Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing interest in soft robotics. By empowering robots with new physical properties, autonomous actuation, and sensing mechanisms, soft robots are making increasing impacts on areas such as health and medicine. At the same time, the public sympathy to robots is increasing. However, there is still a great need for innovation to push robotics toward more diverse applications. To overcome the major limitation of soft robots, which lies in their softness, strategies are being explored to combine the capabilities of soft robots with the performance of hard metallic ones by using composite materials in their structures. After reviewing the major specificities of hard and soft robots, paths to improve actuation speed, stress generation, self-sensing, and actuation will be proposed. Innovations in controlling systems, modeling, and simulation that will be required to use composite materials in robotics will be discussed. Finally, based on recently developed examples, the elements needed to progress toward a new form of artificial life will be described.

Materials can be endowed with unique properties by the integration of molecular motors. Molecular motors can have a biological origin or can be chemically synthesized and produce work from chemical energy or light. Their ability to access large internal or external reservoirs of energy enables a wide range of nonequilibrium behaviors, including the production of force, changes in shape, internal reorganization, and dynamic changes in mechanical properties—muscle tissue is one illustration of the possibilities. Current research efforts advance our experimental capabilities to create such “active matter” by using either biomolecular or synthetic motors, and also advance our theoretical understanding of these materials systems. Here, we introduce this exciting research field and highlight a few of the recent advances as well as open questions.

The piezoelectric properties of lead-free ferroelectric materials have been dramatically improved over the past two decades. For some limited applications, their properties have reached the same levels or have even surpassed the properties of the benchmark lead-based material Pb(Zr,Ti)O3 (PZT). Initial commercial lead-free products, including powders, ceramic components, films, and devices (e.g., ultrasonic cleaner, knocking sensor), are now available on the market. Several prototype devices, such as inkjet printheads, ultrasonic motors, angular sensors, and energy harvesters, have been developed. Their overall performance is still inferior to that of PZT-based devices; however, these prototypes and products point the way for future applications. Here, we provide an overview of recent industrial developments in the field and discuss the main advantages and disadvantages of lead-free piezoceramics for individual applications.

Electroactive conducting polymers are suitable for soft actuators (artificial muscles). The actuation is induced by electrochemical oxidation of conducting polymer (film) in an electrolyte solution, due to insertion of bulky counter ions (dopant ions). The magnitude of deformation (strain) depends on the size of dopant ions and the degree of oxidation. It is worthwhile to know the relationship between the magnitudes of deformation and ion size. An electrodeposited Polypyrrole film was electrochemically cycled in aqueous electrolytes of NaCl, NaBr, NaNO3, NaBF4 and NaClO4. The strain of film during electrochemical oxidation and reduction was precisely measured using a laser displacement meter and a handmade apparatus. From the strain and electrical charges inserted in the film during oxidation, the volumes and radii of dopant ions were estimated, assuming the isotropic expansion of the film. The estimated anion radii of Cl-, Br-, NO3-, BF4- and ClO4- were 235, 246, 250, 270 and 290, respectively. The results were discussed taking the crystallographic and hydrated ion radii in literatures into consideration.

This paper reports on what differentiates the field of soft (i.e. soft-bodied) robotics from the conventional hard (i.e. rigid-bodied) robotics. The main difference centres on seamlessly combining the actuation, sensing, motion transmission and conversion mechanism elements, electronics and power source into a continuum body that ideally holds the properties of morphological computation and programmable compliance (i.e. softness). Another difference is about the materials they are made of. While the hard robots are made of rigid materials such as metals and hard plastics with a bulk elastic modulus of as low as 1 GPa, the monolithic soft robots should be fabricated from soft and hard materials or from a strategic combination of them with a maximum elasticity modulus of 1 GPa. Soft smart materials with programmable mechanical, electrical and rheological properties, and conformable to additive manufacturing based on 3D printing are essential to realise soft robots. Selecting the actuation concept and its power source, which is the first and most important step in establishing a robot, determines the size, weight, performance of the soft robot, the type of sensors and their location, control algorithm, power requirement and its associated flexible and stretchable electronics. This paper outlines how crucial the soft materials are in realising the actuation concept, which can be inspired from animal and plant movements.

Macroscopic assembling of responsive hydrogels has been used to construct soft actuators that transform their shape upon external stimuli. It remains a challenge to establish a robust assembling interface between gels. Here, we demonstrate a fabrication of bilayered hydrogel actuators assembled by host-guest recognition at the interface. The supramolecular recognition enabled efficient, rapid, and robust macroscopic assembling of hydrogels, which was utilized to create gel bilayers that were actuated upon unbalanced swelling/deswelling.

Compliant robots, a class of so-called soft robots, made from elastomeric materials, require flexible or stretchable sensors for functional sophistication beyond that of open-loop controls and actuations. These robots have expanded the scope of research in robotics from fast, strong, and precise industrial manufacturing toward new needs of adaptation and safety—the realm of human–robot interactions (HRIs). HRIs include circumstances ranging from existing tasks such as vacuum cleaning to the far-reaching goal of direct contact with the heart for ventricular assist devices, and wearable robots as an intermediate task for force-augmenting exoskeletons. Toward these goals, many efforts are being made to impart sensation for feedback control via flexible or stretchable sensors that can be integrated with the soft bodies of these robots without hindering their motion or reducing their safety. This article briefly reviews the key techniques and tradeoffs for designing and fabricating these sensors. We describe the sensors that our research group uses for fluidically powered soft robots. We conclude with some perspectives about future directions of sensing integration for improved autonomy and interaction with humans in close proximity.

This work explores responsive hydrophilic polymers for convergent functions of climate control with architectural material systems. In buildings, the transition across exterior and interior space occurs through the envelope, which is an enclosure system that mediates heat, light, air and moisture transfer functions. Conventional building envelopes are typically constructed to form a barrier that insulates and hermetically separates outdoor and indoor conditions. The dynamic environmental responses of superporous intelligent hydrogels are shown to be beneficial at the interior layer of a double-skin glazing system for building envelope applications. If the hydrogels are integral to the building envelope system, then various environmental functions (such as natural daylighting, heat transfer, airflow and moisture control) can be achieved through integrated actuators to result in improved building energy performance.

The composite embodiments emulate bio-analytical functions when embedded microbore-tube water channels serve as actuators for swelling and deswelling kinetics respectively. Each prototype is conceived in response to hot-arid climate contexts. The prototype presented here is a lightweight ventilation cooling and daylighting system. Initial prototypes are inserted into an environmental test-bed that is consequently divided into two chambers to represent an outdoor and indoor condition. The input chamber includes controllable heat and light elements that affect the dynamics of the hydrogel system. The output chamber on the opposite side of the prototype division includes temperature, humidity and photo sensors that are connected to an Arduino board for data collection. Dependent upon the environmental conditions of chamber two, a control program actuates small hydro-pump to saturate the gels with water.

The initial results provide correlations between mechanical (elasticity) and thermal (conductivity) properties. Current work in progress includes documentation of average rates for sorption-desorption kinetics and correlations between saturation loading and visible transmittance. The physical test data will also be integrated into building-scale energy performance simulations and hygrothermal transfer numerical analysis for building envelope compositions. The embedded material logic of the hydrogel is exploited in an architectural configuration for a convergence of prior building mechanical system and building envelope functions. The current work demonstrates a highly promising application of soft-skin membranes for much needed reductions in energy consumption within the building sector.

Graphynes and graphdiynes are carbon 2D allotrope structures presenting both sp2 and sp hybridized atoms. These materials have been theoretically predicted but due to intrinsic difficulties in their synthesis, only recently some of these structures have been experimentally realized. Graphyne nanoscrolls are structures obtained by rolling up graphyne sheets into papyrus-like structures. In this work, we have investigated, through fully atomistic reactive molecular dynamics simulations, the dynamics of nanoscroll formation for a series of graphyne (α, β, and δ types) structures. We have also investigated their thermal stability for a temperature range of 200-1000K. Our results show that stable nanoscrolls can be formed for all structures considered here. Their stability depends on a critical value of the ratio between length and height of the graphyne sheets. Our findings also show that these structures are structurally less stable then graphene-based nanoscrolls. This can be explained by the graphyne higher structural porosity which results in a decreased pi-pi stacking interactions.

We report the use of a novel extrusion tip that allows for the omnidirectional printing of eutectic gallium-indium (eGaIn) alloy onto the surface of hydrogel materials into complex 2-dimensional patterns. The use of these printed soft “wires” as an electrothermal heating element for soft robotics purposes was explored. Heating of the eGaIn structures encapsulated in an alginate/acrylamide ionic-covalent entanglement hydrogel was measured by a thermal imaging camera. It was determined that eGaIn is a suitable material for use in future soft robotics applications as an electrothermal heating element to actuate thermally responsive N-isoproylacrylamide hydrogels.

Soft robots are being developed to mimic the movement of biological organisms and as wearable garments to assist human movement in rehabilitation, training, and tasks encountered in functional daily living. Stretchable artificial muscles are well suited as the active mechanical element in soft wearable robotics, and here the performance of highly stretchable and compliant polymer coil muscles are described and analyzed. The force and displacements generated by a given stimulus are shown to be determined by the external loading conditions and the main material properties of free stroke and stiffness. Spring mechanics and a model based on a single helix are used to evaluate both the coil stiffness and the mechanism of coil actuation. The latter is directly coupled to a torsional actuation in the twisted fiber that forms the coil. The single helix model illustrates how fiber volume changes generate a partial fiber untwist, and spring mechanics shows how this fiber untwist generates large tensile strokes and high gravimetric work outputs in the polymer coil muscles. These analyses highlight possible as yet unexplored means for further enhancing the performance of these systems.

Materials that can expand and collapse, fold, and transform into a variety of shapes have attracted significant interest and have applications in the design of flexible electronics, color displays, smart windows, actuators, sensors, and both photonic and phononic devices. But how can we render a rigid device super-flexible so that it can wrap around a sphere without bending and stretching? How can flat surfaces be transformed into any desired three-dimensional (3D) structure without disruptive or catastrophic deformation? The key lies in cuts. Here, we review recent research progress in the design of super-conformable and foldable materials by employing fractal cutting and lattice-based kirigami elements that combine cutting and folding. By prescribing cuts with different motifs, identifying edges in the right geometry, and by programming the folding directions, we show that a single flat sheet can be transformed into a variety of targeted 2D and 3D structures—a pluripotent platform for new technologies.

Controlling the bending properties of ionic polymer-metal composites may immediately affect their implementation in robotics and medicine. In the present work, we propose a direct patterning method for the ionic polymer Nafion using conventional electron-beam writing. In a proof-of-concept study, we show that patterns of arbitrary geometry and sizes between 1 µm and 50 µm can be engraved into the polymer surface without using resists. Pattern depth can be deliberately controlled by adjusting the exposure dose. The patterns were stable even after prolonged immersion in ionic solution. The presented technique therefore opens up the possibility to create unique electrode geometries and to investigate independently the effect of pattern size, density, depth as well as geometry on ionic polymer-metal composite bending.

Soft conducting elastomers have been prepared from polydimethylsiloxane-polyethyleneglycol (PDMS-PEG) copolymer and surfactant-stabilized multi-walled carbon nanotubes (MWCNTs). The copolymer was chain-extended with PDMS of molecular weight 17.2 kg mol-1 in order to obtain a crosslinkable PDMS with molecular weight around 20 – 30 kg mol-1. MWCNTs were treated with surfactant and sonicated for better dispersion in the polymer matrix. The conductivity and mechanical properties of conducting elastomers were thoroughly investigated including stress and strain at break. The developed conducting elastomers showed high conductivity combined with inherent softness. The high conductivity and softness, PDMS-PEG copolymers with incorporated MWCNTs hold great promises as compliant and highly stretchable electrodes for stretchable devices such as electro-mechanical transducers.

The past few years have seen the introduction of a number of 3D and 4D printingtechniques used to process tough hydrogel materials. The use of‘color’ 3D printing technology where multiple inks areused in the one print allows for the production of composite materials andstructures that can further enhance the mechanical performance of the printedhydrogel. This article reviews a number of 3D and 4D printing techniques forfabricating functional hydrogel based devices.

Tough and responsive hydrogels have recently attracted great research interestsfor potential applications in artifical muscles, soft robotics, and actuators,etc. This paper overviews our recent progresses in the design and synthesis ofhydrogels with very high strength and toughness, and actuators based on thesehydrogels. Inorganic nanospheres, nanorods, and nanosheets are exploited asmulti-functional crosslinkers to adsorb or bond with hydrophilic chains, leadingto hydrogels with very high strength, toughness, fatigue resistance, and/orself-healing. Introduction of functional groups including ionic monomers andamino groups results in hydrogels reponsive to pH, ionic strength and electricfield. Besides, ionoprinting has been used to change local crosslink densitybased on reversible chelating/decomposition of metal ions with functionalgroups. This process is rapid and thus enables reversible and rapid actuation ofhydrogel devices. Our studies will further aim to develop sophiscated devices byassembling hydrogel actuators.

Recently, compact and high-resolution camera modules with auto-focusing (AF) function have been integrated into cell phones in order to capture sharp photographs. Consumer demands AF camera modules in cell phones to have high performance with low cost. Accordingly, the present study proposes a new electromagnetic design of miniature AF voice coil motor (VCM) actuator with closed-loop control for cell phone camera modules to satisfy the requirements. The structure of the proposed AF VCM actuators was designed by using simulation methods. The performance of the proposed AF VCM actuators was demonstrated by a laboratory-built prototype. The experimental results have shown that the proposed AF VCM actuator has excellent performance with lower power consumption, higher positioning repeatability, and lower cost, when compared to previous AF VCM actuators with open-loop control or closed-loop control.

We recently fabricated and characterized a new class of multilayer dielectric elastomer films comprising alternating layers of two different polymers, at least one of which is an elastomer. The films discussed here contain THV (a terpolymer of poly(vinylidene fluoride)) and poly(ethylene octene) [EO] elastomer. The multilayer structure provides improved dielectric and electromechanical performance relative to monolithic films of THV or EO. These properties are controlled by the composition and the layer structure. For example, increasing the concentration of the elastomeric EO component increases the maximum axial strain (sz). Layering EO with THV also increases the breakdown strength (EB ∼ 265 - 300 V/µm) relative to monolithic EO (EB ∼ 150 V/µm) or THV (EB ∼ 245 V/µm) control films. This enhancement in breakdown strength is consistent with a barrier effect that is also observed in multilayer polymer capacitor films. The increase in breakdown strength allows 512-layer 75 vol% EO / 25 vol% THV films to achieve maximum axial strains of sz nearly 4%, higher than can be attained by either EO or THV films alone. In addition, layering reduces remnant strain and electromechanical hysteresis by limiting the effective field within the THV layers. The 75% EO/ 25% THV films show robust operational longevity with little loss in axial strain when subjected to repeated actuation at Emax = 225 V/µm (producing sz = 2.2%). Under these conditions, we observe 3,000 consecutive actuation cycles with no electrical breakdown. In comparison, single component EO control films undergo electrical breakdown at this field and THV control films survive only a few hundred actuation cycles under these conditions. The results demonstrate that multilayering is an effective technique to increase the dielectric strength of elastomer materials and in turn improve upon strain and operational longevity (repeated actuation cycles) characteristics.

The reverse martensitic (austenite) transformation temperatures (As) were investigated using a diffusion couple of PtTi and CoTi with a continuous compositional gradient. It was found that PtTi and CoTi form a complete solid solution of (Pt, Co)Ti at 1373K. Surface relief was formed by heating due to the austenite transformation. Judging from the formation of the surface patterns and the corresponding chemical compositions, As monotonously decreases with increasing Co content at a rate of -70K/at%Co, and As is estimated to be close to room temperature (RT) when the Co concentration is 15at%Co. Besides, micro Vickers hardness values measured at RT are minimized around 15at%Co.