3D打印可生物降解离子膜，实现高弯曲性能的软执行器
Low-Cost 3D printed, Biocompatible Ionic Polymer Membranes for Soft Actuators
- 用3D打印直接构建含活性炭聚合物层的生物相容性离子膜
- 最大弯曲角达124°，曲率为0.82 cm⁻¹，刷新纪录
- 可单步打印，适合定制化人机交互软机器人应用
离子聚合物执行器由离子交换聚合物夹在电极层之间构成，因其轻量化、静音和低驱动电压而被视为有前景的软执行器。然而传统材料往往不环保或对人体有害。为此，研究人员致力于开发生物相容版本，但其性能仍受限于承载能力、弯曲度与响应速度。本文提出一种全3D打印的生物相容性离子聚合物执行器，采用直接墨水书写法打印，结构为生物可降解离子液体封装于活性炭聚合物层中。显微观察证实离子聚合物被良好包覆。该执行器最大弯曲角度达124°（曲率0.82 cm⁻¹），据我们所知为现有最高中枢弯曲性能；可在2 Hz频率下稳定工作，阻塞力最高达0.76 mN。结果表明，该膜可使用标准FDM 3D打印机一步完成制造，为未来个性化功能型软机器人（如人机交互设备）提供新路径。
原文摘要 · Abstract (English)
Ionic polymer actuators, in essence, consist of ion exchange polymers sandwiched between layers of electrodes. They have recently gained recognition as promising candidates for soft actuators due to their lightweight nature, noise-free operation, and low-driving voltages. However, the materials traditionally utilized to develop them are often not human/environmentally friendly. Thus, to address this issue, researchers have been focusing on developing biocompatible versions of this actuator. Despite this, such actuators still face challenges in achieving high performance, in payload capacity, bending capabilities, and response time. In this paper, we present a biocompatible ionic polymer actuator whose membrane is fully 3D printed utilizing a direct ink writing method. The structure of the printed membranes consists of biodegradable ionic fluid encapsulated within layers of activated carbon polymers. From the microscopic observations of its structure, we confirmed that the ionic polymer is well encapsulated. The actuators can achieve a bending performance of up to 124$^\circ$ (curvature of 0.82 $\text{cm}^{-1}$), which, to our knowledge, is the highest curvature attained by any bending ionic polymer actuator to date. It can operate comfortably up to a 2 Hz driving frequency and can achieve blocked forces of up to 0.76 mN. Our results showcase a promising, high-performing biocompatible ionic polymer actuator, whose membrane can be easily manufactured in a single step using a standard FDM 3D printer. This approach paves the way for creating customized designs for functional soft robotic applications, including human-interactive devices, in the near future.
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