Multi-Stimuli Responsive Soft Actuator with Locally Controllable and Programmable Complex Shape Deformations

The soft actuators capable of responding to multiplestimuli andadapting to changing environments have attracted growing interestin the flexible multifunctional materials. However, how to achievehigh degree of freedom (DoF), precise control, and complex shape transformationof the multi-stimuli responsive soft actuator, still remains challenging.Here, we report a multi-responsive soft actuator with various controllablesophisticated deformations by integrating a magnetically sensitiveelastomer (MSE) with a liquid crystal elastomer (LCE). Through regulatingthe stimuli strength and the geometrical dimensions and material parametersof elastomers, the bending angle and curling curvature of the actuatorare accurately controlled ranging from 0 to 58.9 degrees and from 0.23to 1.29 cm(-1), respectively. The facile material-structuralsynergistic design drives the complex 3D shape deformations (e.g.,bidirectional bending, shrinkage/bending, rolling/bending, and twisting/bending)of the actuator. More importantly, due to its photosensitive characteristics,the shape-morphing of the actuator can be manipulated locally and sequentially, which markedly enriches the DoFs. The flower-shapedactuator displays multiple deformation modes, and the hand-shapedactuator transforms between 8 gestures under the control of laserand magnetic field, proving that the multi-responsive soft actuatorshave great application potentials in future bioengineering, soft manipulators,and flexible electronics.

Automated summary

This study presents a multi-responsive soft actuator that combines magnetically sensitive elastomers (MSE) with liquid crystal elastomers (LCE) to achieve controllable and complex deformations. By adjusting the stimuli strength, geometrical dimensions, and material parameters, the bending angle and curling curvature of the actuator can be accurately controlled. The actuator can also be locally and sequentially manipulated due to its photosensitive characteristics, significantly increasing its degree of freedom. This multi-responsive soft actuator shows great potential in various fields such as bioengineering, soft manipulators, and flexible electronics.