Self-powered soft robot in the Mariana Trench.

The deep sea remains the largest unknown territory on Earth because it is so difficult to explore1-4. Owing to the extremely high pressure in the deep sea, rigid vessels5-7 and pressure-compensation systems8-10 are typically required to protect mechatronic systems. However, deep-sea creatures that lack bulky or heavy pressure-tolerant systems can thrive at extreme depths11-17. Here, inspired by the structure of a deep-sea snailfish15, we develop an untethered soft robot for deep-sea exploration, with onboard power, control and actuation protected from pressure by integrating electronics in a silicone matrix. This self-powered robot eliminates the requirement for any rigid vessel. To reduce shear stress at the interfaces between electronic components, we decentralize the electronics by increasing the distance between components or separating them from the printed circuit board. Careful design of the dielectric elastomer material used for the robot's flapping fins allowed the robot to be actuated successfully in a field test in the Mariana Trench down to a depth of 10,900 metres and to swim freely in the South China Sea at a depth of 3,224 metres. We validate the pressure resilience of the electronic components and soft actuators through systematic experiments and theoretical analyses. Our work highlights the potential of designing soft, lightweight devices for use in extreme conditions.

Resilient yet entirely degradable gelatin-based biogels for soft robots and electronics.

Biodegradable and biocompatible elastic materials for soft robotics, tissue engineering or stretchable electronics with good mechanical properties, tunability, modifiability or healing properties drive technological advance, and yet they are not durable under ambient conditions and do not combine all the attributes in a single platform. We have developed a versatile gelatin-based biogel, which is highly resilient with outstanding elastic characteristics, yet degrades fully when disposed. It self-adheres, is rapidly healable and derived entirely from natural and food-safe constituents. We merge all the favourable attributes in one material that is easy to reproduce and scalable, and has a low-cost production under ambient conditions. This biogel is a step towards durable, life-like soft robotic and electronic systems that are sustainable and closely mimic their natural antetypes.

Mechanical characterization and modeling of sponge-reinforced hydrogel composites under compression.

Load-bearing applications of hydrogels call for materials with excellent mechanical properties. Despite the considerable progress in developing tough hydrogels, there is still a requirement to prepare high-performance hydrogels using simple strategies. In this paper, a sponge-reinforced hydrogel composite is synthesized by combining poly(acrylamide) (PAAm) hydrogel and polyurethane (PU) sponge. Uniaxial compressive testing of the hydrogel composites reveals that both the compressive modulus and the strength of the hydrogel composites are much higher than those of the PAAm hydrogel or sponge. In order to predict the compressive modulus of the hydrogel composite, we develop a theoretical model that is validated by experiments and numerical simulations. The present work may guide the design and manufacture of hydrogel-based composite materials, especially for biomaterial scaffolds and soft transducers.

Nucleation and propagation of voltage-driven wrinkles in an inflated dielectric elastomer balloon.

Dielectric elastomer (DE) transducers frequently undergo voltage-induced large deformation, which may lead to mechanical instabilities. Here, we investigate wrinkle formation and propagation on the surface of a DE membrane mounted on an air chamber and subjected to a step voltage. Our experiments show that the geometric characteristics of the wrinkle morphology and the nucleation sites depend on the inflation pressure and the applied voltage. As the inflation pressure increases, the critical voltage used to nucleate the wrinkle decreases, while the location where the wrinkle nucleates shifts from the center to the boundary of the membrane. Moreover, by increasing the amplitude of the applied voltage, wrinkle morphology changes from stripe-like wrinkles to labyrinth-like wrinkles. Furthermore, we develop an analytical model to validate the experimental observations and map out the various wrinkle morphologies as a function of the applied pressure and voltage. A three dimensional phase diagram is constructed to help design new soft actuators.

Ultrafast small-scale soft electromagnetic robots.

High-speed locomotion is an essential survival strategy for animals, allowing populating harsh and unpredictable environments. Bio-inspired soft robots equally benefit from versatile and ultrafast motion but require appropriate driving mechanisms and device designs. Here, we present a class of small-scale soft electromagnetic robots made of curved elastomeric bilayers, driven by Lorentz forces acting on embedded printed liquid metal channels carrying alternating currents with driving voltages of several volts in a static magnetic field. Their dynamic resonant performance is investigated experimentally and theoretically. These robust and versatile robots can walk, run, swim, jump, steer and transport cargo. Their tethered versions reach ultra-high running speeds of 70 BL/s (body lengths per second) on 3D-corrugated substrates and 35 BL/s on arbitrary planar substrates while their maximum swimming speed is 4.8 BL/s in water. Moreover, prototype untethered versions run and swim at a maximum speed of 2.1 BL/s and 1.8 BL/s, respectively.

iSens: A Fiber-Based, Highly Permeable and Imperceptible Sensor Design.

Embedded sensors are key to optimizing processes and products; they collect data that allow time, energy, and materials to be saved, thereby reducing costs. After production, they remain in place and are used to monitor the long-term structural health of buildings or aircraft. Fueled by climate change, sustainable construction materials such as wood and fiber composites are gaining importance. Current sensors are not optimized for use with these materials and often act as defects that cause catastrophic failures. Here, flexible, highly permeable, and imperceptible sensors (iSens) are introduced that integrate seamlessly into a component. Their porous substrates are readily infused with adhesives and withstand harsh conditions. In situ resistive temperature measurements and capacitive sensing allows monitoring of adhesives curing as used in wooden structures and fiber composites. The devices also act as heating elements to reduce the hardening time of the glue. Results are analyzed using numerical simulations and theoretical analysis. The suggested iSens technology is widely applicable and represents a step towards realizing the Internet of Things for construction materials.

Soft electromagnetic actuators.

Rigid electromagnetic actuators serve our society in a myriad of ways for more than 200 years. However, their bulky nature restricts close collaboration with humans. Here, we introduce soft electromagnetic actuators (SEMAs) by replacing solid metal coils with liquid-metal channels embedded in elastomeric shells. We demonstrate human-friendly, simple, stretchable, fast, durable, and programmable centimeter-scale SEMAs that drive a soft shark, interact with everyday objects, or rapidly mix a dye with water. A multicoil flower SEMA with individually controlled petals blooms or closes within tens of milliseconds, and a cubic SEMA performs programmed, arbitrary motion sequences. We develop a numerical model supporting design and opening potential routes toward miniaturization, reduction of power consumption, and increase in mechanical efficiency. SEMAs are electrically controlled shape-morphing systems that are potentially empowering future applications from soft grippers to minimally invasive medicine.

A Wearable Capacitive Sensor Based on Ring/Disk-Shaped Electrode and Porous Dielectric for Noncontact Healthcare Monitoring.

Wearable sensors are gradually enabling decentralized healthcare systems. However, these sensors need to be closely attached to skin, which is unsuitable for long-term dynamic health monitoring of the patients, such as infants or persons with burn injuries. Here, a wearable capacitive sensor based on the capacitively coupled effect for healthcare monitoring in noncontact mode is reported. It consists of a ring-shaped top electrode, a disk-shaped bottom electrode, and a porous dielectric layer with low permittivity. This unique design enhanced the capacitively coupled effect of the sensor, which enables a high noncontact detectivity of capacitance change. When an object approaches the sensor, its capacitance change (ΔC/C i = -38.7%) is 3-5 times higher than that of previously reported sensors. Meanwhile, the sensor is insensitive to the stretching strain and pressure (ΔC/C i < 5%) due to the unique ring-shaped electrode and the incompressible closed cells of the porous dielectric material, respectively. Finally, various human physiological signals (pulse and respiratory) are recorded in noncontact mode, where a person wears loose and soft clothes implanted with the sensor. Thus, it is promising to build smart healthcare clothes based on it to develop wearable decentralized healthcare systems.

Dual pH-Responsive Hydrogel Actuator for Lipophilic Drug Delivery.

As one of the most promising drug delivery carriers, hydrogels have received considerable attention in recent years. Many previous efforts have focused on diffusion-controlled release, which allows hydrogels to load and release drugs in vitro and/or in vivo. However, it hardly applies to lipophilic drug delivery due to their poor compatibility with hydrogels. Herein, we propose a novel method for lipophilic drug release based on a dual pH-responsive hydrogel actuator. Specifically, the drug is encapsulated and can be released by a dual pH-controlled capsule switch. Inspired by the deformation mechanism of Drosera leaves, we fabricate the capsule switch with a double-layer structure that is made of two kinds of pH-responsive hydrogels. Two layers are covalently bonded together through silane coupling agents. They can bend collaboratively in a basic or acidic environment to achieve the "turn on" motion of the capsule switch. By incorporating an array of parallel elastomer stripes on one side of the hydrogel bilayer, various motions (e.g., bending, twisting, and rolling) of the hydrogel bilayer actuator were achieved. We conducted an in vitro lipophilic drug release test. The feasibility of this new drug release method is verified. We believe this dual pH-responsive actuator-controlled drug release method may shed light on the possibilities of various drug delivery systems.

A Lesson from Plants: High-Speed Soft Robotic Actuators.

Rapid energy-efficient movements are one of nature's greatest developments. Mechanisms like snap-buckling allow plants like the Venus flytrap to close the terminal lobes of their leaves at barely perceptible speed. Here, a soft balloon actuator is presented, which is inspired by such mechanical instabilities and creates safe, giant, and fast deformations. The basic design comprises two inflated elastomer membranes pneumatically coupled by a pressurized chamber of suitable volume. The high-speed actuation of a rubber balloon in a state close to the verge of mechanical instability is remotely triggered by a voltage-controlled dielectric elastomer membrane. This method spatially separates electrically active and passive parts, and thereby averts electrical breakdown resulting from the drastic thinning of an electroactive membrane during large expansion. Bistable operation with small and large volumes of the rubber balloon is demonstrated, achieving large volume changes of 1398% and a high-speed area change rate of 2600 cm2 s-1. The presented combination of fast response time with large deformation and safe handling are central aspects for a new generation of soft bio-inspired robots and can help pave the way for applications ranging from haptic displays to soft grippers and high-speed sorting machines.

Agile and Resilient Insect-Scale Robot.

A key challenge in bioinspired insect-scale running robots is to make them both agile and resilient. In this study, we develop a dielectric elastomer actuated soft robot that mimics inchworms. We use an elastomer to make the soft body, a stretchable dielectric to provide electrostatic actuation of high power density, and multizone actuation to achieve ratcheting locomotion. We fabricate the body, muscles, and feet in a single piece, with no internal open space. The robot runs four times its body length per second and turns at a radius about three times its body length in 0.3 s. The robot survives compression 30,000 times its own weight and survives collision with a rigid surface at a speed of 30 m/s. The robot can climb a slope of 30°. Walking on a horizontal plane, the robot carries a payload four times its own weight. The robot can operate on land, underwater, and in vacuum. The simplicity in design and fabrication will enable the robot to serve as a model system to investigate insect-scale actuation and locomotion, as well as the social behavior of swarms of robots. The robot also provides a platform to integrate wireless charging, mobile communication, and stretchable electronics.