Recent advances in soft materials enable robots to possess safer human-machine interaction ways and adaptive motions, yet there remain substantial challenges to develop universal driving power sources that can achieve performance trade-offs between actuation, speed, portability, and reliability in untethered applications. Here, we introduce a class of fully soft electronic pumps that utilize electrical energy to pump liquid through electrons and ions migration mechanism. Soft pumps combine good portability with excellent actuation performances. We develop special functional liquids that merge unique properties of electrically actuation and self-healing function, providing a direction for self-healing fluid power systems. Appearances and pumpabilities of soft pumps could be customized to meet personalized needs of diverse robots. Combined with a homemade miniature high-voltage power converter, two different soft pumps are implanted into robotic fish and vehicle to achieve their untethered motions, illustrating broad potential of soft pumps as universal power sources in untethered soft robotics.
Soft robotics revolutionized human-robot interactions, yet there exist persistent challenges for developing high-performance soft actuators that are powerful, rapid, controllable, safe, and portable. Here, we introduce a class of self-contained soft electrofluidic actuators (SEFAs), which can directly convert electrical energy into the mechanical energy of the actuators through electrically responsive fluids that drive the outside elastomer deformation. The use of special dielectric liquid enhances fluid flow capabilities, improving the actuation performance of the SEFAs. SEFAs are easily manufactured by using widely available materials and common fabrication techniques, and display excellent comprehensive performances in portability, controllability, rapid response, versatility, safety, and actuation. An artificial muscle stretching a joint and a soft bionic ray swimming in a tank demonstrate their effective performance. Hence, SEFAs offer a platform for developing soft actuators with potential applications in wearable assistant devices and soft robots.
Artificial muscles that can reproduce the functions and biomimetic motions of natural muscles are widely used to construct soft robots with applications in various fields. However, it is still challenging to develop stimuli-responsive artificial muscles with multiple-mode actuation. Inspired by the forearm muscles, we propose a new type of stimuli-responsive artificial muscles with multiple-mode actuation using liquid crystal elastomers (LCEs), named FILAMs (forearm muscle-inspired LCE-based artificial muscles). The proposed FILAMs consist of active LCE driving units, a passive silicone rubber flexible skeleton and two quick connectors. By selectively actuating different types of LCE driving units, the FILAMs can achieve multiple-mode actuation, such as twisting, bending, combined twisting and bending. We introduce prototypical designs for the FILAMs and demonstrate that they can be used as “building blocks” to reconfigure different soft robots. Three kinds of soft robots are constructed to show extensive applications through the cooperation of a combination FILAMs, i.e., a soft assembly robot, a soft crawling robot, and a soft flexible wrist.
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