Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integratin...Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integrating separate actuators and sensors.The actuation performances and the sensing reliability are affected owing to the unmatched materials and weak connections.Realizing a seamless integration of soft actuators and sensors remains a grand challenge.Here,we report a fabrication strategy to endow soft actuators with sensing capability and programmable actuation performances.The foam inside the actuator functions as actuator and sensor simultaneously,effectively addressing the conformability and connection reliability issues that existed in current self-sensing actuators.The actuators are lightweight(a decrease of 58%in weight),powerful(lifting a load of 433 times of its own weight),and versatile(coupling twisting and contraction motions).Furthermore,the actuators are able to detect multiple physical stimuli with high reliability,demonstrating their exteroception and proprioception capability.Two self-sensing soft robotic prototypes,including a bionic bicep and a bionic neck,are constructed to illustrate their multifunctionality.Our study opens up new possibilities for the design of soft actuators and has promising potential in a variety of applications,ranging from human-robot interaction,soft orthotics,to wearable robotics.展开更多
Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is cha...Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is challenged by restricted electromagneticsensitivity and intricate sensing coupling. In this study, a sensitized polymericmicrowave actuator is fabricated by hybridizing a liquid crystal polymer with Ti3C2Tx(MXene). Compared to the initial counterpart, the hybrid polymer exhibits unique spacechargepolarization and interfacial polarization, resulting in significant improvements of230% in the dielectric loss factor and 830% in the apparent efficiency of electromagneticenergy harvest. The sensitized microwave actuation demonstrates as the shortenedresponse time of nearly 10 s, which is merely 13% of that for the initial shape memory polymer. Moreover, the ultra-low content of MXene (upto 0.15 wt%) benefits for maintaining the actuation potential of the hybrid polymer. An innovative self-powered sensing prototype that combinesdriving and piezoelectric polymers is developed, which generates real-time electric potential feedback (open-circuit potential of ~ 3 mV) duringactuation. The polarization-dominant energy conversion mechanism observed in the MXene-polymer hybrid structure furnishes a new approachfor developing efficient electromagnetic dissipative structures and shows potential for advancing polymeric electromagnetic intelligent devices.展开更多
The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sens...The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.展开更多
The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse...The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse piezoelectric effect. Therefore,we apply this micro-displacement to cell micro-flow injection. Moreover, due to the charge of the secondary direct piezoelectric effect,the piezoelectric ceramic stack is able to detect the force and displacement in the injection by itself. The experiments of first inverse piezoelectric effect and secondary direct piezoelectric effect are conducted. The experiment results show that,subjected to 0- 60 V input,the piezoelectric ceramic stack can generate 13. 45 μm displacement,and control accuracy can achieve 2 nm. It can completely meet the needs of cell micro-flow injection. Also,the experiments demonstrate that the micro-displacement due to the first inverse piezoelectric effect can be well self-sensed by the electric charge due to the secondary direct piezoelectric effect.展开更多
A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe...A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe2 alloy are studied as functions of compressive stress and magnetic field, and then used to determine the magnetization in its actuation. Then sensing of magnetic induction picked from a driving coil in an actuator is derived. The model is quick and efficient to solve moments rotation and its magnetization. Sensing results of compressive stress and magnetostriction calculated by the model are in good agreement with experiments and will be helpful in the design and control of self-sensing applications in actuators.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.52205073)Zhejiang Provincial Natural Science Foundation of China(Grant No.LD22E050002)+1 种基金China National Postdoctoral Program for Innovative Talents(Grant No.BX2021258)China Postdoctoral Science Foundation(Grant No.2022M710125)。
文摘Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integrating separate actuators and sensors.The actuation performances and the sensing reliability are affected owing to the unmatched materials and weak connections.Realizing a seamless integration of soft actuators and sensors remains a grand challenge.Here,we report a fabrication strategy to endow soft actuators with sensing capability and programmable actuation performances.The foam inside the actuator functions as actuator and sensor simultaneously,effectively addressing the conformability and connection reliability issues that existed in current self-sensing actuators.The actuators are lightweight(a decrease of 58%in weight),powerful(lifting a load of 433 times of its own weight),and versatile(coupling twisting and contraction motions).Furthermore,the actuators are able to detect multiple physical stimuli with high reliability,demonstrating their exteroception and proprioception capability.Two self-sensing soft robotic prototypes,including a bionic bicep and a bionic neck,are constructed to illustrate their multifunctionality.Our study opens up new possibilities for the design of soft actuators and has promising potential in a variety of applications,ranging from human-robot interaction,soft orthotics,to wearable robotics.
基金supported by the National Natural Science Foundation of China(No.52373280,52177014,51977009,52273257)。
文摘Polymeric microwave actuators combining tissue-like softness with programmablemicrowave-responsive deformation hold great promise for mobile intelligentdevices and bionic soft robots. However, their application is challenged by restricted electromagneticsensitivity and intricate sensing coupling. In this study, a sensitized polymericmicrowave actuator is fabricated by hybridizing a liquid crystal polymer with Ti3C2Tx(MXene). Compared to the initial counterpart, the hybrid polymer exhibits unique spacechargepolarization and interfacial polarization, resulting in significant improvements of230% in the dielectric loss factor and 830% in the apparent efficiency of electromagneticenergy harvest. The sensitized microwave actuation demonstrates as the shortenedresponse time of nearly 10 s, which is merely 13% of that for the initial shape memory polymer. Moreover, the ultra-low content of MXene (upto 0.15 wt%) benefits for maintaining the actuation potential of the hybrid polymer. An innovative self-powered sensing prototype that combinesdriving and piezoelectric polymers is developed, which generates real-time electric potential feedback (open-circuit potential of ~ 3 mV) duringactuation. The polarization-dominant energy conversion mechanism observed in the MXene-polymer hybrid structure furnishes a new approachfor developing efficient electromagnetic dissipative structures and shows potential for advancing polymeric electromagnetic intelligent devices.
基金The financial support from the National Natural Science Foundation of China (32201179)Guangdong Basic and Applied Basic Research Foundation (2020A1515110126 and 2021A1515010130)+1 种基金the Fundamental Research Funds for the Central Universities (N2319005)Ningbo Science and Technology Major Project (2021Z027) is gratefully acknowledged。
文摘The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.
基金Sponsored by the Youths Science Foundation of Heilongjiang Province(Grant No.QC08C09)the Educational Committee Science Foundation of Heilongjiang Province(Grant No.11541272)
文摘The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse piezoelectric effect. Therefore,we apply this micro-displacement to cell micro-flow injection. Moreover, due to the charge of the secondary direct piezoelectric effect,the piezoelectric ceramic stack is able to detect the force and displacement in the injection by itself. The experiments of first inverse piezoelectric effect and secondary direct piezoelectric effect are conducted. The experiment results show that,subjected to 0- 60 V input,the piezoelectric ceramic stack can generate 13. 45 μm displacement,and control accuracy can achieve 2 nm. It can completely meet the needs of cell micro-flow injection. Also,the experiments demonstrate that the micro-displacement due to the first inverse piezoelectric effect can be well self-sensed by the electric charge due to the secondary direct piezoelectric effect.
基金Project supported by the National Preeminent Youth Foundation(Grant No.51225702)the National Natural Science Foundation of China(Grant No.51177024)
文摘A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe2 alloy are studied as functions of compressive stress and magnetic field, and then used to determine the magnetization in its actuation. Then sensing of magnetic induction picked from a driving coil in an actuator is derived. The model is quick and efficient to solve moments rotation and its magnetization. Sensing results of compressive stress and magnetostriction calculated by the model are in good agreement with experiments and will be helpful in the design and control of self-sensing applications in actuators.
