A material architecture and laser-based microfabrication technique is introduced to produce electrically conductive films (sheet resistance = 2.95 Ω sq ; resistivity = 1.77 × 10 Ω m) that are soft, elastic (strain limit >100%), and optically transparent. The films are composed of a grid-like array of visually imperceptible liquid-metal (LM) lines on a clear elastomer. Unlike previous efforts in transparent LM circuitry, the current approach enables fully imperceptible electronics that have not only high optical transmittance (>85% at 550 nm) but are also invisible under typical lighting conditions and reading distances. This unique combination of properties is enabled with a laser writing technique that results in LM grid patterns with a line width and pitch as small as 4.5 and 100 µm, respectively-yielding grid-like wiring that has adequate conductivity for digital functionality but is also well below the threshold for visual perception. The electrical, mechanical, electromechanical, and optomechanical properties of the films are characterized and it is found that high conductivity and transparency are preserved at tensile strains of ≈100%. To demonstrate their effectiveness for emerging applications in transparent displays and sensing electronics, the material architecture is incorporated into a couple of illustrative use cases related to chemical hazard warning.
Shape memory alloys (SMAs) are popular as actuators for soft bioinspired robots because they are naturally compliant, have high work density, and can be operated using miniaturized on‐board electronics for power and control. However, SMA actuators typically exhibit limited bandwidth due to the long duration of time required for the alloy to cool down and return to its natural shape and compliance following electrical actuation. This challenge is addressed by constructing SMA‐based actuators out of thermally conductive elastomers and examining the influence of electrical current and actuation frequency on blocking force, bending amplitude, and operating temperature. The actuator is composed of a U‐shape SMA wire that is sandwiched between layers of stretched and unstretched thermal elastomer. Based on the studies, the ability is demonstrated to create a highly dynamic soft actuator that weighs 3.7 g, generates a force of ≈0.2 N, bends with curvature change of ≈60 m−1 in 0.15 s, and can be activated with a frequency above 0.3 Hz with a pair of miniature 3.7 V lithium–polymer batteries. Together, these properties allow the actuator to be used as an “artificial muscle” for a variety of tethered and untethered soft robotic systems capable of fast dynamic locomotion.
By using compliant lightweight actuators with shape memory alloy, we created untethered soft robots that are capable of dynamic locomotion at biologically relevant speeds.
Soft robotic actuators offer many advantages over their rigid counterparts, but they often are unable to apply highly localized point loads. In contrast, many invertebrates have not only evolved extremely strong "hybrid appendages" that are composed of rigid ends that can grasp, puncture, and anchor into solid substrates, but they also are compliant and resilient, owing to the functionally graded architecture that integrates rigid termini with their flexible and highly extensible soft musculatures. Inspired by the design principles of these natural hybrid appendages, we demonstrate a synthetic hybrid end effector for soft-bodied robots that exhibits excellent piercing abilities. Through the incorporation of functionally graded interfaces, this design strategy minimizes stress concentrations at the junctions adjoining the fully rigid and soft components and optimizes the bending stiffness to effectively penetrate objects without interfacial failure under shear and compressive loading regimes. In this composite architecture, the radially aligned tooth-like elements apply balanced loads to maximize puncturing ability, resulting in the coordinated fracture of an object of interest.
We introduce an elastomer composite filled with silver (Ag) flakes and Ag-coated poly(dimethylsiloxane) (PDMS) beads that exhibits electrical conductivity that is 2 orders of magnitude greater than that of elastomers in which the same concentration of Ag filler is uniformly dispersed. In addition to the dramatic enhancement in conductivity, these composites exhibit high mechanical compliance (strain limit, >100%) and robust thermal stability (conductivity change, <10% at 150 °C). The incorporation of Ag-coated PDMS beads introduces an effective phase segregation in which Ag flakes are confined to the "grain boundaries" between the embedded beads. This morphological control aids in the percolation of the Ag flakes and the formation of conductive bridges between neighboring Ag shells. The confinement of Ag flakes also suppresses thermal expansion and changes in electrical conductivity of the percolating networks when the composite is heated. We demonstrate potential applications of thermally stable elastic conductors in wearable devices and soft robotics by fabricating a highly stretchable antenna for a "smart" furnace glove and a strain sensor for soft gripper operation in hot water.
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