Nature is ripe with biological organisms that can interact with its surroundings to continuously morph their surface texture. Many attempts have been made to optimize artificial surfaces depending on operational needs; however, most of these architected materials only focus on enhancing a specific material property or functionality. This study introduces a new class of instability-induced morphable structures, herein referred to as “Active Skins”, which enables on-demand, reversible, surface morphing through buckling-induced feature deployment. By taking advantage of a preconceived auxetic unit cell geometrical design, mechanical instabilities were introduced to facilitate rapid out-of-plane deformations when in-plane strains are applied. Here, these notches were introduced at judiciously chosen locations in an array of unit cells to elicit unique patterns of out-of-plane deformations to pave way for controlling bulk Active Skin behavior. These purposefully designed imperfections were employed for selectively actuating them for applications ranging from camouflage to surface morphing to soft robotic grippers.

Pairs of conjugate donor-acceptor fluorescent probes have proven themselves useful in stimulated emission depletion (STED) microscopy in recent years. For instance, it has been shown that the lifetime of said probes directly correlates to the resolution of the microscope. However, once the lifetimes of the probes have been optimized, it is desirable to control their fluorescence in order to improve the resolution further. Here, we propose combining model-free control with sliding mode control to track nanosecond pulses of red-shifted acceptor fluorescence in order to inhibit visible light emitted from the image plane, shrink the point spread function, and subsequently improve the resolution of the microscope. This is achieved by automatic adjustment of the STED laser beam pump power. This controller is numerically simulated against a generic model created from Förster resonance energy transfer (FRET) theory. However, since it is data-driven, it can be easily applied to various physical systems with drastically different dynamics. This work provides a reliable theoretic control solution to modern super resolution microscopy for biological imaging.

Dielectric elastomer actuators (DEAs), which are inherently complaint capacitors, are emerging as pseudo-muscular actuators with a wide range of applications. In order to achieve high stretchability for large DEA actuation, carbon nanotube (CNT) and other 1D materials-based electrodes are used to maintain conductance at large strains. These electrodes are typically fabricated using spray coating or filter transfer method and resemble a perforated electrode under high magnification. Hence, there can be a loss of field and stray capacitance when multiple layers of carbon nanotubes (CNTs)-based electrodes are used. This study investigates the effect of microscopic perforations on the nature of electric fields and on the capacitance of multi-layered CNT-based DEA structures with various dimensions and geometric properties of the electrodes. It has been found that the capacitance decreases with increase in the perforations however its effect is limited for a reasonable coverage. The change in normalized is found to be negligible (∼5%) for an electrode coverage area of over 90%, however, the maximum output work reduces by 18.2%. This analysis is important to develop robust and reliable CNT-based DEA structures, without using excessive CNTs which can lead to increased mechanical stiffness of the electrodes.

Polyester-based shape-memory polymer actuators are multifunctional materials providing reversible macroscopic shape shifts as well as hydrolytic degradability. Here, the function-function interdependencies (between shape shifts and degradation behaviour) will determine actuation performance and its life time.

In this work, glycolide units were incorporated in poly(ε-caprolactone) based actuator materials in order to achieve an accelerated hydrolytic degradation and to explore the function-function relationship. Three different oligo[(ε-caprolactone)-co-glycolide] copolymers (OCGs) with similar molecular weights (10.5 ± 0.5 kg∙mol−1) including a glycolide content of 8, 16, and 26 mol% (ratio 1:1:1 wt%) terminated with methacrylated moieties were crosslinked. The obtained actuators provided a broad melting transition in the range from 27 to 44 °C. The hydrolytic degradation of programmed OCG actuators (200% of elongation) resulted in a reduction of sample mass to 51 wt% within 21 days at pH = 7.4 and 40 °C. Degradation results in a decrease of Tm associated to the actuating units and increasing Tm associated to the skeleton forming units. The actuation capability decreased almost linear as function of time. After 11 days of hydrolytic degradation the shape-memory functionality was lost. Accordingly, a fast degradation behaviour as required, e.g., for actuator materials intended as implant material can be realized.

Composite actuators consisting of magnetic nanoparticles dispersed in a crystallizable multiphase polymer system can be remotely controlled by alternating magnetic fields (AMF). These actuators contain spatially segregated crystalline domains with chemically different compositions. Here, the crystalline domain associated to low melting transition range is responsible for actuation while the crystalline domain associated to the higher melting transition range determines the geometry of the shape change. This paper reports magneto-mechanical actuators which are based on a single crystalline domain of oligo(ω-pentadecalactone) (OPDL) along with covalently integrated iron(III) oxide nanoparticles (ioNPs). Different geometrical modes of actuation such as a reversible change in length or twisting were implemented by a magneto-mechanical programming procedure. For an individual actuation mode, the degree of actuation could be tailored by variation of the magnetic field strengths. This material design can be easily extended to other composites containing other magnetic nanoparticles, e.g. with a high magnetic susceptibility.

In recent decades, increasing research interest has shifted from traditional rigid skeleton robotics to flexible, shape-programmable, environmentally adaptive and stimuli-responsive “soft robotics”. Within this discipline, soft-robots capable of untethered and/or remote-controlled operation are of particular interest given their utility for actuation in complex situations with larger range of mobility and higher degrees of freedom. The use of new materials and the development of advanced fabrication techniques enable better performance and expand the utility of such soft actuators, moving them towards real-world applications. This review outlines some recent advances in untethered soft robotics and actuators to illustrate the promise of these applications at the interface of material science and device engineering.

Shape-memory polymer actuators often contain crystallizable polyester segments. Here, the influence of accelerated hydrolytic degradation on the actuation performance in copolymer networks based on oligo(ε-caprolactone) dimethacrylate (OCL) and n-butyl acrylate is studied. The semi-crystalline OCL was utilized as crosslinker with molecular weights of 2.3 and 15.2 kg∙mol−1 (ratio: 1:1 wt%) and n-butyl acrylate (25 wt% relative to OCL content) acted as softening agent creating the polymer main chain segments within the network architecture. The copolymer networks were programmed by 50% elongation and were degraded by means of alkaline hydrolysis utilizing sodium hydroxide solution (pH = 13). Experiments were performed in the range of the broad melting range of the actuators at 40 °C. The degradation of test specimen was monitored by the sample mass, which was reduced by 25 wt% within 105 d. As degradation products, fragments of OCL with molecular masses ranging from 400 to 50.000 g·mol-1 could be detected by NMR spectroscopy and GPC measurements. The cleavage of ester groups included in OCL segments resulted in a decrease of the melting temperature (Tm) related to the actuator domains (amorphous at the temperature of degradation) and simultaneously, the Tm associated to the skeleton domain was increased (semi-crystalline at the temperature of degradation).

The alkaline hydrolysis decreased the polymer chain orientation of OCL domains until a random alignment of crystalline domains was obtained. This result was confirmed by cyclic thermomechanical actuation tests. The performance of directed movements decreased almost linearly as function of degradation time resulting in the loss of functionality when the orientation of polymer chains disappeared. Here, actuators were able to provide reversible movements until 91 d when the accelerated bulk degradation procedure using alkaline hydrolysis (pH = 13) was applied. Accordingly, a lifetime of more than one year can be guaranteed under physiological conditions (pH = 7.4) when, e.g., artificial muscles for biomimetic robots as potential application for these kind of shape-memory polymer actuators will be addressed.

We demonstrate a suspended graphene-(poly(methyl methacrylate) (PMMA) polymer angular displacement actuator enabled by variable elastic modulus of the perforated stacked structure. Azimuthal flexures support a central disc-shaped membrane, and compression of the membrane can be used to control the rotation of the entire structure. Irradiating the PMMA on graphene stack with 5 kV electrons in a convention scanning electron microscope reduces the elastic modulus of the PMMA and allows graphene’s built in strain to dominate and compress the flexures, thus rotating the actuator.

The incorporation of inorganic particles in a polymer matrix has been established as a method to adjust the mechanical performance of composite materials. We report on the influence of covalent integration of magnetic nanoparticles (MNP) on the actuation behavior and mechanical performance of hybrid nanocomposite (H-NC) based shape-memory polymer actuators (SMPA). The H-NC were synthesized by reacting two types of oligo(ω-pentadecalactone) (OPDL) based precursors with terminal hydroxy groups, a three arm OPDL (3AOPDL, Mn = 6000 g mol·1-1) and an OPDL (Mn =3300 g · mol-1) coated magnetite nanoparticle (Ø = 10 ± 2 nm), with a diisocyanate. These H-NC were compared to the homopolymer network regarding the actuation performance, contractual stress (σcontr) as well as thermal and mechanical properties. The melting range of the OPDL crystals (ΔTm,OPDL) was shifted in homo polymer networks from 36 °C – 76 °C to 41°C – 81 °C for H-NC with 9 wt% of MNP content. The actuators were explored by variation of separating temperature (Tsep), which splits the OPDL crystalline domain into actuating and geometry determining segments. Tsep was varied in the melting range of the nanocomposites and the actuation capability and contractual stress (σcontr) of the nanocomposite actuators could be adjusted. The reversible strain (εrev) was decreased from 11 ± 0.3% for homo polymer network to 3.2±0.3% for H-NC9 with 9 wt% of MNP indicating a restraining effect of the MNP on chain mobility. The results show that the performance of H-NCs in terms of thermal and elastic properties can be tailored by MNP content, however for higher reversible actuation, lower MNP contents are preferable.

The variation of the molecular architecture of multiblock copolymers has enabled the introduction of functional behaviour and the control of key mechanical properties. In the current study, we explore the synergistic relationship of two structural components in a shape-memory material formed of a multiblock copolymer with crystallizable poly(ε-caprolactone) and crystallizable poly[oligo(3S-iso-butylmorpholine-2,5-dione)] segments (PCL-PIBMD). The thermal and structural properties of PCL-PIBMD films were compared with PCL-PU and PIBMD-PU, investigated by means of DSC, SAXS and WAXS measurements. The shape-memory properties were quantified by cyclic, thermomechanical tensile tests, where deformation strains up to 900% were applied for programming PCL-PIBMD films at 50 °C. Toluene vapor treatment experiments demonstrated that the temporary shape was fixed mainly by glassy PIBMD domains at strains lower than 600%, with the PCL contribution to fixation increasing to 42±2% at programming strains of 900%. This study into the shape-memory mechanism of PCL-PIBMD provides insight into the structure-function relation in multiblock copolymers with both crystallizable and glassy switching segments.

Humanoid robots, prosthetic limbs and exoskeletons require soft actuators to perform their primary function, which is controlled movement. In this work, we explored whether crosslinked poly[ethylene-co-(vinyl acetate)] (cPEVA) fibers, with different vinyl acetate (VA) content can serve as torsional fiber actuators, exhibiting temperature controlled reversible rotational changes. Broad melting transitions ranging from 50 to 90 °C for cPEVA18-165 or from 40 to 80 °C for cPEVA28-165 fibers in combination with complete crystallization at temperatures around 10 °C make them suitable actuating materials with adjustable actuation temperature ranges between 10 and 70 °C during repetitive cooling and heating. The obtained fibers exhibited a circular cross section with diameters around 0.4±0.1 mm, while a length of 4 cm was employed for the investigation of reversible rotational actuation after programming by twist insertion using 30 complete rotations at a temperature above melting transition. Repetitive heating and cooling between 10 to 60 °C or 70 °C of one-end-tethered programmed fibers revealed reversible rotations and torsional force. During cooling 3±1 complete rotations (Δθr = + 1080±360°) in twisting direction were observed, while 4±1 turns in the opposite direction (Δθr = - 1440±360°) were found during heating. Such torsional fiber actuators, which are capable of approximately one rotation per cm fiber length, can serve as miniaturized rotary motors to provide rotational actuation in futuristic humanoid robots.