Height-renderable morphable tactile display enabled by programmable modulation of local stiffness in photothermally active polymer.

Reconfigurable tactile displays are being used to provide refreshable Braille information; however, the delivered information is currently limited to an alternative of Braille because of difficulties in controlling the deformation height. Herein, we present a photothermally activated polymer-bilayer-based morphable tactile display that can programmably generate tangible three-dimensional topologies with varying textures on a thin film surface. The morphable tactile display was composed of a heterogeneous polymer structure that integrated a stiffness-tunable polymer into a light-absorbing elastomer, near-infra-red light-emitting diode (NIR-LED) array, and small pneumatic chamber. Topological expression was enabled by producing localized out-of-plane deformation that was reversible, height-adjustable, and latchable in response to light-triggered stiffness modulation at each target area under switching of stationary pneumatic pressure. Notably, the tactile display could express a spatial softness map of the latched topology upon re-exposing the target areas to modulated light from the NIR-LED array. We expect the developed tactile display to open a pathway for generating high-dimensional tactile information on electronic devices and enable realistic interaction in augmented and virtual environments.

Modeling dynamic behavior of dielectric elastomer muscle for robotic applications.

Recently, as a strong candidate for artificial muscle, dielectric elastomer actuators (DEAs) have been given the spotlight due to their attractive benefits from fast, large, and reversible electrically-controllable actuation in ultra-lightweight structures. Meanwhile, for practical use in mechanical systems such as robotic manipulators, the DEAs are facing challenges in their non-linear response, time-varying strain, and low load-bearing capability due to their soft viscoelastic nature. Moreover, the presence of an interrelation among the time-varying viscoelasticity, dielectric, and conductive relaxations causes difficulty in the estimation of their actuation performance. Although a rolled configuration of a multilayer stack DEA opens up a promising route to enhance mechanical properties, the use of multiple electromechanical elements inevitably causes the estimation of the actuation response to be more complex. In this paper, together with widely used strategies to construct DE muscles, we introduce adoptable models that have been developed to estimate their electro-mechanical response. Moreover, we propose a new model that combines both non-linear and time-dependent energy-based modeling theories for predicting the long-term electro-mechanical dynamic response of the DE muscle. We verified that the model could accurately estimate the long-term dynamic response for as long as 20 min only with small errors as compared with experimental results. Finally, we present future perspectives and challenges with respect to the performance and modeling of the DE muscles for their practical use in various applications including robotics, haptics, and collaborative devices.

A Thermo-Mechanically Robust Compliant Electrode Based on Surface Modification of Twisted and Coiled Nylon-6 Fiber for Artificial Muscle with Highly Durable Contractile Stroke.

In this paper, we propose a novel and facile methodology to chemically construct a thin and highly compliant metallic electrode onto a twisted and coiled nylon-6 fiber (TCN) with a three-dimensional structure via surface modification of the TCN eliciting gold-sulfur (Au-S) interaction for enabling durable electro-thermally-induced actuation performance of a TCN actuator (TCNA). The surface of the TCN exposed to UV/Ozone plasma was modified to (3-mercaptopropyl)trimethoxysilane (MPTMS) molecules with thiol groups through a hydrolysis-condensation reaction. Thanks to the surface modification inducing strong interaction between gold and sulfur as a formation of covalent bonds, the Au electrode on the MPTMS-TCN exhibited excellent mechanical robustness against adhesion test, simultaneously could allow overall surface of the TCN to be evenly heated without any significant physical damages during repetitive electro-thermal heating tests. Unlike the TCNAs with physically coated metallic electrode, the TCNA with the Au electrode established on the MPTMS-TCN could produce a large and repeatable contractile strain over 12% as lifting a load of 100 g even during 2000 cyclic actuations. Demonstration of the durable electrode for the TCNA can lead to technical advances in artificial muscles for human-assistive devices as well as soft robots those requires long-term stability in operation.

A NIR-Light-Driven Twisted and Coiled Polymer Actuator with a PEDOT-Tos/Nylon-6 Composite for Durable and Remotely Controllable Artificial Muscle.

In this paper, we proposed a novel light-driven polymer actuator that could produce remotely controllable tensile stroke in response to near infrared (NIR) light. The light-driven polymer actuator was composed of a twisted and coiled nylon-6 fiber (TCN) and a thin poly(3,4-ethylenedioxythiophene) doped with p-toluenesulfonate (PEDOT-Tos) layer. By adopting dip-coating methodology with thermal polymerization process, we constructed a thin and uniform PEDOT-Tos layer on the surface of the three-dimensional TCN structure. Thanks to the PEDOT-Tos layer with excellent NIR light absorption characteristic, the NIR light illumination via a small LEDs array allowed the multiple PEDOT-Tos coated TCN actuators to be photo-thermally heated to a fairly consistent temperature and to simultaneously produce a contractile strain that could be modulated as high as 8.7% with light power. The actuation performance was reversible without any significant hysteresis and highly durable during 3000 cyclic operations via repetitive control of the LEDs. Together with its simple structure and facile fabrication, the light-driven actuator can lead to technical advances in artificial muscles due to its attractive benefits from remote controllability without complex coupled instruments and electromagnetic interference.

A Light-Driven Vibrotactile Actuator with a Polymer Bimorph Film for Localized Haptic Rendering.

A vibrotactile actuator driven by light energy is developed to produce dynamic stimulations for haptic rendering on a thin-film structure. The actuator is constructed by adopting a thermal bimorph membrane structure of poly(3,4-ethylenedioxythiophene) doped with p-toluenesulfonate (PEDOT-Tos) coated onto a polyethylene terephthalate (PET) film. Upon irradiation of near-infrared (NIR) light, the light energy absorbed at the PEDOT-Tos layer is converted into thermoelastic bending deformation due to the mismatch in coefficient of thermal expansion between PEDOT-Tos and PET. Since the light-induced deformation is reversible, spatially localized, and rapidly controllable with designed light signals, the proposed actuator can produce vibrotactile stimulation over 10 dB at arbitrary areas in the human-sensitive frequency range from 125 to 300 Hz using a low input power of ∼2.6 mW mm-2, as compared with a complex electrical circuit and high input power needed to achieve such actuation performance. Together with its simple structure based on light-driven actuation, the advent of this actuator could open up new ways to achieve substantial advances in rendering textures at a flexible touch interface.

Dielectric Elastomers UV-Cured from Poly(dimethylsiloxane) Solution in Vinyl Acetate.

Poly(dimethylsiloxane) (PDMS) has been extensively used as an electroactive polymer material because it exhibits not only excellent moldability but also mechanical properties sufficient enough for electroactive performance despite low dielectric permittivity. Its low dielectric property is due to its molecular non-polarity. Here, we introduce a polar group into a PDMS elastomer by using vinyl acetate (VAc) as a crosslinker to improve the dielectric permittivity. We synthesized a high-molecular weight PDMS copolymer containing vinyl groups, namely poly(dimethylsiloxane-co-methylvinylsiloxane) (VPDMS), and prepared several of the VPDMS solutions in VAc. We obtained transparent PDMS films by UV curing of the solution layers. Electromechanical actuation-related physical properties of one of the UV-cured films were almost equivalent to or superior to those of platinum-catalyzed hydrosilylation-cured PDMS films. In addition, saponification of the UV-cured film significantly improved the electrical and mechanical properties (ɛ' ~ 44.1 pF/m at 10 kHz, E ~ 350 kPa, ɛ ~ 320%). The chemical introduction of VAc into PDMS main chains followed by saponification would offer an efficacious method of enhancing the electroactive properties of PDMS elastomers.

Monolithic focus-tunable lens technology enabled by disk-type dielectric-elastomer actuators.

We propose a monolithic focus-tunable lens structure based on the dielectric-elastomer actuator (DEA) technology. In our focus-tunable lens, a soft lens and radial in-plane actuator mimicking the ocular focal-tuning mechanism are constructed in a single body of an optimized dielectric-elastomer film. We provide device fabrication methods including elastomer synthesis, structure formation, and packaging process steps. Performance test measurements show 93% focal tunability and 7 ms response time under static and dynamic electrical driving conditions, respectively. These performance characteristics are substantially enhanced from the previous polylithic DEA tunable lens by a factor 1.4 for the focal tunability and a factor 9.4 for the dynamic tuning-speed limit. Therefore, we obtain greatly enhanced focal tuning control in a remarkably simple and compact device structure.

Facile Functionalization of Poly(Dimethylsiloxane) Elastomer by Varying Content of Hydridosilyl Groups in a Crosslinker.

Crosslinked poly(dimethylsiloxane) (PDMS) has been widely used as a dielectric elastomer for electrically driven actuators because it exhibits high elasticity, low initial modulus, and excellent moldability in spite of low dielectric constant. However, further improvement in the characteristics of the PDMS elastomer is not easy due to its chemical non-reactivity. Here, we report a simple method for functionalizing the elastomer by varying content of hydridosilyl groups in PDMS acted as a crosslinker. We synthesized poly(dimethylsiloxane-co-methylvinylsiloxane) (VPDMS) and poly(dimethylsiloxane-co-methylsiloxane) (HPDMS). Tri(ethylene glycol) divinyl ether (TEGDE) as a polar molecule was added to the mixture of VPDMS and HPDMS. TEGDE was reacted to the hydridosilyl group in HPDMS during crosslinking between VPDMS and HPDMS in the presence of platinum as a catalyst. Permittivity of the crosslinked film increased from ca. 25 to 36 pF/m at 10 kHz without a decline in other physical properties such as transparency and elasticity (T > 85%, E ~150 kPa, ɛ ~270%). It depends on the hydridosilyl group content of HPDMS. The chemical introduction of a new molecule into the hydridosilyl group in HPDMS during crosslinking would provide a facile, effective method of modifying the PDMS elastomers.

A Robust Soft Lens for Tunable Camera Application Using Dielectric Elastomer Actuators.

Developing tunable lenses, an expansion-based mechanism for dynamic focus adjustment can provide a larger focal length tuning range than a contraction-based mechanism. Here, we develop an expansion-tunable soft lens module using a disk-type dielectric elastomer actuator (DEA) that creates axially symmetric pulling forces on a soft lens. Adopted from a biological accommodation mechanism in human eyes, a soft lens at the annular center of a disk-type DEA pair is efficiently stretched to change the focal length in a highly reliable manner. A soft lens with a diameter of 3 mm shows a 65.7% change in the focal length (14.3-23.7 mm) under a dynamic driving voltage signal control. We confirm a quadratic relation between lens expansion and focal length that leads to large focal length tunability obtainable in the proposed approach. The fabricated tunable lens module can be used for soft, lightweight, and compact vision components in robots, drones, vehicles, and so on.

Elastomer thin-film pressure sensor based on embedded photonic tunnel-junction arrays.

We propose an elastomer thin-film pressure sensor enabled by pressure-sensitive optical signals through vertical photonic tunnel-junction couplers. We provide the operation principle, design, fabrication, and test results from a 50 µm thick polydimethylsiloxane sheet accommodating embedded vertical photonic tunnel-junction couplers. The result with a 5 mm long device shows a differential optical power change that is ∼140% of the incident power under moderate external pressure of ∼40 kPa, thereby clearly demonstrating a robust pressure-sensing capability realized in a highly flexible, lightweight, transferrable, optically transparent, and bio-compatible thin-film material. Therefore, the proposed approach potentially enables versatile pressure and touch sensors for many applications in practice.

Electro-Active Polymer Based Soft Tactile Interface for Wearable Devices.

This paper reports soft actuator based tactile stimulation interfaces applicable to wearable devices. The soft actuator is prepared by multi-layered accumulation of thin electro-active polymer (EAP) films. The multi-layered actuator is designed to produce electrically-induced convex protrusive deformation, which can be dynamically programmable for wide range of tactile stimuli. The maximum vertical protrusion is and the output force is up to 255 mN. The soft actuators are embedded into the fingertip part of a glove and front part of a forearm band, respectively. We have conducted two kinds of experiments with 15 subjects. Perceived magnitudes of actuator's protrusion and vibrotactile intensity were measured with frequency of 1 Hz and 191 Hz, respectively. Analysis of the user tests shows participants perceive variation of protrusion height at the finger pad and modulation of vibration intensity through the proposed soft actuator based tactile interface.

An Enhanced Soft Vibrotactile Actuator Based on ePVC Gel with Silicon Dioxide Nanoparticles.

In this paper, we propose a soft vibrotactile actuator made by mixing silicon dioxide nanoparticles and plasticized PVC gel. The effect of the silicon dioxide nanoparticles in the plasticized PVC gel for the haptic performance is investigated in terms of electric, dielectric, and mechanical properties. Furthermore, eight soft vibrotactile actuators are prepared as a function of the content. Experiments are conducted to examine the haptic performance of the prepared eight soft vibrotactile actuators and to find the best weight ratio of the plasticized PVC gel to the nanoparticles. The experiments should show that the plasticized PVC gel with silicon dioxide nanoparticles improves the haptic performance of the plasticized PVC gel-based vibrotactile actuator, and the proposed vibrotactile actuator can create a variety of haptic sensations in a wide frequency range.

Electrically tunable binary phase Fresnel lens based on a dielectric elastomer actuator.

We propose and demonstrate an all-solid-state tunable binary phase Fresnel lens with electrically controllable focal length. The lens is composed of a binary phase Fresnel zone plate, a circular acrylic frame, and a dielectric elastomer (DE) actuator which is made of a thin DE layer and two compliant electrodes using silver nanowires. Under electric potential, the actuator produces in-plane deformation in a radial direction that can compress the Fresnel zones. The electrically-induced deformation compresses the Fresnel zones to be contracted as high as 9.1% and changes the focal length, getting shorter from 20.0 cm to 14.5 cm. The measured change in the focal length of the fabricated lens is consistent with the result estimated from numerical simulation.

Perspective and Potential of Smart Optical Materials.

The increasing requirements of hyperspectral imaging optics, electro/photo-chromic materials, negative refractive index metamaterial optics, and miniaturized optical components from micro-scale to quantum-scale optics have all contributed to new features and advancements in optics technology. Development of multifunctional capable optics has pushed the boundaries of optics into new fields that require new disciplines and materials to maximize the potential benefits. The purpose of this study is to understand and show the fundamental materials and fabrication technology for field-controlled spectrally active optics (referred to as smart optics) that are essential for future industrial, scientific, military, and space applications, such as membrane optics, light detection and ranging (LIDAR) filters, windows for sensors and probes, telescopes, spectroscopes, cameras, light valves, light switches, and flat-panel displays. The proposed smart optics are based on the Stark and Zeeman effects in materials tailored with quantum dot arrays and thin films made from readily polarizable materials via ferroelectricity or ferromagnetism. Bound excitonic states of organic crystals are also capable of optical adaptability, tunability, and reconfigurability. To show the benefits of smart optics, this paper reviews spectral characteristics of smart optical materials and device technology. Experiments testing the quantum-confined Stark effect, arising from rare earth element doping effects in semiconductors, and applied electric field effects on spectral and refractive index are discussed. Other bulk and dopant materials were also discovered to have the same aspect of shifts in spectrum and refractive index. Other efforts focus on materials for creating field-controlled spectrally smart active optics (FCSAO) on a selected spectral range. Surface plasmon polariton transmission of light through apertures is also discussed, along with potential applications. New breakthroughs in micro scale multiple zone plate optics as a micro convex lens are reviewed, along with the newly discovered pseudo-focal point not predicted with conventional optics modeling. Micron-sized solid state beam scanner chips for laser waveguides are reviewed as well.

Structure modulated electrostatic deformable mirror for focus and geometry control.

We suggest a way to electrostatically control deformed geometry of an electrostatic deformable mirror (EDM) based on geometric modulation of a basement. The EDM is composed of a metal coated elastomeric membrane (active mirror) and a polymeric basement with electrode (ground). When an electrical voltage is applied across the components, the active mirror deforms toward the stationary basement responding to electrostatic attraction force in an air gap. Since the differentiated gap distance can induce change in electrostatic force distribution between the active mirror and the basement, the EDMs are capable of controlling deformed geometry of the active mirror with different basement structures (concave, flat, and protrusive). The modulation of the deformed geometry leads to significant change in the range of the focal length of the EDMs. Even under dynamic operations, the EDM shows fairly consistent and large deformation enough to change focal length in a wide frequency range (1~175 Hz). The geometric modulation of the active mirror with dynamic focus tunability can allow the EDM to be an active mirror lens for optical zoom devices as well as an optical component controlling field of view.

Thin film display based on polymer waveguides.

This paper reports thin, transparent, and soft displays based on polymer waveguides that are compliant with curvilinear interfaces. In order to prove a feasibility of optical waveguide for a flexible display, we suggest the waveguide fabricated by a multi-step lithography process using two photo-curable pre-polymers with different refractive index. The displays are composed of light sources, polymer waveguides, and scatter patterns. The light signal propagating through the waveguides forms images of the scatter patterns by deflecting the light signals to outer surface. The scatter patterns are configured to a seven-segment. The seven-segment design with a switching methodology of the light sources contributes to selectively representing all decimal numbers from 0 to 9 by combination of activated segments. For a large area display based on the proposed methodology, a single light source interconnected to multi-waveguide section is integrated with a QWERTY key pad design. The display shows high transparency and flexibility without visual distortion.

Polymer-waveguide-based flexible tactile sensor array for dynamic response.

A polymer-waveguide-based transparent and flexible force sensor array is proposed, which satisfies the principal requirements for a tactile sensor working on curvilinear surfaces, such as thinfilm architecture (thickness < 150 µm), localized force sensing (ca. 0-3 N), multiple-point re cognition (27 points), bending robustness (10.8% degradation at R = 1.5 mm), and fast response (bandwidth > 16 Hz).

Bistable large-strain actuation of interpenetrating polymer networks.

The bistable electroactive polymer is a new smart material capable of large strain, rigid-to-rigid actuation. At the rubbery state of the polymer heated to above its glass transition, stable electrically-induced actuation is obtained at strains as large as 150%. Electromechanical instability can be effectively overcome by the formation of interpenetrating polymer networks. An application as a refreshable braille display is demonstrated.

Intrinsically stretchable transparent electrodes based on silver-nanowire-crosslinked-polyacrylate composites.

Stretchable transparent composites have been synthesized consisting of a silver nanowire (AgNW) network embedded in the surface layer of a crosslinked poly(acrylate) matrix. The interpenetrating networks of AgNWs and the crosslinked polymer matrix lead to high surface conductivity, high transparency, and rubbery elasticity. The presence of carboxylic acid groups on the polymer chains enhances the bonding between AgNWs and the polymer matrix, and further increases the stretchability of the composites. The sheet resistance of the composite electrode increases by only 2.3 times at 50% strain. Repeated stretching to 50% strain and relaxation only causes a small increase of the sheet resistance after 600 cycles. The morphology of the composites during reversible stretching and relaxation has been investigated to expound the conductivity changes.

Transparent and flexible force sensor array based on optical waveguide.

This paper suggests a force sensor array measuring contact force based on intensity change of light transmitted throughout optical waveguide. For transparency and flexibility of the sensor, two soft prepolymers with different refractive index have been developed. The optical waveguide consists of two cladding layers and a core layer. The top cladding layer is designed to allow light scattering at the specific area in response to finger contact. The force sensor shows a distinct tendency that output intensity decreases with input force and measurement range is from 0 to -13.2 dB.