Soft robots driven by stimuli-responsive materials have their own unique advantages over traditional rigid robots such as large actuation, light weight, good flexibility and biocompatibility. However, the large actuation of soft robots inherently co-exists with difficulty in control with high precision. This article presents a soft artificial muscle driven robot mimicking cuttlefish with a fully integrated on-board system including power supply and wireless communication system. Without any motors, the movements of the cuttlefish robot are solely actuated by dielectric elastomer which exhibits muscle-like properties including large deformation and high energy density. Reinforcement learning is used to optimize the control strategy of the cuttlefish robot instead of manual adjustment. From scratch, the swimming speed of the robot is enhanced by 91% with reinforcement learning, reaching to 21 mm/s (0.38 body length per second). The design principle behind the structure and the control of the robot can be potentially useful in guiding device designs for demanding applications such as flexible devices and soft robots.

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AbstractCatalyst-free thermal polyesterification has recently emerged as a potential strategy for designing biodegradable thermoset polymers, particularly polyol-based polyesters for biomedical applications. These thermoset polyesters are synthesized through polycondensation of polyol and polyacid without the presence of catalyst or solvents. The mechanical properties, degradation rates, crystallinity, hydrophilicity, and biocompatibility can be controlled by adjusting the monomer feed ratios and curing conditions. These polyesters often degrade via surface erosion that allows the polymers to maintain structural integrity throughout hydrolysis. Additionally, polyol-based polyesters demonstrated good biocompatibility as non-toxic catalysts and/or solvents involved in the reaction, and the monomers used are endogenous to human metabolism which can be resorbed and metabolized in various physiological pathways. This review summarizes the polyol-based biodegradable polyesters that were synthesized by catalyst-free polyesterification.

Significance Directional freezing (DF) is a fast, scalable, and environmental friendly technique for fabricating monoliths with long‐range oriented pores, which can be applied toward a wide variety of materials. However, the pore size is typically larger than 20 μm and cannot be spatially controlled, which prevent the technique from being used more widely. In this work, effect of wettability of the freezing substrate on the pore size of monolithic polyethylene glycol cryogels is studied. Smaller pores can be generated via more hydrophilic substrates, and tubular pores smaller 5 μm can be created using a poly(vinyl alcohol) coated copper substrate. A numerical fitting between water contact angle of the substrates and pore size is then obtained. Moreover, pore size can be locally varied duplicating wetting patterns of the substrates. The concept of using two dimensional patterns to build monoliths with three dimensional microstructures can probably be extended to other material systems. DF is an effecient and scalable processing method for fabricating materials with long‐range oriented pores. However, the smallest pore feature size reported is around 20 µm, which is in many cases too large for application such as separation and catalysis. We show here, with exemplary cryogels, that both spatial control and feature size reduction (by one order of magnitude) can be realized in DF by controlling the wettability of the ice growth substrate. © 2016 American Institute of Chemical Engineers AIChE J, 62: 4186–4192, 2016

Cryo-polymerization is used as a simple yet effective method to prepare multifunctional shape-memory foam.