Many engineering devices and natural phenomena involve gels that swell under the constraint of hard materials. The constraint causes a field of stress in a gel, and often makes the swelling inhomogeneous even when the gel reaches a state of equilibrium. This paper develops a theory of constrained swelling of a pH-sensitive hydrogel, a network of polymers bearing acidic groups, in equilibrium with an aqueous solution and mechanical forces. The condition of equilibrium is expressed as a variational statement of the inhomogeneous field. A free-energy function accounts for the stretching of the network, mixing of the network with the solution, and dissociation of the acidic groups. Within a Legendre transformation, the condition of equilibrium for the pH-sensitive hydrogel is equivalent to that for a hyperelastic solid. The theory is first used to compare several cases of homogenous swelling: a free gel, a gel attached to a rigid substrate, and a gel confined in three directions. To analyze inhomogeneous swelling, we implement a finite element method in the commercial software ABAQUS, and illustrate the method with a layer of the gel coated on a spherical rigid particle, and a pH-sensitive valve in microfluidics.

The tracking control system of the VLT Survey Telescope Rev. Sci. Instrum. 83, 094501 (2012) Multi-functional dielectric elastomer artificial muscles for soft and smart machines App. Phys. Rev. 2012, 7 (2012 Multi-functional dielectric elastomer artificial muscles for soft and smart machines J. Appl. Phys. 112, 041101 (2012) Tactile feedback control for a gripper driven by SMA springs AIP Advances 2, 032134 (2012) Light sailboats: Laser driven autonomous microrobots Subject to a voltage, a dielectric elastomer can deform substantially, making it a desirable material for actuators. Designing such an actuator, however, has been challenging due to nonlinear equations of state, as well as multiple modes of failure, parameters of design, and measures of performance. This paper explores these issues, using a spring-roll actuator as an example. We formulate the equations of state with two degrees of freedom and describe the constraints due to several modes of failure of the elastomer, including electrical breakdown, electromechanical instability, loss of tension, and tensile rupture. Also included is the compressive limit of the spring. We show that, for the spring-roll actuator, loss of tension in the axial direction will always precede electromechanical instability. We then describe a procedure to maximize the range of actuation by choosing the parameters of design, such as the prestretch of the elastomer and the stiffness of the spring.

Soft actuators can be classified into five categories: tendon-driven actuators, electroactive polymers (EAPs), shape-memory materials, soft fluidic actuators (SFAs), and hybrid actuators. The characteristics and potential challenges of each class are explained at the beginning of this review. Furthermore, recent advances especially focusing on soft fluidic actuators (SFAs) are illustrated. There are already some impressive SFA designs to be found in the literature, constituting a fundamental basis for design and inspiration. The goal of this review is to address the latest innovative designs for SFAs and their challenges and improvements with respect to previous generations, and help researchers to select appropriate materials for their application. We suggest six influential designs: pneumatic artificial muscles (PAM), PneuNet, continuum arm, universal granular gripper, origami soft structure, and vacuum-actuated muscle-inspired pneumatic (VAMPs). The hybrid design of SFAs for improved functionality and shape controllability is also considered. Modeling SFAs, based on previous research, can be classified into three main groups: analytical methods, numerical methods, and model-free methods. We demonstrate the latest advances and potential challenges in each category. Regarding the fact that the performance of soft actuators is dependent on material selection, we then focus on the behaviors and mechanical properties of the various types of silicone which can be found in the SFA literature. For a better comparison of the different constitutive models of silicone materials which have been proposed and tested in the literature, ABAQUS software is here employed to generate the engineering and true strain-stress data from the constitutive models, and compare them with standard uniaxial tensile test data based on ASTM412. Although the figures presented show that in a small range of stress-strain data, most of these models can predict the material model acceptably, few of them predict it accurately for large strain-stress values.