Soft reconfigurable logic gates with high-frequency electrical switching

The development of functional soft materials has motivated replacing rigid electronics with stretchable logic structures. However, soft logic gates for macroscopic soft robots usually operate at low frequencies (<5 hertz). Here, we present high-frequency soft logic gates based on soft electric switches with ultralow latency (2 milliseconds). Fast switching is achieved using a tailored piezoresistive material-graphite frameworks (GFs)/polydimethylsiloxane (PDMS) and dielectric elastomer actuators (DEAs). The GFs/PDMS strip exhibits a large resistance change within ~0.01% strain, allowing soft logic gates to operate up to 100 hertz. A soft oscillator is further developed using feedback control with a soft NOT gate and achieves autonomous deformation across ~1 to 78 hertz, demonstrating actuation, sensing, and feedback control capabilities. Compared to other soft electrical switches, this scheme also features a compact size (5 cubic centimeter) and low power consumption (0.4 milliwatts). This work enables fast, accurate control for electrostatic soft robots, enhancing their autonomy and interaction capabilities.