design principle may provide guidance for designing bioinspired, adaptive, and extreme shape-morphing systems.

Artificial Soft Elastic Media with Periodic Hard Inclusions for Tailoring Strain-Sensitive Thin-Film Responses.

Engineering the coupling behavior between a functional thin film and a soft substrate provides an attractive pathway for controlling various properties of thin-film materials. However, existing studies mostly rely on uniform deformation of the substrate, and the effect of well-regulated and nonuniform strain distributions on strain-sensitive thin-film responses still remains elusive. Herein, artificially strain-regulated elastic media are presented as a novel platform for tailoring strain-sensitive thin-film responses. The proposed artificial soft elastic media are composed of embedded arrays of inkjet-printed polymeric strain modulators that exhibit a high modulus contrast with respect to that of the soft matrix. This strain-modulating lattice induces spatially regulated strain distributions based on localized strain-coupling. Controlling the structural parameters and lattice configurations of the media leads to spatial modulation of the microscopically localized as well as macroscopically accumulated strain profiles. Uniform thin films coupled to these media undergo artificially tailored deformation through lattice-like strain-coupled pathways. The resulting phenomena yield programmable strain-sensitive responses such as spatial arrangement of ternary-state surface wrinkles and stepwise tuning of piezoresistive responses. This work will open a new avenue for addressing the issue of controlling strain-sensitive thin-film properties through structural engineering of artificial soft elastic media.

Two-Dimensional Thickness-Dependent Avalanche Breakdown Phenomena in MoS2 Field-Effect Transistors under High Electric Fields.

As two-dimensional (2D) transition metal dichalcogenides electronic devices are scaled down to the sub-micrometer regime, the active layers of these materials are exposed to high lateral electric fields, resulting in electrical breakdown. In this regard, understanding the intrinsic nature in layer-stacked 2D semiconducting materials under high lateral electric fields is necessary for the reliable applications of their field-effect transistors. Here, we explore the electrical breakdown phenomena originating from avalanche multiplication in MoS2 field-effect transistors with different layer thicknesses and channel lengths. Modulating the band structure and bandgap energy in MoS2 allows the avalanche multiplication to be controlled by adjusting the number of stacking layers. This phenomenon could be observed in transition metal dichalcogenide semiconducting systems due to its quantum confinement effect on the band structure. The relationship between the critical electric field for avalanche breakdown and bandgap energy is well fitted to a power law curve in both monolayer and multilayer MoS2.

Printed cylindrical lens pair for application to the seam concealment in tiled displays.

Seamless tiling of displays is one of the key enabling technologies for the next-generation large-area electronics applications. In this paper, we propose a facile method to demonstrate a seamless display using cylindrical lens pair (CLP) fabricated by dispenser printing method. Optical properties of the printed CLP and corresponding capability of concealing seam in the display are analyzed by a set of luminance simulation and measurement in terms of geometric parameters of the lens. The seamless display with an optimized CLP features a viewing angle of the seam concealment of 40°.

Electronic skins for soft, compact, reversible assembly of wirelessly activated fully soft robots.

Designing softness into robots holds great potential for augmenting robotic compliance in dynamic, unstructured environments. However, despite the body's softness, existing models mostly carry inherent hardness in their driving parts, such as pressure-regulating components and rigid circuit boards. This compliance gap can frequently interfere with the robot motion and makes soft robotic design dependent on rigid assembly of each robot component. We present a skin-like electronic system that enables a class of wirelessly activated fully soft robots whose driving part can be softly, compactly, and reversibly assembled. The proposed system consists of two-part electronic skins (e-skins) that are designed to perform wireless communication of the robot control signal, namely, "wireless inter-skin communication," for untethered, reversible assembly of driving capability. The physical design of each e-skin features minimized inherent hardness in terms of thickness (<1 millimeter), weight (~0.8 gram), and fragmented circuit configuration. The developed e-skin pair can be softly integrated into separate soft body frames (robot and human), wirelessly interact with each other, and then activate and control the robot. The e-skin-integrated robotic design is highly compact and shows that the embedded e-skin can equally share the fine soft motions of the robot frame. Our results also highlight the effectiveness of the wireless inter-skin communication in providing universality for robotic actuation based on reversible assembly.

Fully printable, strain-engineered electronic wrap for customizable soft electronics.

Rapid growth of stretchable electronics stimulates broad uses in multidisciplinary fields as well as industrial applications. However, existing technologies are unsuitable for implementing versatile applications involving adaptable system design and functions in a cost/time-effective way because of vacuum-conditioned, lithographically-predefined processes. Here, we present a methodology for a fully printable, strain-engineered electronic wrap as a universal strategy which makes it more feasible to implement various stretchable electronic systems with customizable layouts and functions. The key aspects involve inkjet-printed rigid island (PRI)-based stretchable platform technology and corresponding printing-based automated electronic functionalization methodology, the combination of which provides fully printed, customized layouts of stretchable electronic systems with simplified process. Specifically, well-controlled contact line pinning effect of printed polymer solution enables the formation of PRIs with tunable thickness; and surface strain analysis on those PRIs leads to the optimized stability and device-to-island fill factor of strain-engineered electronic wraps. Moreover, core techniques of image-based automated pinpointing, surface-mountable device based electronic functionalizing, and one-step interconnection networking of PRIs enable customized circuit design and adaptable functionalities. To exhibit the universality of our approach, multiple types of practical applications ranging from self-computable digital logics to display and sensor system are demonstrated on skin in a customized form.

Revisit to three-dimensional percolation theory: Accurate analysis for highly stretchable conductive composite materials.

A percolation theory based on variation of conductive filler fraction has been widely used to explain the behavior of conductive composite materials under both small and large deformation conditions. However, it typically fails in properly analyzing the materials under the large deformation since the assumption may not be valid in such a case. Therefore, we proposed a new three-dimensional percolation theory by considering three key factors: nonlinear elasticity, precisely measured strain-dependent Poisson's ratio, and strain-dependent percolation threshold. Digital image correlation (DIC) method was used to determine actual Poisson's ratios at various strain levels, which were used to accurately estimate variation of conductive filler volume fraction under deformation. We also adopted strain-dependent percolation threshold caused by the filler re-location with deformation. When three key factors were considered, electrical performance change was accurately analyzed for composite materials with both isotropic and anisotropic mechanical properties.

Silver nanowire-embedded PDMS with a multiscale structure for a highly sensitive and robust flexible pressure sensor.

The development of highly sensitive pressure sensors with a low-cost and facile fabrication technique is desirable for electronic skins and wearable sensing devices. Here a low-cost and facile fabrication strategy to obtain multiscale-structured elastomeric electrodes and a highly sensitive and robust flexible pressure sensor is presented. The principles of spontaneous buckle formation of the PDMS surface and the embedding of silver nanowires are used to fabricate the multiscale-structured elastomeric electrode. By laminating the multiscale-structured elastomeric electrode onto the dielectric layer/bottom electrode template, the pressure sensor can be obtained. The pressure sensor is based on the capacitive sensing mechanism and shows high sensitivity (>3.8 kPa(-1)), fast response and relaxation time (<150 ms), high bending stability and high cycle stability. The fabrication process can be easily scaled up to produce pressure sensor arrays and they can detect the spatial distribution of the applied pressure. It is also demonstrated that the fingertip pressure sensing device can sense the pressure distribution of each finger, when grabbing an object.

Negatively strain-dependent electrical resistance of magnetically arranged nickel composites: application to highly stretchable electrodes and stretchable lighting devices.

A novel property of the negatively strain-dependent electrical resistance change of nickel conductive composites is presented. The composite shows negatively strain-dependent resistance change when magnetically arranged, while most conductive materials show opposite behavior. This negative dependency is utilized to produce highly stretchable electrodes and to demonstrate a new conceptual resolution-sustainable stretchable lighting/display device.