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Kirigami (cutting and/or folding) offers a promising strategy to reconfigure metamaterials. Conventionally, kirigami metamaterials are often composed of passive cut unit cells to be reconfigured under mechanical forces. The constituent stimuli-responsive materials in active kirigami metamaterials instead will enable potential mechanical properties and functionality, arising from the active control of cut unit cells. However, the planar features of hinges in conventional kirigami structures significantly constrain the degrees of freedom (DOFs) in both deformation and actuation of the cut units. To release both constraints, here, we demonstrate a universal design of implementing folds to reconstruct sole-cuts–based metamaterials. We show that the supplemented folds not only enrich the structural reconfiguration beyond sole cuts but also enable more DOFs in actuating the kirigami metasheets into 3 dimensions (3D) in response to environmental temperature. Utilizing the multi-DOF in deformation of unit cells, we demonstrate that planar metasheets with the same cut design can self-fold into programmable 3D kirigami metastructures with distinct mechanical properties. Last, we demonstrate potential applications of programmable kirigami machines and easy-turning soft robots.

 

Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of spine-inspired fast and strong soft machines. Unlike most current soft robots that are designed as inherently and unimodally stable, our design leverages tunable snap-through bistability to fully explore the ability of soft robots to rapidly store and release energy within tens of milliseconds. We demonstrate this generic design principle with three high-performance soft machines: High-speed cheetah-like galloping crawlers with locomotion speeds of 2.68 body length/s, high-speed underwater swimmers (0.78 body length/s), and tunable low-to-high-force soft grippers with over 1 to 10 3 stiffness modulation (maximum load capacity is 11.4 kg). Our study establishes a new generic design paradigm of next-generation high-performance soft robots that are applicable for multifunctionality, different actuation methods, and materials at multiscales. 

We studied the wetting behavior of multiscale self-similar hierarchical wrinkled surfaces. The hierarchical surface was fabricated on poly(dimethylsiloxane) (PDMS) substrates by manipulating the sequential strain release and combined plasma/ultraviolet ozone (UVO) treatment. The generated structured surface shows an independently controlled dual-scale roughness with level-1 small-wavelength wrinkles (wavelength of 700–1500 nm and amplitude of 50–500 nm) resting on level-2 large-wavelength wrinkles (wavelength of 15–35 μm and amplitude of 3.5–5 μm), as well as accompanying orthogonal cracks. By tuning the aspect ratio of hierarchical wrinkles, the degree of wetting anisotropy in hierarchical wrinkled surfaces, defined as the contact angle difference between the parallel and perpendicular directions to the wrinkle grooves, is found to change between 3° and 9°. Through both experimental characterization (confocal fluorescence imaging) and theoretical analyses, we showed that the wetting state in the hierarchical wrinkled surface is in the Wenzel wetting state. We found that the measured apparent contact angle is larger than the theoretically predicted Wenzel contact angle, which is found to be attributed to the three-phase contact line pinning effect of both wrinkles and cracks that generates energetic barriers during the contact line motion. This is evidenced by the observed sudden drop of over 20° in the static contact angles along both perpendicular and parallel directions after slight vibration perturbation. Finally, we concluded that the observed small degree of wetting anisotropy in the hierarchical wrinkled surfaces mainly arises from the competition between orthogonal wrinkles and cracks in the contact line pinning. 

Soft actuators are typically designed to be inherently stress‐free and stable. Relaxing such a design constraint allows exploration of harnessing mechanical prestress and elastic instability to achieve potential high‐performance soft robots. Here, the strategy of prestrain relaxation is leveraged to design pre‐curved soft actuators in 2D and 3D with tunable monostability and bistability that can be implemented for multifunctional soft robotics. By bonding stress‐free active layer with embedded pneumatic channels to a uniaxially or biaxially pre‐stretched elastomeric strip or disk, pre‐curved 2D beam‐like bending actuators and 3D doming actuators are generated after prestrain release, respectively. Such pre‐curved soft actuators exhibit tunable monostable and bistable behavior under actuation by simply manipulating the prestrain and the biased bilayer thickness ratio. Their implications in multifunctional soft robotics are demonstrated in achieving high performance in manipulation and locomotion, including energy‐efficient soft gripper to holding objects through prestress, fast‐speed larva‐like jumping soft crawler with average locomotion speed of 0.65 body‐length s⁻¹(51.4 mm s⁻¹), and fast swimming bistable jellyfish‐like soft robot with an average speed of 53.3 mm s⁻¹.

 

π‐Conjugated polymers have drawn broad interest in flexible electronics due to their solution processability, light weight, and a combination of conducting and light‐emitting properties. However, achieving mechanical endurance and stretchability in freestanding conjugated polymers is still difficult. Surface‐assembly‐induced light‐emitting polymer nanosheets with prodigious mechanical strength and charge transport are reported. Transferring freestanding polymer films onto various templates with conformal contact results in electrical and optical strain sensors with a gauge factor of ≈29. Subsequent geometric engineering into kirigami structures of the polymer sheets further extends the strain accommodations 20‐fold without compromising electric conductivity or fluorescence properties. These as‐prepared semiconducting polymers represent a possible new material for emerging stretchable electronics.

 

Stretchable conductors are essential components of wearable electronics. However, such materials typically sacrifice their electronic conductivity to achieve mechanical stretchability and elasticity. Here, the nanoconfinement and air/water interfacial assembly is explored to grow freestanding mechanical endurance conducting polymer nanosheets that can be stretched up to 2000% with simultaneously high electrical conductivity, inspired by kirigami. Such stretchable conductors show remarkable electronic and mechanical reversibility and reproducibility under more than 1000 cycle durability tests with 2000% deformability, which can be accurately predicted using finite element modeling. The conductivity of nanoconfined freestanding conductor nanosheets increases by three orders of magnitude from 2.2 × 10⁻³to 4.002 S cm⁻¹is shown, due to the charge‐transfer complex formation between polymer chain and halogen, while the electrical conductance of the stretchable kirigami nanosheets can be maintained over the entire strain regime. The nanoconfined polymer nanosheets can also act as a sensor capable of sensing the pressure with high durability and real‐time monitoring.