材料科学
自愈水凝胶
执行机构
压阻效应
复合材料
导电体
人工肌肉
稳健性(进化)
软机器人
弹性体
生物医学工程
纳米技术
计算机科学
人工智能
化学
高分子化学
基因
医学
生物化学
作者
Yusen Zhao,Chiao‐Yueh Lo,Lecheng Ruan,Chen-Huan Pi,Cheolgyu Kim,Yousif Alsaid,Imri Frenkel,Rossana Rico,Tsu‐Chin Tsao,Ximin He
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2021-04-28
卷期号:6 (53)
被引量:134
标识
DOI:10.1126/scirobotics.abd5483
摘要
Mimicking biological neuromuscular systems' sensory motion requires the unification of sensing and actuation in a singular artificial muscle material, which must not only actuate but also sense their own motions. These functionalities would be of great value for soft robotics that seek to achieve multifunctionality and local sensing capabilities approaching natural organisms. Here, we report a soft somatosensitive actuating material using an electrically conductive and photothermally responsive hydrogel, which combines the functions of piezoresistive strain/pressure sensing and photo/thermal actuation into a single material. Synthesized through an unconventional ice-templated ultraviolet-cryo-polymerization technique, the homogenous tough conductive hydrogel exhibited a densified conducting network and highly porous microstructure, achieving a unique combination of ultrahigh conductivity (36.8 milisiemens per centimeter, 103-fold enhancement) and mechanical robustness, featuring high stretchability (170%), large volume shrinkage (49%), and 30-fold faster response than conventional hydrogels. With the unique compositional homogeneity of the monolithic material, our hydrogels overcame a limitation of conventional physically integrated sensory actuator systems with interface constraints and predefined functions. The two-in-one functional hydrogel demonstrated both exteroception to perceive the environment and proprioception to kinesthetically sense its deformations in real time, while actuating with near-infinite degrees of freedom. We have demonstrated a variety of light-driven locomotion including contraction, bending, shape recognition, object grasping, and transporting with simultaneous self-monitoring. When connected to a control circuit, the muscle-like material achieved closed-loop feedback controlled, reversible step motion. This material design can also be applied to liquid crystal elastomers.
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