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Soft pneumatic actuators are made of flexible materials that deform in response to pressure changes. Due to their reliability, safety, and flexibility, such actuators enable diverse hardware design and become indispensable for soft robots. However, bulky air compressors and pipes constrain their further integration and lightweight. The liquid–vapor phase transition can produce significant encapsulated volume changes and achieve pipeless thermo‐pneumatic actuation. Herein, a novel soft thermoelectric‐based actuator, named Peltier pouch motor (PPM), is presented with modular and dual‐stroke characteristics enabled by active phase transition of low‐boiling‐point liquid. Furthermore, its lightweight and stretchable compliance contributes to assembly‐induced hyper‐modularity to create diverse degrees‐of‐freedom hybrid systems. Finally, the various forms of PPM units are exploited and versatile locomotion is facilitated for five different applications under multi‐medium scenarios, including thermo‐responsive land locomotion, submersible noise‐free hovering, smart curtains control, body‐temperature‐driven wrist rehabilitation, and adaptive hybrid gripper. In these results, it is indicated that the proposed PPM unit advances in hyper‐modularity with excellent performance in high load rate (around 400%), heat transfer efficiency (heating boost, 425%; cooling boost, 138%), and thermal response performance (heating, 0.57° s−1; cooling, 0.29° s−1; 4.5 V), inspiring widely innovative soft robots through the pipeless thermo‐pneumatic actuation. [ABSTRACT FROM AUTHOR]

In this study, a system of automatic microparticle patterning that could enable the separation, trapping, and translation of single microbeads in liquid suspension using negative dielectrophoresis (DEP) tweezers was presented to form a single-bead pattern. A microchip with integrated electrodes was flipped and placed above the substrate through a micromanipulator. Microparticles laying on the substrate could be displaced to different positions relative to the electrodes on the microchip, and only the selected particles would be trapped by the electric fields generated from electrodes. Vision-based approaches were used to evaluate the necessary information, such as the gap distance and the positions of electrodes and microparticles in the image. A strategy for separating nearby particles was proposed to achieve single-bead patterning with high accuracy. A controller was used to guide the microparticles toward the position for trapping while avoiding flow disturbance. Different strategies were simulated to decrease the patterning time and find the minimum traveling distance and the best route of movement. The optimization problem is NP-hard. Hence, global optimization algorithms, such as genetic algorithm, particle swarm optimization, and ant colony optimization (ACO), were simulated, and the results were compared with those of the local optimization method. The comparison results showed that ACO obtained the best performance among the methods. The strategy for constructing high-quality microparticle patterns was also examined through experiments. Orange fluorescent polystyrene beads suspended in 6-aminohexanoic acid solution were considered and successfully patterned on a glass substrate by using the proposed system. Note to Practitioners—Micropatterning is an effective tool for pharmaceutical research and drug discovery. However, the reliability of results depends on the quality of patterns. Existing approaches, such as microfluidic devices, are limited to create a pattern from one chip for single use, and the entire process is sealed and isolated from the environment. In this study, a multielectrode microchip combined with a vision-based micromanipulator is introduced to create a novel noncontact approach for microparticle patterning, which offers high flexibility and guarantees the quality of the constructed patterns. The electrodes on the chip can be selectively energized to determine the shape of the final pattern. A real-time screening is performed so that the micromanipulator will only guide the particles in good condition for selection. An optimization algorithm is implemented to aid the particle selection with the electrodes, allowing high-quality microparticle patterns to be constructed in a short time for various applications. [ABSTRACT FROM AUTHOR]

There has been a growing need for soft robots operating various force-sensitive tasks due to their environmental adaptability, satisfactory controllability, and nonlinear mobility unique from rigid robots. It is of desire to further study the system instability and strongly nonlinear interaction phenomenon that are the main influence factors to the actuations of lightweight soft actuators. In this study, we present a design principle on lightweight pneumatically elastic backbone structure (PEBS) with the modular construction for soft actuators, which contains a backbone printed as one piece and a common strip balloon. We build a prototype of a lightweight (<80 g) soft actuator, which can perform bending motions with satisfactory output forces (∼20 times self-weight). Experiments are conducted on the bending effects generated by interactions between the hyperelastic inner balloon and the elastic backbone. We investigated the nonlinear interaction and system instability experimentally, numerically, and parametrically. To overcome them, we further derived a theoretical nonlinear model and a numerical model. Satisfactory agreements are obtained between the numerical, theoretical, and experimental results. The accuracy of the numerical model is fully validated. Parametric studies are conducted on the backbone geometry and stiffness, balloon stiffness, thickness, and diameter. The accurate controllability, operation safety, modularization ability, and collaborative ability of the PEBS are validated by designing PEBS into a soft laryngoscope, a modularized PEBS library for a robotic arm, and a PEBS system that can operate remote surgery. The reported work provides a further applicability potential of soft robotics studies.

Storyline visualization techniques have progressed significantly to generate illustrations of complex stories automatically. However, the visual layouts of storylines are not enhanced accordingly despite the improvement in the performance and extension of its application area. Existing methods attempt to achieve several shared optimization goals, such as reducing empty space and minimizing line crossings and wiggles. However, these goals do not always produce optimal results when compared to hand-drawn storylines. We conducted a preliminary study to learn how users translate a narrative into a hand-drawn storyline and check whether the visual elements in hand-drawn illustrations can be mapped back to appropriate narrative contexts. We also compared the hand-drawn storylines with storylines generated by the state-of-the-art methods and found they have significant differences. Our findings led to a design space that summarizes 1) how artists utilize narrative elements and 2) the sequence of actions artists follow to portray expressive and attractive storylines. We developed iStoryline, an authoring tool for integrating high-level user interactions into optimization algorithms and achieving a balance between hand-drawn storylines and automatic layouts. iStoryline allows users to create novel storyline visualizations easily according to their preferences by modifying the automatically generated layouts. The effectiveness and usability of iStoryline are studied with qualitative evaluations.