The Dynamic Mortise-and-Tenon Interlock Assists Hydrated Soft Robots Toward Off-Road Locomotion

作     者：Baoyi Wu Yaoting Xue Israt Ali Huanhuan Lu Yuming Yang Xuxu Yang Wei Lu Yinfei Zheng Tao Chen 

作者机构：Key Laboratory of Marine Materials and Related TechnologiesZhejiang Key Laboratory of Marine Materials and Protective TechnologiesNingbo Institute of Material Technology and EngineeringChinese Academy of SciencesNingbo 315201China School of Chemical SciencesUniversity of Chinese Academy of Sciences19A Yuquan RoadBejing 100049China Department of Engineering MechanicsZhejang UniversityHangzhou 310027China INRS-EMT1650 Boul.Lionel BouletVarennes J3X OA1Canada College of Chemical EngineeringNingbo PolytechnicNingbo 315800China Key Laboratory for Biomedical Engineering of Ministry of Education Ministry of ChinaKey Laboratory of Clinical Evaluation Technology for Medical Device of Zhejiang ProvinceCollege of Biomedical Engineering and Instrument ScienceZhejang UniversityHangzhou 310027China Research Center for Humanoid SensingZhejang LabHangzhou 311100China 

出 版 物：《Research》 (研究（英文）)

年 卷 期：2023年第2022卷第1期

页      面：553-564页

核心收录：

学科分类：0710[理学-生物学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0703[理学-化学] 0836[工学-生物工程] 0811[工学-控制科学与工程] 

基　　金：supported by the National Key R&D Program of China(2022YFB3200071) the Zhejiang Provincial Natural Science Foundation of China(LD22E050008 and LD22A020002) the Zhejiang Provincial Key R&D Program of China(2022C01002),the Youth Innovation Promotion Association of the Chinese Academy of Sciences(2019297) the Key Science&Technology Project of Medicine and Health,Zhejiang province,Foundation of Scientific Research of National Health Care Commission(WKJ-ZJ-2009) the National Major Scientific Research Instrument Development Project(81827804) 

主　　题：terrain versatile utilized 

摘      要：Natural locomotion such as walking,crawling,and swimming relies on spatially controlled deformation of soft tissues,which could allow efficient interaction with the external *** one of the ideal candidates for biomimetic materials,hydrogels can exhibit versatile bionic ***,it remains an enormous challenge to transfer these insitu deformations to locomotion,particularly above complex ***,inspired by the crawling mode of inchworms,an isotropic hydrogel with thermoresponsiveness could evolve to an anisotropic hydrogel actuator via interfacial diffusion polymerization,further evolving to multisection structure and exhibiting adaptive deformation with diverse degrees of ***,a dynamic mortise-and-tenon interlock could be generated through the interaction between the self-deformation of the hydrogel actuator and rough terrains,inducing continual multidimensional locomotion on various artificial rough substrates and natural sandy ***,benefiting from the powerful mechanical energy transfer capability,the crawlable hydrogel actuators could also be utilized as hydrogel motors to activate static cargos to overstep complex terrains,which exhibit the potential application of a biomimetic mechanical discoloration ***,we believe that this design principle and control strategy may be of potential interest to the field of deformable materials,soft robots,and biomimetic devices.