Bioinspired smart polymeric materials that undergo three-dimensional shape deformation in response to specific stimuli have gained significant attention in the field of soft robotics and intelligent devices. Despite the substantial advancements in soft robotics, there is a growing demand for the design of multistimuli-responsive soft actuators using a single layer of material due to its reduced complexity and ease of manufacturing and durability. Here, we report the actuation characteristics of a single-layer, dual-responsive soft actuator that overcomes the commonly encountered delamination issues often associated with bilayer systems by incorporating PEDOT:PSS with cassava starch. This soft actuator exhibits deformations in response to various solvent vapors, such as water, alcohol, and acetone. Remarkably, it demonstrates opposite deformations upon exposure to water and alcohol vapors. Additionally, the actuator responds to light triggers and folds upon exposure to sunlight and infrared light. The degree of folding can be precisely controlled by adjusting the intensity of the light source. Furthermore, the periodic geometric patterns imposed on the surface of the actuator provide an additional handle to control the bending axis. For proof of concept, we leverage the actuation capabilities of our actuator to showcase a range of potential applications, including its usage in wearable textiles, crawler robots, smart curtains, push-and-pull machines, and smart lifts.

中文翻译：

---

蒸汽和光响应生物相容性软执行器


响应特定刺激而发生三维形状变形的仿生智能聚合物材料在软机器人和智能设备领域获得了广泛关注。尽管软机器人技术取得了巨大进步，但由于其复杂性降低、易于制造和耐用性，对使用单层材料设计多刺激响应软执行器的需求不断增长。在这里，我们报告了单层双响应软致动器的致动特性，该致动器通过将 PEDOT:PSS 与木薯淀粉结合，克服了通常与双层系统相关的常见分层问题。这种软执行器会因各种溶剂蒸汽（例如水、酒精和丙酮）而发生变形。值得注意的是，它在暴露于水和酒精蒸气时表现出相反的变形。此外，执行器响应光触发并在暴露于阳光和红外光时折叠。通过调节光源的强度可以精确控制折叠程度。此外，施加在致动器表面上的周期性几何图案提供了额外的手柄来控制弯曲轴。为了进行概念验证，我们利用执行器的驱动能力来展示一系列潜在应用，包括其在可穿戴纺织品、履带式机器人、智能窗帘、推拉机和智能电梯中的应用。