Bio-inspired soft actuator with contact feedback based on photothermal effect and triboelectric nanogenerator

The development of film soft actuators with contact feedback and outstanding environmental robustness is desirable. In this work, a film-based soft actuator laminated by polyethylene glycol terephthalate (PET), carbon black ink, and polydimethylsiloxane (PDMS) is proposed. Due to the enormous difference in thermal expansion coefficients between these materials, the actuator achieves a large bending deformation angle and a high response speed. Without the shape-memory materials, the actuator can return to its original shape under lightinduced after being subjected to mechanical stress. Meanwhile, the actuator maintains its shape after being exposed to extreme temperatures of up to 200 degrees C and immersion in a variety of solvents. Furthermore, based on the triboelectric effect, the actuator can generate remarkable real-time electrical signals when it mimics the tongue of frogs, bends deformation, and simulates mechanical grippers. This work demonstrates a simple method for building various intelligent and flexible electronic devices and provides promising applications for soft robots.