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The ability to tune the mechanical stiffness between a soft state and a rigid state is essential for various living systems to navigate nature. Examples for this range from muscle-powered motor tasks and sexual reproduction, to spontaneous change in shape for predator evasion. [1] Similar to their natural counterparts, engineered materials with tunable properties including mechanical stiffness have the potential to be used in a broad range of engineering applications. [1,2] Structures made with these materials can change their mechanical rigidity in static or dynamic systems to extend their workspace. [1-4] Multiple strategies have been pursued recently to achieve stiffness tunability, including pneumatic jamming, [3,5,6] chemical interactions, [7] opposing actuator structures, [8-10] magnetorheological fluids, [11,12] external/internal heating of materials with phase change [13-24] or glass transition, [25-28] or through combinations of these techniques. [13,29] Among phase-changing materials, low melting point alloys (LMPA) have been used widely as they are highly electrically conductive, rigid as metal at room temperature, and their melting point can be as low as 47.2 C [21] or 62.0 C. [20] LMPA layers, channels, foams, lattices, and particles have been incorporated as fillers into soft elastomers and shape memory polymers to create engineering materials with stiffness tunability. [13,17,18,20-23] In addition to tuning mechanical stiffness, LMPA fillers can also enhance the thermal and electrical properties of the composites. [18,30,31] Another example of smart composites with tunable stiffness containing phase-changing components is conductive propylene-based elastomers (CPBE), [24] which have a propylene-ethylene copolymer elastomer matrix and dispersed

Materials and devices with tunable dry adhesion have many applications, including transfer printing, climbing robots, and gripping in pick-and-place processes. In this paper, a novel soft device to achieve dynamically tunable dry adhesion via modulation of subsurface pneumatic pressure is introduced. Specifically, a cylindrical elastomer pillar with a mushroom-shaped cap and annular chamber that can be pressurized to tune the adhesion is investigated. Finite element-based mechanics models and experiments are used to design, understand, and demonstrate the adhesion of the device. Specifically, the device is designed using mechanics modeling such that the pressure applied inside the annular chamber significantly alters the stress distribution at the adhered interface and thus changes the effective adhesion strength. Devices made of polydimethylsiloxane (PDMS) with different elastic moduli were tested against glass, silicon, and aluminum substrates. Adhesion strengths (σ0) ranging from ∼37 kPa (between PDMS and glass) to ∼67 kPa (between PDMS and polished aluminum) are achieved for the nonpressurized state. For all cases, regardless of the material and roughness of the substrates, the adhesion strength dropped to 40% of the strength of the nonpressurized state (equivalent to a 2.5× adhesion switching ratio) by increasing the chamber pressure from 0.3σ0 to 0.6σ0. Furthermore, the strength drops to 20% of the unpressurized strength (equivalent to a 5× adhesion switching ratio) when the chamber pressure is increased to σ0.

Currently soft robots primarily rely on pneumatics and geometrical asymmetry to achieve locomotion, which limits their working range, versatility, and other untethered functionalities. In this paper, we introduce a novel approach to achieve locomotion for soft robots through dynamically tunable friction to address these challenges, which is achieved by subsurface stiffness modulation (SSM) of a stimuli-responsive component within composite structures. To demonstrate this, we design and fabricate an elastomeric pad made of polydimethylsiloxane (PDMS), which is embedded with a spiral channel filled with a low melting point alloy (LMPA). Once the LMPA strip is melted upon Joule heating, the compliance of the composite structure increases and the friction between the composite surface and the opposing surface increases. A series of experiments and finite element analysis (FEA) have been performed to characterize the frictional behavior of these composite pads and elucidate the underlying physics dominating the tunable friction. We also demonstrate that when these composite structures are properly integrated into soft crawling robots inspired by inchworms and earthworms, the differences in friction of the two ends of these robots through SSM can potentially be used to generate translational locomotion for untethered crawling robots.

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Herein, a new class of robust bicontinuous elastomer–metal foam composites with highly tunable mechanical stiffness is proposed, fabricated, characterized, and demonstrated. The smart composite is a bicontinuous network of two foams, one metallic made of a low melting point alloy (LMPA) and the other elastomeric made of polydimethylsiloxane (PDMS). The stiffness of the composite can be tuned by inducing phase changes in its LMPA component. Below the melting point of the LMPA, Young's modulus of the smart composites is ≈1 GPa, whereas above the melting point of the LMPA it is ≈1 MPa. Thus, a sharp stiffness change of ≈1000× can be realized through the proposed bicontinuous foam composite structure, which is higher than all available robust smart composites. Effective medium theory is also used to predict the Young's modulus of the bicontinuous smart composites, which generates reasonable agreement with experimentally measured Young's modulus of the smart composites. Finally, the use of these smart materials as a smart joint in a robotic arm is also demonstrated.

Recently, a novel concept to realize dynamically tunable dry adhesion via subsurface stiffness modulation (SSM) in a composite core–shell structure has been introduced and demonstrated for gripping and release of objects. Here, a variant form of the composite core–shell design is proposed to significantly improve the performance of dynamically tunable dry adhesion in terms of activation time and activation voltage. Specifically, composite pillars with an embedded microfluidic channel filled with a low melting point alloy (LMPA) are fabricated, and the adhesion of the pillars is characterized as a function of LMPA state: either melted or solid. The effects of the thickness and in‐plane pattern of the LMPA channel, as well as the depth at which it is embedded on tunable adhesion are investigated. Experiments show that the effective adhesion strength can be reduced up to 50%, equivalent to a 2× change in dry adhesion when the LMPA is melted. Finite element analysis of the stress distribution change under SSM shows that the experimentally observed tunable adhesion is primarily due to stiffness change close to the interface. In addition, two technology demonstrations of composite pillars picking and releasing objects with fast activation (≈1 s) and low activation voltages (≈1 V) are included.