Designing softness into robots holds great potential for augmenting robotic compliance in dynamic, unstructured environments. However, despite the body's softness, existing models mostly carry inherent hardness in their driving parts, such as pressure-regulating components and rigid circuit boards. This compliance gap can frequently interfere with the robot motion and makes soft robotic design dependent on rigid assembly of each robot component. We present a skin-like electronic system that enables a class of wirelessly activated fully soft robots whose driving part can be softly, compactly, and reversibly assembled. The proposed system consists of two-part electronic skins (e-skins) that are designed to perform wireless communication of the robot control signal, namely, "wireless inter-skin communication," for untethered, reversible assembly of driving capability. The physical design of each e-skin features minimized inherent hardness in terms of thickness (<1 millimeter), weight (~0.8 gram), and fragmented circuit configuration. The developed e-skin pair can be softly integrated into separate soft body frames (robot and human), wirelessly interact with each other, and then activate and control the robot. The e-skin-integrated robotic design is highly compact and shows that the embedded e-skin can equally share the fine soft motions of the robot frame. Our results also highlight the effectiveness of the wireless interskin communication in providing universality for robotic actuation based on reversible assembly.
Softening of thermoelectric generators facilitates conformal contact with arbitrary-shaped heat sources, which offers an opportunity to realize self-powered wearable applications. However, existing wearable thermoelectric devices inevitably exhibit reduced thermoelectric conversion efficiency due to the parasitic heat loss in high-thermal-impedance polymer substrates and poor thermal contact arising from rigid interconnects. Here, we propose compliant thermoelectric generators with intrinsically stretchable interconnects and soft heat conductors that achieve high thermoelectric performance and unprecedented conformability simultaneously. The silver-nanowire-based soft electrodes interconnect bismuth-telluride-based thermoelectric legs, effectively absorbing strain energy, which allows our thermoelectric generators to conform perfectly to curved surfaces. Metal particles magnetically self-assembled in elastomeric substrates form soft heat conductors that significantly enhance the heat transfer to the thermoelectric legs, thereby maximizing energy conversion efficiency on three-dimensional heat sources. Moreover, automated additive manufacturing paves the way for realizing self-powered wearable applications comprising hundreds of thermoelectric legs with high customizability under ambient conditions.
Rapid growth of stretchable electronics stimulates broad uses in multidisciplinary fields as well as industrial applications. However, existing technologies are unsuitable for implementing versatile applications involving adaptable system design and functions in a cost/time-effective way because of vacuum-conditioned, lithographically-predefined processes. Here, we present a methodology for a fully printable, strain-engineered electronic wrap as a universal strategy which makes it more feasible to implement various stretchable electronic systems with customizable layouts and functions. The key aspects involve inkjet-printed rigid island (PRI)-based stretchable platform technology and corresponding printing-based automated electronic functionalization methodology, the combination of which provides fully printed, customized layouts of stretchable electronic systems with simplified process. Specifically, well-controlled contact line pinning effect of printed polymer solution enables the formation of PRIs with tunable thickness; and surface strain analysis on those PRIs leads to the optimized stability and device-to-island fill factor of strain-engineered electronic wraps. Moreover, core techniques of image-based automated pinpointing, surface-mountable device based electronic functionalizing, and one-step interconnection networking of PRIs enable customized circuit design and adaptable functionalities. To exhibit the universality of our approach, multiple types of practical applications ranging from self-computable digital logics to display and sensor system are demonstrated on skin in a customized form.
Development of highly sensitive pressure sensors that function well even in bending environments and operate at ultralow voltage is desirable for wearable applications. Here, a highly sensitive and bendable capacitive pressure sensor with the ability to distinguish pressure and bending stimuli and a pressure-sensitive transistor (PST) that can be easily integrated into wearable sensor system due to ultralow voltage (as low as 1 V for stable signal detection) operation is demonstrated. By introducing surface treatment and bonding technique, all components of the pressure sensor are tightly bonded to each other, enabling high bending stability. The sensor shows high pressure sensitivity (9.9 kPa −1 ) and can detect pressure even in the bending state. Additional bending sensors enables to separately detect signals from the actual pressure and bending deformation. In order to implement low-power sensor circuitry, the PST is fabricated by integrating the pressure sensor and inkjet-printing single-walled carbon nanotube thin film transistor. Such low-voltage operation of the PST enables to demonstrate the stand-alone wearable user-interactive pulse monitoring system by using commercially available electronic devices. The strategy for bendable low-power sensor may enable realization of wearable sensing system and electronic skins with low power consumption in near future.
The ability to image pressure distribution over complex three-dimensional surfaces would significantly augment the potential applications of electronic skin. However, existing methods show poor spatial and temporal fidelity due to their limited pixel density, low sensitivity, or low conformability. Here, we report an ultraflexible and transparent electroluminescent skin that autonomously displays super-resolution images of pressure distribution in real time. The device comprises a transparent pressure-sensing film with a solution-processable cellulose/ nanowire nanohybrid network featuring ultrahigh sensor sensitivity (>5000 kPa −1 ) and a fast response time (<1 ms), and a quantum dot-based electroluminescent film. The two ultrathin films conform to each contact object and transduce spatial pressure into conductivity distribution in a continuous domain, resulting in super-resolution (>1000 dpi) pressure imaging without the need for pixel structures. Our approach provides a new framework for visualizing accurate stimulus distribution with potential applications in skin prosthesis, robotics, and advanced human-machine interfaces.
By the combination of the inkjet printing of PEDOT:PSS transfer template and selective transfer of silver nanowires (AgNW), AgNWs of customizable transparency can be patterned with high degree of freedom, without need of high equipment cost and complicated process. The AgNW‐transferred PEDOT:PSS transparent electrodes exhibit both great figure of merit and easily tunable optoelectronic properties. With maintaining the advantages and overcoming the issues of the AgNWs, the method developed by Yongtaek Hong and co‐workers in article number 2000042 can be applied to various flexible electronics.
Soft features in electronic devices have provided an opportunity of gleaning a wide spectrum of intimate biosignals. Lack of data processing tools in a soft form, however, proclaims the need of bulky wires or low‐performance near‐field communication externally linked to a “rigid” processor board, thus tarnishing the true meaning of “soft” electronics. Furthermore, although of rising interest in stretchable hybrid electronics, lack of consideration in multilayer, miniaturized design and system‐level data computing limits their practical use. The results presented here form the basis of fully printable, system‐level soft electronics for practical data processing and computing with advanced capabilities of universal circuit design and multilayer device integration into a single platform. Single droplet printing‐based integration of rigid islands and core–shell vertical interconnect access (via) into a common soft matrix with a symmetric arrangement leads to a double‐side universal soft electronic platform that features site‐selective, simultaneous double‐side strain isolation, and vertical interconnection, respectively. Systematic studies of island‐morphology engineering, surface‐strain mapping, and electrical analysis of the platform propose optimized designs. Commensurate with the universal layout, a complete example of double‐side integrated, stretchable 1 MHz binary decoders comprised of 36 logic gates interacting with 9 vias is demonstrated by printing‐based, double‐side electronic functionalization.
Inkjet and transfer printing processes are combined to easily form patterned poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) films as top anodes of all solution-processed inverted polymer light emitting diodes (PLEDs) on rigid glass and flexible plastic substrates. An adhesive PEDOT:PSS ink is formulated and fully customizable patterns are obtained using the inkjet printing process. In order to transfer the patterned PEDOT:PSS films, adhesion properties at interfaces during multistep transfer printing processes are carefully adjusted. The transferred PEDOT:PSS film on the plastic substrates shows not only a sheet resistance of 260.6 Ω/□ and a transmittance of 92.1% at 550 nm wavelength but also excellent mechanical flexibility. The PLEDs with spin-coated functional layers sandwiched between the transferred PEDOT:PSS top anodes and inkjet-printed Ag bottom cathodes are fabricated. The fabricated PLEDs on the plastic substrates show a high current efficiency of 10.4 cd A −1 and high mechanical stability. It is noted that because both Ag and PEDOT:PSS electrodes can be patterned with a high degree of freedom via the inkjet printing process, highly customizable PLEDs with various pattern sizes and shapes are demonstrated on the glass and plastic substrates. Finally, with all solution process, a 5 × 7 passive matrix PLED array is demonstrated.
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