具有用于与软硬机器人远程交互的自感知驱动能力的生物启发梯度水凝胶的开发仍然是一项具有挑战性的工作。这里,我们提出了一种新型的多功能自感驱动梯度水凝胶,它结合了超快驱动和高灵敏度与机器人手的远程交互。梯度网络结构,通过涉及MoO2纳米片快速沉淀的润湿性差法实现,在水凝胶内两侧之间引入亲水差异。这种独特的方法使水凝胶具有超快的热响应致动(21°s-1)和增强的光热效率(在808nm近红外下增加3.7°Cs-1)。此外,海藻酸钠与Ca2+的局部交联使水凝胶具有可编程的可变形性和信息显示能力。此外,水凝胶表现出高灵敏度(应变系数3.94在600%的宽应变范围内),快速响应时间(140ms)和良好的循环稳定性。利用这些特殊的属性,我们将水凝胶整合到各种软致动器中,包括软夹持器,人造虹膜,和受生物启发的水母,以及能够精确检测人体运动和生理信号的可穿戴电子设备。此外,通过显著的驱动和灵敏度的协同组合,我们意识到一种自感触摸生物启发的舌头。值得注意的是,通过对驱动传感进行定量分析,我们通过物联网实现软硬机器人之间的远程交互。本研究提出的多功能自感驱动梯度水凝胶为先进的体感材料提供了新的见解,自反馈智能软机器人和人机交互。
The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO2 nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation (21° s-1) and enhanced photothermal efficiency (increase by 3.7 °C s-1 under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca2+ endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity (gauge factor 3.94 within a wide strain range of 600%), fast response times (140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human-machine interactions.