PDF(Pubmed)
Abstract：
More recently, soft actuators have evoked great interest in the next generation of soft robots. Despite significant progress, the majority of current soft actuators suffer from the lack of real-time sensory feedback and self-control functions, prohibiting their effective sensing and multitasking functions. Therefore, in this work, a near-infrared-driven bimorph membrane, with self-sensing and feedback loop control functions, is produced by layer by layer (LBL) assembling MXene/PDDA (PM) onto liquid crystal elastomer (LCE) film. The versatile integration strategy successfully prevents the separation issues that arise from moduli mismatch between the sensing and the actuating layers, ultimately resulting in a stable and tightly bonded interface adhesion. As a result, the resultant membrane exhibited excellent mechanical toughness (tensile strengths equal to 16.3 MPa (||)), strong actuation properties (actuation stress equal to 1.56 MPa), and stable self-sensing (gauge factor equal to 4.72) capabilities. When applying the near-infrared (NIR) laser control, the system can perform grasping, traction, and crawling movements. Furthermore, the wing actuation and the closed-loop controlled motion are demonstrated in combination with the insect microcontroller unit (MCU) models. The remote precision control and the self-sensing capabilities of the soft actuator pave a way for complex and precise task modulation in the future.
摘要：
最近,软执行器引起了人们对下一代软机器人的极大兴趣。尽管取得了重大进展,当前的大多数软致动器都缺乏实时感觉反馈和自我控制功能，禁止其有效的传感和多任务处理功能。因此,在这项工作中，近红外驱动的双压电晶片膜，具有自感知和反馈回路控制功能，通过逐层(LBL)将MXene/PDDA(PM)组装到液晶弹性体(LCE)膜上而产生。多功能集成策略成功地防止了由于传感层和致动层之间的模量不匹配而产生的分离问题，最终导致稳定和紧密结合的界面粘合。因此,所得膜表现出优异的机械韧性（拉伸强度等于16.3MPa（||）），强致动特性（致动应力等于1.56MPa），和稳定的自感（gaugefactor等于4.72）能力。当应用近红外（NIR）激光控制时，系统可以进行抓取，牵引力,和爬行动作。此外，结合昆虫微控制器单元（MCU）模型演示了机翼致动和闭环控制运动。软执行器的远程精确控制和自感知能力为将来复杂而精确的任务调制铺平了道路。
