Partial Liquid Alloy Microdroplet Sedimentation Induced a Gradient Porous Structured Elastomer with a Tunable Property for an Anisotropic Robotic Bulk

Abstract

With the confrontation of ever increasing complicated working objects and unstructured environments, it is necessary for soft robots to be equipped with diverse intelligent mechanical structures, for example, anisotropically motorial bulk and timely proprio/exteroceptive sensing with programmable morphologies. Owing to abundant pores inside, porous media are promising to host various intelligent functions as interfaces/structures of robots yet challenging because of a limited anisotropic response inherited from a random hierarchical pore distribution. Here, an electron competition between Ga, N, and Pt is found and used to tune the polymerization of a gradient liquid alloy and NH4HCO3-suspended silicone precursor mixture and, thus, decompose gas movements in gradient pore formation under high-temperature heating (120 °C). By such a competition–collaboration effect, we present here an interconnected gradient porous structure (GPS) that can serve as an anisotropically robotic motorial bulk. Moreover, the mechanical stiffness and piezoresistive/capacitive property of GPS can be further tuned and reconfigured via so-called self-sucked coating, following solvent erasing. Such new structures provide a dynamic tactile recognition with an ultrabroad sensing range (from 135 Pa to 2.3 MPa) and a reconfigurable biomimetic elephant trunk with monolithic proprioceptive sensing-integrated bulks.