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

The soft actuators capable of responding to multiple stimuli and adapting to changing environments have attracted growing interest in the flexible multifunctional materials. However, how to achieve high degree of freedom (DoF), precise control, and complex shape transformation of the multi-stimuli responsive soft actuator, still remains challenging. Here, we report a multi-responsive soft actuator with various controllable sophisticated deformations by integrating a magnetically sensitive elastomer (MSE) with a liquid crystal elastomer (LCE). Through regulating the stimuli strength and the geometrical dimensions and material parameters of elastomers, the bending angle and curling curvature of the actuator are accurately controlled ranging from 0 to 58.9° and from 0.23 to 1.29 cm –1, respectively. The facile material-structural synergistic 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-shaped actuator displays multiple deformation modes, and the hand-shaped actuator transforms between 8 gestures under the control of laser and magnetic field, proving that the multi-responsive soft actuators have great application potentials in future bioengineering, soft manipulators, and flexible electronics.