The Dynamic Mortise-and-Tenon Interlock Assists Hydrated Soft Robots Toward Off-Road Locomotion  

作　　者：Baoyi Wu Yaoting Xue Israt Ali Huanhuan Lu Yuming Yang Xuxu Yang Wei Lu Yinfei Zheng Tao Chen 

机构地区：[1]Key Laboratory of Marine Materials and Related Technologies,Zhejiang Key Laboratory of Marine Materials and Protective Technologies,Ningbo Institute of Material Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201,China [2]School of Chemical Sciences,University of Chinese Academy of Sciences,19A Yuquan Road,Bejing 100049,China [3]Department of Engineering Mechanics,Zhejang University,Hangzhou 310027,China [4]INRS-EMT,1650 Boul.Lionel Boulet,Varennes J3X OA1,Canada [5]College of Chemical Engineering,Ningbo Polytechnic,Ningbo 315800,China [6]Key Laboratory for Biomedical Engineering of Ministry of Education Ministry of China,Key Laboratory of Clinical Evaluation Technology for Medical Device of Zhejiang Province,College of Biomedical Engineering and Instrument Science,Zhejang University,Hangzhou 310027,China [7]Research Center for Humanoid Sensing,Zhejang Lab,Hangzhou 311100,China

出　　处：《Research》2023年第1期553-564,共12页研究（英文）

基　　金：supported by the National Key R&D Program of China(2022YFB3200071);the Zhejiang Provincial Natural Science Foundation of China(LD22E050008 and LD22A020002);the Zhejiang Provincial Key R&D Program of China(2022C01002),the Youth Innovation Promotion Association of the Chinese Academy of Sciences(2019297);the Key Science&Technology Project of Medicine and Health,Zhejiang province,Foundation of Scientific Research of National Health Care Commission(WKJ-ZJ-2009);the National Major Scientific Research Instrument Development Project(81827804).

摘　　要：Natural locomotion such as walking,crawling,and swimming relies on spatially controlled deformation of soft tissues,which could allow efficient interaction with the external environment.As one of the ideal candidates for biomimetic materials,hydrogels can exhibit versatile bionic morphings.However,it remains an enormous challenge to transfer these insitu deformations to locomotion,particularly above complex terrains.Herein,inspired by the crawling mode of inchworms,an isotropic hydrogel with thermoresponsiveness could evolve to an anisotropic hydrogel actuator via interfacial diffusion polymerization,further evolving to multisection structure and exhibiting adaptive deformation with diverse degrees of freedom.Therefore,a dynamic mortise-and-tenon interlock could be generated through the interaction between the self-deformation of the hydrogel actuator and rough terrains,inducing continual multidimensional locomotion on various artificial rough substrates and natural sandy terrain.Interestingly,benefiting from the powerful mechanical energy transfer capability,the crawlable hydrogel actuators could also be utilized as hydrogel motors to activate static cargos to overstep complex terrains,which exhibit the potential application of a biomimetic mechanical discoloration device.Therefore,we believe that this design principle and control strategy may be of potential interest to the field of deformable materials,soft robots,and biomimetic devices.

关 键 词：terrain VERSATILE utilized 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]