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Highly sensitive, flexible sensors that can be manufactured with minimum environmental footprint and be seamlessly integrated into wearable devices are required for realtime tracking of complex human movement, gestures, and health conditions. This study reports on how biodegradation can be used to enhance the sensitivity and electromechanical performance of piezoresistive sensors. Poly(glycerol sebacate) (PGS) elastomeric porous sensor was synthesized and blended with multiwall carbon nanotubes (MWCNTs) and sodium chloride (NaCl). Because of their unique porous characteristics, a single linear behavior over a large range of pressures (≤8 kPa) and an increase in their sensitivity from 0.12 ± 0.03 kPa −1 up to 8.00 ± 0.20 kPa −1 was achieved after 8 weeks in a simulated body fluid media. They can detect very low pressures (100 Pa), with negligible hysteresis, reliability, long lifetime (>200 000 cycles), short response time (≤20 ms), and high force sensitivity (≤4 mN). The characteristics of the developed foam sensors match the sensing characteristics of the human finger to pave the way toward low-footprint wearable devices for applications including human movement and condition monitoring, recreation, health and wellness, virtual reality, and tissue engineering.

Cellular core structures with a negative Poisson’s ratio, also known as auxetic core structures, are gaining attention due to their unique performance in sandwich panel systems for protecting critical infrastructures and military vehicles that are at high risk of blast and impact loads due to accidental and deliberate events. To help develop a high-performance protective system, this article outlines the performance evaluation of five different auxetic cell configurations based on a quantitative/qualitative review of an experimental load–deformation relationship of three-dimensional-printed auxetic panels from nylon plastics and the overall performance evaluation of metallic re-entrant honeycomb core sandwich panels as one type of lightweight protective system under static and dynamic loads via experimental testing and numerical simulations. The re-entrant honeycomb design displayed the most consistent auxetic behaviour. Quasi-static compression and drop hammer impact tests were performed using the proposed full-scale sandwich panel design with two different configurations as a protective system for concrete wall structures in combination with plastic face plates. The effect of the internal angle of the re-entrant honeycomb design and the effect of the core material under static and dynamic loads were evaluated using full-scale sandwich panels. Furthermore, two separate materials – acrylonitrile butadiene styrene and low-density polyethylene – were used as face plates, and the low-density polyethylene was effective for lightweight and smooth load transferring and distribution into the auxetic core. Auxetic panel deformation under static and dynamic load was examined using a normal speed camera and high-speed video recording data and all auxetic panels indicated excellent systematic crushing behaviour with drawing materials into the load path to effectively resist the impact load. Numerical simulations were performed using LS-DYNA and indicated good agreement with the experimental results. Finally, protective systems utilising sandwich panels with a re-entrant honeycomb core indicated strong potential for the development of high-performance lightweight impact-resistant protective systems.

Soft robots require seamless integration with sensors and actuators that are simple to manufacture at scale with low cost and minimum footprint. The sensor materials must be highly reliable, sensitive, and stable, and their mechanical features should match the sensing requirements of soft robots such as minimal response time and nonlinearity of hysteresis and relaxation. A resistive-type sensor based on the synthesis of poly(glycerol secabate) (PGS) with a foam-like structure and outstanding mechanical, electrical, and electromechanical properties is developed. These foam sensors present high sensitivity (gauge factor ≈ −9), very fast response (≤3 ms), negligible hysteresis, reliability, long lifetime (>1 200 000 cycles), and a pressure differential sensitivity of 34 Pa. They can accurately detect low and high frequency vibrations (up to 300 Hz) and small forces (200 mN) that cover the very low detection range of metallic strain gauges and the very large detection range of elastomeric strain sensors. These characteristics closely match those of the human fingertip, and hence pave the way toward tactile and compliant sensing elements embedded in prosthetic hands. Prospective applications for unexplored resistive-type sensors to meet the sensory requirements of soft robotic systems are demonstrated.

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In this paper, we report on a multistable linear actuation mechanism articulated with electroactive polymer actuators, widely known as artificial muscles. These actuators, which can operate both in wet and dry media under as small as 1.0 V potential difference, are fundamentally cantilever beams made of two electroactive polymer layers (polypyrrole) and a passive polyvinylidene fluoride substrate in between the electroactive layers. The mechanism considered is kinematically analogous to a four-bar mechanism with revolute-prismatic-revolute-prismatic pairs, converting the bending displacement of a polymer actuator into a rectilinear movement of an output point. The topology of the mechanism resembles that of bistable mechanisms operating under the buckling effect. However, the mechanism proposed in this paper can have many stable positions depending on the input voltage. After demonstrating the feasibility of the actuation concept using kinematic and finite element analyses of the mechanism, experiments were conducted on a real mechanism articulated with a multiple number (2, 4, or 8) of electroactive polymer actuators, which had dimensions of 12×2×0.17 mm3. The numerical and experimental results demonstrate that the angular displacement of the artificial muscles is accurately transformed into a rectilinear motion by the proposed mechanism. The higher the input voltage, the larger the rectilinear displacement. This study suggests that this multistable linear actuation mechanism can be used as a programmable switch and/or a pump in microelectromechanical systems (MEMS) by adjusting the input voltage and scaling down the mechanism further.

A single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are composed of positive pressure soft pneumatic actuators along with a mechanical metamaterial was developed. The fingers of the soft gripper along with the mechanical metamaterial, which integrates a soft auxetic structure and compliant ribs, was 3D printed in a single step, without requiring support material and postprocessing, using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs a commercially available thermoplastic poly (urethane) (TPU). The soft fingers of the gripper were optimized using finite element modeling (FEM). The FE simulations accurately predicted the behavior and performance of the fingers in terms of deformation and tip force. Also, FEM was used to predict the contact behavior of the mechanical metamaterial to prove that it highly decreases the contact pressure by increasing the contact area between the soft fingers and the grasped objects and thus proving its effectiveness in enhancing the grasping performance of the gripper. The contact pressure can be decreased by up to 8.5 times with the implementation of the mechanical metamaterial. The configuration of the highly conformal gripper can be easily modulated by changing the number of fingers attached to its base to tailor it for specific manipulation tasks. Two-dimensional (2D) and 3D grasping experiments were conducted to assess the grasping performance of the soft modular gripper and to prove that the inclusion of the metamaterial increases its conformability and reduces the out-of-plane deformations of the soft monolithic fingers upon grasping different objects and consequently, resulting in the gripper in three different configurations including two, three and four-finger configurations successfully grasping a wide variety of objects.