新型软电热执行器实现双向运动与快速回位，突破传统限制。
Soft Electrothermal Meta-Actuator for Robust Multifunctional Control
- 通过薄膜热传导设计实现多模式控制
- 双向位移超28%，环境温度敏感度降低100倍以上
- 适合软体机器人和精密操控场景
软电热执行器因其结构简单、柔性好、易控制，在多个领域备受关注。但热致机械驱动固有的局限性——单向运动、环境敏感、响应慢（受限于被动冷却）——制约了其应用。为此，我们提出一种新型元执行器架构，利用工程化薄膜热传递实现多功能操作。实验表明，该执行器可在0.75 W下实现≥28%的大幅位移，环境温度变化下的热敏感度较传统器件降低100倍以上，并可通过主动冷却使恢复速度比被动冷却快10倍。此外，该方法可扩展运动范围以操控复杂物体。柔性夹持器演示验证了其在软体机器人和器件中的潜力。
原文摘要 · Abstract (English)
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation constraints: unidirectional motion, environmental sensitivity, and slow response times limited by passive cooling. To overcome these constraints, we propose a meta-actuator architecture, which uses engineered heat transfer in thin films to achieve multifunctional operation. We demonstrate electrically selectable bidirectional motion with large deflection ($ \geq $28% of actuator length at 0.75 W), suppressed thermal sensitivity to ambient temperature changes when compared to conventional actuators (>100$ \times $ lower), and actively forced return to the rest state, which is 10 times faster than that with passive cooling. We further show that our meta-actuator approach enables extended ranges of motions for manipulating complex objects. Versatile soft gripper operations highlight the meta-actuator's potential for soft robotics and devices.
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