Soft Science
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2025
·Vol. 5
·期 4
·N
·
IF 9
Yuyang Sun,Dongsheng Li,Ruxiao Yang,Zhicun Zhou,Tianci Ji,Bo Lu,Lining Sun,Huicong Liu
Current human-robot interaction (HRI) systems for training embodied intelligent robots often suffer from limited motion dimensionality and unintuitive control. This work presents the Touch-Code Glove, a multimodal HRI interface integrating functional materials, structural intelligence, and deep-learning decoding. A triboelectric digital interface is embedded into the Wrist-pad via a mosaic-patterned array of polyamide/polytetrafluoroethylene-doped silicone rubber films, generating polarity-dependent digital signal pairs upon contact. A co-electrode layout enables 16 touch points with minimal wiring, allowing multiplexed, programmable tactile input via sliding or multi-point gestures. Coupled triboelectric signals are accurately decoded using a convolutional neural network and long short-term memory model, achieving over 98% recognition accuracy. Complementarily, a double-network conductive hydrogel composed of sodium alginate, polyacrylamide, and sodium chloride is integrated into the Finger-fibers and the Wrist-pad to provide strain-sensing capabilities with excellent stretchability, high linearity, low hysteresis, and long-term stability. The system incorporates three concurrent sub-mapping strategies: gesture-driven control, wrist posture-based movement, and touch path-guided input, which together enable real-time control of robotic hands and arms without requiring professional training. This triboelectric-hydrogel hybrid interface offers a materials-centric solution for intelligent, wearable, and accessible HRI, paving the way for next-generation multimodal robotic control systems in assistive and industrial applications.
研究领域:
人机交互
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可穿戴电子
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软体机器人
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智能传感器
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机器人中的机器学习
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功能材料
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摩擦电传感
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水凝胶传感器
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高影响因子
Soft Science
·
2025
·Vol. 5
·期 4
·N
·
IF 9
Yudong Pan,Xueqi Zhao,Tongqing Lu
Fracture energy is the property that characterizes how a material resists crack growth. In a standard measurement of fracture energy, an incision is typically introduced into the specimen. It is known that the measured fracture energy may depend on the incision curvature. However, the underlying mechanism of such dependence remains unclear. In this paper, we prepared polyacrylamide/Ca-alginate hydrogel specimens featuring incisions with circular tips of varying diameters. The fracture energy was subsequently measured through a pure shear test. We observed that the fracture energy is proportional to the incision diameter, with a slope comparable to the work of fracture for larger tip diameters. Conversely, for smaller tip diameters, the fracture energy remains independent of the incision diameter and aligns with the intrinsic fracture energy. This transition occurs at an incision diameter comparable to a material-specific scale known as the fractocohesive length. Notably, the fractocohesive length, rather than the inelastic zone scale, successfully explains the dependence of fracture energy measurement on incision curvature. The difference between these two length scales of the material here spans three orders of magnitude. These results will be helpful for establishing standards for measuring fracture energy of soft materials.
研究领域:
材料力学
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软物质物理
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断裂力学
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 1
·N
·
IF 9
Lianfei Ding,Zizhuang He,Ruina Zhang,Sihan Liu,Wangchang Geng,Panbo Liu
Hollow architectures offer significant advantages in achieving simultaneous weight reduction and efficient electromagnetic (EM) wave absorption; however, their practical application is often constrained by inherent structural limitations. In this study, Zn1-xCo2-yNixFeyO4 composites were synthesized through an integrated self-sacrificing templating and ion-doping approach. Specifically, mixed zeolitic imidazolate frameworks (ZIFs) were utilized as sacrificial templates to fabricate hollow dodecahedral nanocages. Subsequent ion doping was facilitated by the chelating effect of tannic acid, followed by oxidative annealing in a tube furnace. Interestingly, the introduction of hetero-metal ions disturbed the original spinel lattice structure, leading to the extensive precipitation of a secondary ZnO phase. This spontaneous phase separation generated a high density of heterogeneous interfaces, which significantly enhanced interfacial polarization and thereby improved overall EM wave attenuation performance. These structural and compositional features enable the material to exhibit excellent microwave absorption capabilities even at low filler loadings. The hollow architecture not only reduces the intrinsic density of spinel ferrites but also extends the effective absorption bandwidth by optimizing impedance matching characteristics. As a result, a minimum reflection loss of -57.6 dB and an effective absorption bandwidth of 10.27 GHz were achieved with a filler content as low as 30 wt.%. This work presents a new strategy for the rational design of high-performance EM absorbers through the synergistic optimization of structural architecture and compositional modulation.
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高影响因子
Soft Science
·
2024
·Vol. 4
·期 1
·N
·
IF 0
Biao Ma,Ke Huang,Gangsheng Chen,Yingnan Tian,Nan Jiang,Chao Zhao,Hong Liu
Simultaneous monitoring of the body’s biochemical and biophysical signals via wearable devices can provide a comprehensive assessment of an individual’s health state. However, current multifunctional sensors for synchronous biochemical and biophysical sensing rely on discrete sensing units, posing a limitation in increased complexity in device assembly, signal processing, and system integration. In this study, we report a dual-mode and self-powered wearable sensor with ion and pressure-sensing capabilities by interfacing a hydrogel film with a solid ion-selective electrode. The hydrogel film can not only collect natural sweat from the skin but also offer a piezoionic response to pressure. We show that wrist pulse-induced pressure response can be incorporated into the noise of the response to sweat sodium ions, allowing for the simultaneous measurement of heart rate and sweat electrolytes. This work provides an example of simplifying the development of wearable multimode sensors through the rational design of classic electrochemical sensors.
研究领域:
可穿戴传感器
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生物电子学
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生物医学工程
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电化学传感器
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健康监测
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DOI
Soft Science
·
2026
·Vol. 6
·期 3
·N
·
IF 15.9
Binglu Zhong,JieLu1,Xingyu Jiang,Jie Wu1,Dianjue Liu1,Shaobo Ji1,Zi Wang,Rui Zhang1,Lizhen Huang,Lifeng Chi
Organic electrochemical transistors (OECTs) have emerged as promising candidates for bioelectronics because of their efficient ionic–electronic coupling. However, the realization of balanced ionic–electronic transport with satisfactory stability is challenging. Herein, we report a dual-solvent-assisted blade-coating strategy to modulate the morphology of hydrophilic ethylene glycol-grafted polythiophene films. The effects of the film thickness and crystallinity on OECT performance are systematically investigated. The well-ordered and uniform edge-on morphology achieved with the dual-solvent system facilitates efficient charge transport without impeding ion penetration, leading to efficient mixed ionic–electronic transport. More importantly, the operational stability is substantially enhanced compared with films processed using a single solvent, such that even thin films with thicknesses below 20 nm maintain more than 90% of their on-current after thousands of operational cycles. The optimized OECTs are successfully demonstrated for electrocardiogram (ECG) monitoring. This study provides an effective morphology engineering strategy for high-performance OECTs in wearable bioelectronics.
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 3
·N
·
IF 15.9
Hengyuan Shang,Jiangtao Li,Beibei Shao1,Bo Shi1,Yuqi Liu1,Teng Gao1,Yuxuan Li,Yanyun Liu,Le Jen Huang,Wenzhe Chen,Tao Song,Baoquan Sun
Wearable electrophysiological interfaces demand bioelectrodes that combine low-impedance, stable ion-electron transduction with high mechanical deformability, yet these requirements remain fundamentally incompatible in existing systems. Here, we present a nonpolarizable stretchable dry electrode based on a bead-on-string Ag/AgCl heterostructure, in which AgCl nanoparticles (NPs) are selectively assembled along percolated silver nanowire networks embedded within an elastomer matrix. This architecture spatially decouples Faradaic reaction sites from conductive pathways, constructing abundant, mechanically robust Ag/AgCl heterointerfaces for efficient ion-electron transduction while preserving continuous electron transport under large deformation. By systematically tuning the size of AgCl NPs (50-800 nm), the spatial distribution and interfacial length scale of Faradaic domains are optimized to maximize electrochemical performance. The resulting electrode achieves ultralow interfacial impedance (49 kΩ, 10 Hz), stable electrode potentials, and tolerance to severe mechanical deformation (ε > 370%), with minimal degradation over 500 stretch cycles. It enables low-noise, high-fidelity signal acquisition in the low-frequency regime, effectively suppressing motion artifacts and maintaining stable operation over 120 days of storage in air. When integrated with a spatiotemporal neural network for electrooculography decoding, the system achieves 98% accuracy in hands-free game control, demonstrating a robust paradigm for next-generation wearable bioelectronics.
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 2
·N
·
IF 15.9
Yali Zhang\u003Csup\u003E1,\u003C\u002Fsup\u003E,Chen Zhang\u003Csup\u003E1,\u003C\u002Fsup\u003E,Chenyu Zhang\u003Csup\u003E1,2\u003C\u002Fsup\u003E,Junhao Shi\u003Csup\u003E1\u003C\u002Fsup\u003E,Juntian Qu\u003Csup\u003E1,\u003C\u002Fsup\u003E,Xiang Qian\u003Csup\u003E1,\u003C\u002Fsup\u003E
Traditional rigid underwater vehicles are often bulky and exhibit poor maneuverability, which limits their deployment in complex marine environments. In contrast, bio-inspired soft robotic fish are capable of mimicking efficient aquatic propulsion, while maintaining a compact structure and enhancing interaction safety. They demonstrate significant potential for marine sensing and exploration. Despite these advantages, reliable underwater locomotion control for dielectric elastomer actuators (DEAs) driven systems remains highly challenging because of large nonlinear deformations, time-varying parameters, and strong hydrodynamic damping. As a result, most existing prototypes still operate primarily in open loop. In this study, we develop a centimeter-scale manta ray-inspired robotic fish actuated by underwater-compatible rolled-type DEAs. Systematic underwater experiments are conducted, including speed regulation and turning performance tests. To attain stable and reliable underwater control, an experimentally calibrated voltage-curvature relationship for the rolled-type DEAs is established, and an underwater input-output model for reciprocating actuation is identified. These two factors jointly facilitate the implementation of a fuzzy proportional-integral-derivative (PID) closed-loop controller. Compared with open-loop operation, the closed-loop system improves disturbance rejection and dynamic response, resulting in more consistent swimming performance and maneuvering control. These results offer a practical approach for integrating the fabrication of DEAs, underwater integration, and closed-loop control, and contribute to the advancement of highly maneuverable centimeter-scale soft underwater robots.
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DOI
高影响因子
Soft Science
·
2026
·Vol. 6
·期 4
·N
·
IF 15.9
Yixian Wang\u003Csup\u003E1,2\u003C\u002Fsup\u003E,Desheng Liu\u003Csup\u003E2,\u003C\u002Fsup\u003E,Danli Hu\u003Csup\u003E2\u003C\u002Fsup\u003E,Changcheng Bai\u003Csup\u003E2\u003C\u002Fsup\u003E,Yaoye Zhao\u003Csup\u003E2\u003C\u002Fsup\u003E,Dan Ding\u003Csup\u003E1,2\u003C\u002Fsup\u003E,Jie Huang\u003Csup\u003E1,2\u003C\u002Fsup\u003E,Xin Jia\u003Csup\u003E1,\u003C\u002Fsup\u003E,Xiaolong Wang\u003Csup\u003E2,\u003C\u002Fsup\u003E
Suction cups are widely used as switchable adhesion devices in manufacturing, robotic manipulation, and automated handling, yet their performance remains limited by insufficient suction force, leakage sensitivity, and poor adaptability to rough, cracked, porous, or irregular surfaces. Inspired by the familiar phenomenon in which a warm, water-rich tongue adheres strongly to ice, we report ice-activated hydrogel suction cups that exploit the phase transition of interfacial water into ice crystals to achieve strong and surface-adaptive adhesion. The hydrogel suction cups were fabricated by vat photopolymerization 3D printing and further programmed into different sizes and array architectures for adaptable adhesion and manipulation. At room temperature, the suction cups adhere through the combined effects of negative-pressure suction, water-mediated sealing, and liquid-bridge forces. Upon cooling, interfacial water freezes and grows into ice crystals within microscopic gaps, generating robust mechanical interlocking, while internal water crystallization stiffens the hydrogel body and reinforces the contact interface. This ice-activated mechanism enhances the adhesion strength to 1,719.67 kPa, which is approximately 100 times greater than that of polydimethylsiloxane suction cups and 55 times greater than that of hydrogel suction cups at room temperature. The suction cups exhibit robust adhesion on various substrates, including cracked or hole surfaces. Furthermore, integrated suction cup arrays facilitate the stable manipulation of objects with diverse geometries, weights, and frozen states, indicating potential applications in cold-chain handling, robotic pick-and-place operations, and automated logistics.
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 2
·N
·
IF 15.9
Can Yang,Hanqing Hou,Pengcheng Sun,Yuanrui Dong,Xue Gao,Linyan Chen,Jinger Tan,Yingtong Lu,Zhuofan Yang,Shangbin Liu,Liu Wang,Wei Xiong,Xing Sheng,He Ding,Lan Yin,Shirong Wang
Peripheral nerve injury often leads to severe and persistent motor and sensory deficits, thereby markedly reducing quality of life. Peripheral nerve interfaces offer opportunities to facilitate functional restoration by interrogating neural activity and delivering electrical therapy. However, existing devices are typically not designed for long-term monitoring of injured nerves and are fabricated from non-degradable materials that require surgical removal. Here we present a temporally biosynchronized, physically transient and flexible peripheral nerve interface that enables stable monitoring of neural activity throughout the post-injury recovery process. Integrated with machine-learning-based decoding, the interface achieves excellent motor intention recognition using peripheral nerve signals in a rodent sciatic nerve injury model, outperforming signals recorded from the primary motor cortex. Moreover, the device enables continuous tracking of nerve regeneration and supports bidirectional signal transmission, providing a foundation for closed-loop rehabilitation. This work establishes a transient and biomimetic peripheral nerve interface with the potential to advance neuroregeneration monitoring and adaptive neurorehabilitation strategies.
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 2
·N
·
IF 15.9
Zhi Lei,Maoxia Lu,Daohai Zhang,Dongju Liu,Yupeng Hu,Anmin Song,Junlei Wang,Wei Gong
With the rapid escalation of electromagnetic pollution and electromagnetic interference, conventional EMI shielding materials can no longer satisfy the integrated requirements of next-generation flexible electronic devices and information terminals for mechanical deformability, wearable adaptability, and real-time signal monitoring. In this work, a multifunctional polyacrylamide/glycerol (PG)/P@CoFe (PAM/Gly/PANI@CoFe2O4) composite organohydrogel sensor with synergistic electromagnetic dissipation was fabricated through a hydrothermal-assisted one-pot strategy. CoFe2O4 magnetic nanoparticles were first synthesized via an ethylene glycol-assisted solvothermal route. Subsequently, the surface-active sites of CoFe2O4 were utilized to induce aniline polymerization, yielding conductive-magnetic polyaniline (PANI)@CoFe2O4 composite nanoparticles. Mechanical characterization demonstrated that the resulting organohydrogel exhibited excellent compressive properties, while the incorporation of glycerol effectively suppressed water evaporation and enhanced water-retention capability. Electromagnetic measurements revealed that, at a PANI@CoFe2O4 loading of 4 wt.%, the 4 mm-thick hydrogel achieved an electrical conductivity of 0.55 ± 0.01 S/m and an average electromagnetic interference shielding effectiveness (EMI SE) of 50.27 ± 2.51 dB in the X-band. In addition, the hydrogel exhibited excellent thermal iInsulation performance. More importantly, its outstanding adhesion and rapid stimuli-responsive behavior enabled favorable human–machine interactive strain-sensing performance with good compatibility. This work provides an effective strategy for the development of integrated, robust multifunctional materials that simultaneously combine flexible sensing, electromagnetic shielding, and thermal insulation.
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 2
·N
·
IF 15.9
Jiang Cheng,Naihui Hou,Tengda Wang,Zhenyun Zhao,Wei Chen
With the growing global burden of chronic stress, there is an increasing need for real-time, non-invasive monitoring of cortisol dynamics. Molecularly imprinted polymer (MIP)-based sensing technology is known for its cost-effectiveness and low susceptibility to deactivation. Current invasive MIP-based cortisol sensors face fundamental requirements for improving sensitivity and widening the detection range. In addition, they encounter challenges in improving wearability and portability, as well as in developing commercially viable techniques. This work designs dual-function core-shell nickel hexacyanoferrate-MIP nanocubes (NiHCF-MIP NCs) and accordingly proposes a one-step conjugate electrospinning technique to yield coaxial cortisol-sensing yarns. The core-shell architecture effectively integrates the redox signal transduction capability of NiHCF with the cortisol-specific recognition function of MIP, enabling a continuous one-step fabrication process. The utilization of conjugate electrospinning technology not only supports scalable manufacturing but also creates a coaxial yarn structure that combines the advantages of the spun nanofiber network cortex and core threads. The as-produced yarns simultaneously possess high conductivity, flexibility, wearability, and rapid body fluid absorption, collectively enhancing the sensing performance. Consequently, the electrospun yarns exhibit a high sensitivity of 2.08 μA·dec-1, and the limit of detection (LOD) is theoretically calculated to be 0.4 nmol/L. This synergistic strategy combines core-shell dual-function nanomaterials with a one-step continuous conjugate electrospinning technique. It provides an innovative pathway for developing integrated wearable biosensing textiles for personal real-time stress monitoring and telehealth applications.
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高影响因子
Soft Science
·
2026
·Vol. 6
·期 3
·N
·
IF 15.9
Yexi Jin,Ruolin Wang,Jianyu Lin,Yu Lu,Jing Zhang,Xingwen Zhou,Baijie Cheng,Liguo Chen
Gait information is rooted in muscle contraction dynamics and neuromuscular regulation, and represents a reliable biometric. However, mechanical and bioelectrical signals acquired using conventional wearables are prone to replication and forgery during storage and transmission. Moreover, the degradation of recognition performance under standard encryption can occur due to limited feature dimensionality and fidelity. In this study, we present a spatiotemporally synchronous strain-surface electromyography (sEMG) co-sensing system (S-SESS), which co-locates and phase-aligns kinematic and neuromuscular signals from the gastrocnemius to deliver secure gait recognition. The strain sensing unit achieves a low hysteresis (1.6% at 100% strain) and high cyclic fidelity (> 10,000 cycles) using hierarchical supramolecular aggregates with multiple hydrogen bonds and dynamic π-π stacking that ensure precise phase tracking. The adaptive sEMG unit exhibits high interfacial conformity, suppresses motion artifacts, and achieves a signal-to-noise ratio (SNR) greater than 40 dB. The bimodal features are locally encrypted using the Advanced Encryption Standard-128 (AES-128) algorithm and processed directly in the ciphertext domain via a dedicated ByteEmbedded Temporal Convolutional Network (ByteEmbedded-TCN). This directly maps ciphertext streams into byte-embedded sequences and leverages causal and dilated convolutions to construct multi-scale receptive fields for temporal alignment and classification. The end-to-end framework achieves 89.7% ± 1.2% gait identification accuracy under encryption. The findings of this study provide a privacy-preserving wearable paradigm for trustworthy identity authentication.
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高影响因子
危险品化学品经营许可证（带存储）