Search Results (9)

Alginate hydrogels offer distinct advantages as ionically crosslinked, biocompatible networks that can be shaped into spherical beads with high compositional flexibility. These spherical architectures provide isotropic geometry, modularity and the capacity for encapsulation, making them ideal platforms for scalable, stimuli-responsive actuation. Their ability to respond to thermal, magnetic, electrical, optical and chemical stimuli has enabled applications in targeted delivery, artificial muscles, microrobotics and environmental interfaces. This review examines recent advances in alginate sphere-based actuators, focusing on fabrication methods such as droplet microfluidics, coaxial flow and functional surface patterning, and strategies for introducing multi-stimuli responsiveness using smart polymers, nanoparticles and biologically active components. Actuation behaviours are understood and correlated with physical mechanisms including swelling kinetics, photothermal effects and the field-induced torque, supported by analytical and multiphysics models. Their demonstrated functionalities include shape transformation, locomotion and mechano-optical feedback. The review concludes with an outlook on the existing limitations, such as the material stability, cyclic durability and integration complexity, and proposes future directions toward the development of autonomous, multifunctional soft systems. Full article

To achieve the actuation of silicone-based foamed composites, a liquid–gas phase transition of the liquid captured in its pores is employed. The uncertainty of key parameters for a single or sequential open-air performance of such soft actuators limits their application. To define the main characteristics of the composites, in this work, two functions of the liquid there were separated: the pore-forming agent (FPA) and working liquid (WL). It was demonstrated that the composites can be fabricated using either ethanol or methanol as the PFA, while any of the C1-C4 alcohols can be used as the WL. The results of the sequential actuation tests of the composites revealed that pore formation depends on the composite viscosity during curation, while their expansion in single heat experiments can be approximated by a unified linear relation. Based on a Mendeleev–Clapeyron equation, the qualitative model for predicting the actuator strain is proposed. It was found that the composites with C3–C4 alcohols as the WL outperform ethanol-containing composites on the number of cycles survived under open-air conditions. These findings pave the way to control the operation of soft actuators by manipulating WL variation and PFA content during the composite cure to set the operation temperature and degree of expansion of pre-formed actuators. Full article

High-performance electroactive polymer actuators with large bending, fast response, and high durability have gained attention in the development of micromanipulators and multifunctional bionic soft robots. Herein, we developed high-performance electroactive soft actuators fabricated with ultrathin free-standing microfibrillated cellulose (MFC)-reinforced poly(3,4-ethylenedioxythiophene)/poly(4-styrenesulfonate) (PEDOT/PSS) with multi-walled carbon nanotube (MWCNT)-doped composite electrode films and ion-exchange Nafion membranes by a hot-pressing method. The prepared PEDOT/PSS-MFC-MWCNT electrodes have good film-forming properties with a Young’s modulus of 448 MPa and an electrical conductivity of 75 S/cm. The proposed PEDOT/PSS-MFC-MWCNT/Nafion soft actuators have a sustained peak displacement of 2.1 mm and a long-term cyclic stability of 94% with no degradation over 1 h at 1.0 V, 0.1 Hz. Furthermore, we fabricated soft micro-grippers based on the actuators for mimicking actual finger actions for grasping, pointing, and counting, which introduces new possibilities for the next-generation development of micromanipulators and bionic soft robotics. Full article

Additive manufacturing (AM) offers new possibilities in soft robotics as materials can easily be combined in multi-material designs. Proper sensing is essential for the soft actuators to interact with the surroundings successfully. By fabricating sensors through AM, sensors can be embedded directly into the components during manufacturing. This paper investigates NinjaTek Eels electrical resistance response to strain and the feasibility of using the material to create strain sensors. Strain sensors were 3D-printed out of NinjaTek Eel, a soft conductive TPU, and was tested during cyclic loading. A custom resistance–strain test rig was developed for measuring sensor behavior. The rig was calibrated for electric resistance, able to measure electric resistance as a function of strain. A parabolic response curve was observed during cyclic loading, which led to ambiguous readings. A 10-specimen validation test was conducted, evaluating the statistical variation for the first 100 loading cycles. The validation test showed that the sensor is capable of accurate and predictable readings during single load cases and cyclic loading, with the overall root mean square error being 66.9 Ω. Combining two sensors of different cross-sections gave promising results in terms of calibrating. By monitoring load cycles and strain rates, calibration can also be achieved by machine learning models by the microcontroller used to extract data. The presented work in this article explores the potential of using conductive TPUs as sensors embedded in products such as soft robotics, life monitoring of products with structural, and digital twins for live product to user feedback. Full article

Microcrystalline cellulose (MC) with 50 wt.% multi-walled carbon nanotube (MCNT) composites is obtained through extrusion, forming MC-MCNT fiber. In this study, we concentrate on three different electrolytes in propylene carbonate (PC) which have the same anions (TF⁻, trifluoro-methanesulfonate CF₃SO₃⁻) but different cations, EDMI⁺ (1-ethyl-2,3-dimethylimidazolium), Li⁺ (lithium ion), and TBA⁺ (tetrabutylammonium). Cyclic voltammetry and square wave potential steps, in combination with linear actuation measurements in a potential range of 0.7 V to −0.2 V, were conducted. Our goal in this work was to establish a cation-selective actuator–sensor device capable of distinguishing different cations. The linear actuation of MC-MCNT fiber had its main expansion at discharge due to the incorporation of TF⁻ in the MC-MCNT fiber with the cations. In the following order, TBA⁺ > EDMI⁺ > Li⁺ had the best stress, strain, charge density, diffusion coefficients, and long-term stability. Chronopotentiometric measurements revealed that the cations in the PC solvent can be differentiated by their ion sizes. Further characterization of the MC-MCNT fiber was completed using scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDX), and FTIR and Raman spectroscopy. Full article

This paper demonstrates the effectiveness of a hierarchical design framework in developing environment-specific behaviour for fluid-actuated soft robots. Our proposed framework employs multi-step optimisation and reduced-order modelling to reduce the computational expense associated with simulating non-linear materials used in the design process. Specifically, our framework requires the designer to make high-level decisions to simplify the optimisations, targeting simple objectives in earlier steps and more complex objectives in later steps. We present a case study, where our proposed framework is compared to a conventional direct design approach for a simple 2D design. A soft pneumatic bending actuator was designed that is able to perform asymmetrical motion when actuated cyclically. Our results show that the hierarchical framework can find almost 2.5 times better solutions in less than 3% of the time when compared to a direct design approach. Full article

Cyclic mechanical stretching, including uniaxial strain, has been manifested to regulate the cell morphology and functions directly. In recent years, many techniques have been developed to apply cyclic mechanical stretching to cells in vitro. Pneumatically actuated stretching is one of the extensively used methods owing to its advantages of integration, miniaturization, and long-term stretching. However, the intrinsic difficulty in fabrication and adjusting the strain mode also impedes its development and application. In this study, inspired by the topological defects principle, we incorporated a ridge structure into the membrane surface of a traditional pneumatic cavity stretching chip to regulate the strain mode. Our results showed that the surface ridge structure can directly change the equiaxial stretching mode to the standard uniaxial strain, and it is ridge width-independent. The uniaxial strain mode was further proved by the cell orientation behavior under cyclic stretching stimulation. Moreover, it is easy to realize the multimodal strain fields by controlling the width and height of the ridge and to achieve high-throughput testing by creating a cavity array using microfabrication. Together, we propose a smart method to change the surface strain field and introduce a simple, yet effective, high-throughput pneumatically actuated uniaxial stretching platform, which can not only realize the multimodal mechanical stimulation but also achieve multiscale mechanosensing behaviors of single-cell or multi-cell (tissue and/or organoid) mechanobiology applications. Full article

The actuation of silicone/ethanol soft composite material-actuators is based on the phase change of ethanol upon heating, followed by the expansion of the whole composite, exhibiting high actuation stress and strain. However, the low thermal conductivity of silicone rubber hinders uniform heating throughout the material, creating overheated damaged areas in the silicone matrix and accelerating ethanol evaporation. This limits the actuation speed and the total number of operation cycles of these thermally-driven soft actuators. In this paper, we showed that adding 8 wt.% of diamond nanoparticle-based thermally conductive filler increases the thermal conductivity (from 0.190 W/mK to 0.212 W/mK), actuation speed and amount of operation cycles of silicone/ethanol actuators, while not affecting the mechanical properties. We performed multi-cyclic actuation tests and showed that the faster and longer operation of 8 wt.% filler material-actuators allows collecting enough reliable data for computational methods to model further actuation behavior. We successfully implemented a long short-term memory (LSTM) neural network model to predict the actuation force exerted in a uniform multi-cyclic actuation experiment. This work paves the way for a broader implementation of soft thermally-driven actuators in various robotic applications. Full article

The present editorial paper analyzes the hundred recent research works on soft actuation to understand the current main research focus in the light of the grand challenges in the field. Two characteristic paper types were obtained: one focuses on soft actuator design, manufacturing and demonstration, while another includes in addition the development of functional materials. Although vast majority of the works showcased soft actuation, evaluation of its robustness by multi-cyclic actuation was reported in less than 50% of the works, while only 10% described successful actuation for more than 1000 cycles. It is suggested that broadening the research focus to include investigation of mechanisms underlying the degradation of soft functional material performance in real cyclic actuation conditions, along with application of artificial intelligence methods for prediction of muscle behavior, may allow overcoming the reliability issues and developing robust soft-material actuators. The outcomes of the present work might be applicable to the entire soft robotics domain. Full article