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The integration of electronics into compliant materials is typically complex, cumbersome, and jeopardizes system-level compliance. Using multi-material fused deposition modeling, we introduce a framework in which components of a soft robot and conductive traces are deposited in a single print. Our novel procedure for attaching discrete electronic components to printed conductive traces using toluene solvent ensures reliable electrical connections by significantly reducing contact resistance by over an order of magnitude compared to existing methods. This fabrication pipeline is an additional key component that contributes to the broader objective of establishing a fully automated fabrication process for soft robots with integrated electronics. We demonstrate a complete assembly of a terrestrial soft robot and showcase its resilience against physical impacts. 

Abstract Inkjet printing of electronic materials is of interest for digital printing of flexible electronics and sensors, but the width of the inkjet-printed lines is still large, limiting device size and performance. Decreasing the drop volume, increasing the drop spacing, and increasing the ink-substrate contact angle are all approaches by which the line width can be lowered, however these approaches are limited by the nozzle geometry, ink coalescence and bead instabilities, and contact angle hysteresis, respectively. Here we demonstrate a novel approach for stable inkjet printing of very narrow lines on ink-substrate combinations with a high contact angle, utilizing the de-wetting of the ink due to the decreased contact angle hysteresis. After printing and drying an initial layer of disconnected seed drops of silver nanoparticle ink, we print an additional layer of bridging drops of the same ink in between the dried seed drops. The bridging drops expand to touch the dried seed drops and then retract into a line, due to the pinning of the wet ink on the dried seed ink but not on the substrate, forming a continuous silver trace. The trace width is decreased from 60μm with a traditional printing approach down to 12.6μm with this seed-bridge approach. The electrical conductivity of the silver trace is similar to that of a conventionally printed trace. Due to poor adhesion on the print substrate, the trace was transferred to a separate polymer substrate with a simple hot-pressing procedure, which preserves the electrical conductivity of the trace. 

CuBiW 2 O 8 (CBTO), with a band gap of 1.9–2.0 eV, responds to a wide region of the electromagnetic spectrum, which makes it a good candidate for solar-driven photocatalytic energy conversion and water treatment. We have previously demonstrated a Cu-rich solid state approach that enables the synthesis of CBTO accompanied by thermodynamically stable Bi 2 WO 6 impurity. Here, we describe an improved synthesis protocol with decreased impurity and synthesis time, and the first demonstration of CBTO as a functional material using photocatalytic Cr( vi ) photoreduction as a probe reaction. Transient absorption spectroscopy (TAS) was performed to investigate the ultrafast dynamics of the charge carriers after photoexcitation. The presence of two populations of photoexcited carriers was found, including short-lived free carriers with ∼10 ps lifetime and long-lived shallowly-trapped carriers with ∼1 ns lifetime. Together with carrier mobilities measured in our previous study, the new TAS results indicate that the long-lived charges have diffusion lengths similar to the CBTO particle size and were likely responsible for the majority of the photocatalytic activity. High activity of CBTO for Cr( vi ) photoreduction (∼100% reduction of 5 mg L −1 of Cr( vi ) in 15 minutes) was demonstrated, which clearly establishes the promise of this novel oxide for visible light-driven photocatalytic applications. Radical quenching experiments indicate that both ˙OH radicals and O 2 ˙ − radicals are produced by CBTO and are involved in the photoreduction of Cr( vi ). Repeated photocatalysis tests and analysis of the surface after the reaction show that CBTO is a stable and potentially reusable catalyst. Insights gained from correlating the synthesis conditions, carrier dynamics, and reactive species suggests that CBTO prepared with the improved protocol would be a favorable choice for photocatalytic reactions such as water decontamination from organic pollutants, water splitting, and solar fuel generation using visible light.