Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers.

Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft robotic systems with the compliance and resiliency that makes them well adapted for unstructured and dynamic environments. Although actuation mechanisms for soft robots vary widely, soft electrostatic transducers such as dielectric elastomer actuators (DEAs) and hydraulically amplified self-healing electrostatic (HASEL) actuators have demonstrated promise due to their muscle-like performance and capacitive self-sensing capabilities.

Mechanism for rapid self-assembly of block copolymer nanoparticles.

Amphiphilic block copolymers in solution spontaneously self-assemble when the solvent quality for one block is selectively decreased. We demonstrate that, for supersaturation ratio changes [d(S)/dt] over 10(5) per second from equilibrium, nanoparticles are obtained with a formation mechanism and size dependent on the jumping rate and magnitude. The threshold rate for homogeneous precipitation is determined by the induction time of a particle, equivalent to the diffusion limited fusion of copolymer chains to form a corona of overlapping soluble brushes.