A Novel Miniaturized bi-Stable Self-Sensing Soft Actuator Based on CNT-Dispersed ionogel

This work reports a first-ever soft actuator with self-sensing and bi-stable capabilities by utilizing shape memory effect of ionogel. A bi-stable gripper implemented by assembling two of the proposed actuators is also demonstrated and characterized. The device consists of a carbon nanotube (CNT) dispersed ionogel finger, a thermo-responsive liquid-crystal elastomer (LCE) cantilever, and a micromachined heater layer. The LCE cantilever functions as an actuating material for deforming the ionogel finger. The heater layer is used to heat up the LCE for inducing its deformation. The ionogel finger, which functions as a self-sensing material in a sensor-less fashion, possesses structural bi-stability with large forces and deformations. Characterization of the actuators was presented. It was also demonstrated (by video) that a soft bi-stable self-sensing gripper, which consists of two proposed bi-stable actuators, is capable of grasping heavy metal objects, and stably holds the objects without consuming any power due to its bi-stability.