Soft actuators with accurate and real-time motion perception are of great importance for flexible machines and artificial intelligence robotics to enable an autonomic response to surroundings. To enhance the sensing-signal reliability and calibration, synchronous motion perception with multiplex feedback signals is desired but has not been sufficiently explored. Herein, we present a soft bimorph actuator that has electrical and visual dual channel signal feedback functions for real-time multiplex motion perception. Cellulose paper and polyimide tape were assembled together as bimorph actuation layers on which an MXene/graphene bilayer was coated for electrothermal function and electrical signal feedback and a thermochromic interlayer was used for real-time visual signal feedback. Based on the proposed actuators, three kinds of bionic robotics and an electro-puppetry robot, “ Wu Song Fights the Tiger ”, with motion-programmable features are demonstrated, revealing the broad application prospects of the present soft actuators in bionic soft robotics with real-time multiplexing motion perception.
Natural compound eyes provide the inspiration for developing artificial optical devices that feature a large field of view (FOV). However, the imaging ability of artificial compound eyes is generally based on the large number of ommatidia. The lack of a tunable imaging mechanism significantly limits the practical applications of artificial compound eyes, for instance, distinguishing targets at different distances. Herein, we reported zoom compound eyes that enable variable-focus imaging by integrating a deformable poly(dimethylsiloxane) (PDMS) microlens array (MLA) with a microfluidic chamber. The thin and soft PDMS MLA was fabricated by soft lithography using a hard template prepared by a combined technology of femtosecond laser processing and wet etching. As compared with other mechanical machining strategies, our combined technology features high flexibility, efficiency, and uniformity, as well as designable processing capability, since the size, distribution, and arrangement of the ommatidia can be well controlled during femtosecond laser processing. By tuning the volume of water injected into the chamber, the PDMS MLA can deform from a planar structure to a hemispherical shape, evolving into a tunable compound eye of variable FOV up to 180°. More importantly, the tunable chamber can functionalize as the main zoom lens for tunable imaging, which endows the compound eye with the additional capability of distinguishing targets at different distances. Its focal length can be turned from 3.03 mm to infinity with an angular resolution of 3.86 × 10–4 rad. This zoom compound eye combines the advantages of monocular eyes and compound eyes together, holding great promise for developing advanced micro-optical devices that enable large FOV and variable-focus imaging.
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