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Origami-inspired folding assembly of dielectric elastomers for programmable soft robots

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Microsystems & Nanoengineering 2022年第2期8卷 73-83页

作者： Yanhua Sun Dengfeng Li Mengge Wu Yale Yang Jingyou Su Tszhung Wong Kangming Xu Ying Li Lu Li Xinge yu junsheng yu State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of China(UESTC)Chengdu 610054People's Republic of China Chongqing Key Laboratory of Materials Surface&Interface Science Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and DevicesMicro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of ChinaSchool of Materials Science and EngineeringChongqing University of Arts and SciencesChongqing 402160People's Republic of China Department of Biomedical Engineering City University of Hong KongHong Kong SAR 999077People's Republic of China

Origami has become an optimal methodological choice for creating complex three-dimensional(3D)structures and soft robots.The simple and low-cost origami-inspired folding assembly provides a new method for developing 3D soft robots,which is ideal for future intelligent robotic systems.Here,we present a series of materials,structural designs,and fabrication methods for developing independent,electrically controlled origami 3D soft robots for walking and soft manipulators.The 3D soft robots are based on soft actuators,which are multilayer structures with a dielectric elastomer(DE)film as the deformation layer and a laser-cut PET film as the supporting flexible frame.The triangular and rectangular design of the soft actuators allows them to be easily assembled into crawling soft robots and pyramidal-and square-shaped 3D structures.The crawling robot exhibits very stable crawling behaviors and can carry loads while walking.Inspired by origami folding,the pyramidal and square-shaped 3D soft robots exhibit programmable out-of-plane deformations and easy switching between two-dimensional(2D)and 3D structures.The electrically controllable origami deformation allows the 3D soft robots to be used as soft manipulators for grasping and precisely locking 3D objects.This work proves that origami-inspired fold-based assembly of DE actuators is a good reference for the development of soft actuators and future intelligent multifunctional soft robots.

关键词： robot folding dielectric

Stretchable organic electrochemical transistors via threedimensional porous elastic semiconducting films for artificial synaptic applications

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Nano Research 2023年第7期16卷 10206-10214页

作者： yujie Peng Lin Gao Changjian Liu Jinyi Deng Miao Xie Libing Bai Gang Wang yuhua Cheng Wei Huang junsheng yu State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of ChinaChengdu 610054China School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and EngineeringShanghai Key Laboratory of Lightweight Structural CompositesKey Laboratory of High Performance fibers&productsMinistry of EducationDonghua UniversityShanghai 201620China

Neuromorphic computing targets realizing biomimetic or intelligence systems capable of processing abundant tasks in parallel analogously to our brain,and organic electrochemical transistors(OECTs)that rely on the mixed ionic-electronic synergistic couple possess significant similarity to biological systems for implementing synaptic functions.However,the lack of reliable stretchability for synaptic OECTs,where mechanical deformation occurs,leads to consequent degradation of electrical performance.Herein,we demonstrate stretchable synaptic OECTs by adopting a three-dimensional poly(3-hexylthiophene)(P3HT)/styrene-ethylene-butylene-styrene(SEBS)blend porous elastic film for neuromorphic computing.Such architecture shows the full capability to emulate biological synaptic behaviors.Adjusting the accumulated layer numbers of porous film enables tunable OECT output and hysteresis,resulting in transition in plasticity.Especially,with a trilayer porous film,large-scale conductance and hysteresis are endorsed for efficient mimicking of memory-dependent synapse behavior.Benefitted from the interconnected three-dimensional porous structures,corresponding stretchable synaptic OECTs exhibit excellent mechanical robustness when stretched at a 30%strain,and maintain reliable electrical characteristics after 500 stretching cycles.Furthermore,near-ideal weight updates with near-zero nonlinearities,symmetricity in long-term potentiation(LTP)and depression,and applications for image simulation are validated.This work paves a universal design strategy toward highperformance stretchable neuromorphic computing architecture and could be extended to other flexible/stretchable electronics.

关键词： organic electrochemical transistors(OECTs) artificial synapses porous films flexible electronics neuromorphic computing

Stretchable,skin-conformable neuromorphic system for tactile sensory recognizing and encoding

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InfoMat 2023年第12期5卷 87-99页

作者： Mengge Wu Qiuna Zhuang Kuanming Yao Jian Li Guangyao Zhao Jingkun Zhou Dengfeng Li Rui Shi Guoqiang Xu Yingchun Li Zijian Zheng Zhihui Yang junsheng yu Xinge yu State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of China(UESTC)Chengduthe People's Republic of China Department of Biomedical Engineering City University of Hong KongHong Kongthe People's Republic of China Laboratory for Advanced Interfacial Materials and Devices School of Fashion and TextilesThe Hong Kong Polytechnic UniversityHong Kongthe People's Republic of China Hong Kong Center for Cerebra-Cardiovascular Health Engineering Hong Kong Science ParkHong Kongthe People's Republic of China College of Science Harbin Institute of TechnologyShenzhenthe People's Republic of China Department of Pathology The Affiliated Hospital of Southwest Medical UniversityLuzhouthe People's Republic of China

Expanding wearable technologies to artificial tactile perception will be of significance for intelligent human-machine interface,as neuromorphic sensing devices are promising candidates due to their low energy consumption and highly effective operating properties.Skin-compatible and conformable features are required for the purpose of realizing wearable artificial tactile perception.Here,we report an intrinsically stretchable,skin-integrated neuromorphic system with triboelectric nanogenerators as tactile sensing and organic electrochemical transistors as information processing.The integrated system provides desired sensing,synaptic,and mechanical characteristics,such as sensitive response(~0.04 kPa^(-1))to low-pressure,short-and long-term synaptic plasticity,great switching endurance(>10000 pulses),symmetric weight update,together with high stretchability of 100%strain.With neural encoding,demonstrations are capable of recognizing,extracting,and encoding features of tactile information.This work provides a feasible approach to wearable,skin-conformable neuromorphic sensing system with great application prospects in intelligent robotics and replacement prosthetics.

关键词： neural encoding neuromorphic sensing system organic electrochemical transistors tactile sensation triboelectric nanogenerators

Muscle-inspired soft robots based on bilateral dielectric elastomer actuators

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Microsystems & Nanoengineering 2023年第5期9卷 245-254页

作者： Yale Yang Dengfeng Li Yanhua Sun Mengge Wu Jingyou Su Ying Li Xinge yu Lu Li junsheng yu State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of China(UESTC)ChengduPR China Chongqing Key Laboratory of Materials Surface&Interface Science Chongqing Co-Innovation Center for Micro/Nano Optoelectronic Materials and DevicesMicro/Nano Optoelectronic Materials and Devices International Science and Technology Cooperation Base of ChinaSchool of Materials Science and EngineeringChongqing University of Arts and SciencesChongqingPR China Hong Kong Centre for Cerebro-Cardiovascular Health Engineering(COCHE) Hong KongSARChina Department of Biomedical Engineering City University of Hong KongHong KongSARChina

Muscle groups perform their functions in the human body via bilateral muscle actuation,which brings bionic inspiration to artificial robot design.Building soft robotic systems with artificial muscles and multiple control dimensions could be an effective means to develop highly controllable soft robots.Here,we report a bilateral actuator with a bilateral deformation function similar to that of a muscle group that can be used for soft robots.To construct this bilateral actuator,a low-cost VHB 4910 dielectric elastomer was selected as the artificial muscle,and polymer films manufactured with specific shapes served as the actuator frame.By end-to-end connecting these bilateral actuators,a gear-shaped 3D soft robot with diverse motion capabilities could be developed,benefiting from adjustable actuation combinations.Lying on the ground with all feet on the ground,a crawling soft robot with dexterous movement along multiple directions was realized.Moreover,the directional steering was instantaneous and efficient.With two feet standing on the ground,it also acted as a rolling soft robot that can achieve bidirectional rolling motion and climbing motion on a 2°slope.Finally,inspired by the orbicularis oris muscle in the mouth,a mouthlike soft robot that could bite and grab objects 5.3 times of its body weight was demonstrated.The bidirectional function of a single actuator and the various combination modes among multiple actuators together allow the soft robots to exhibit diverse functionalities and flexibility,which provides a very valuable reference for the design of highly controllable soft robots.

关键词： robot artificial dielectric

Thin,soft,3D printing enabled crosstalk minimized triboelectric nanogenerator arrays for tactile sensing

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Fundamental Research 2023年第1期3卷 111-117页

作者： Jian Li Yiming Liu Mengge Wu Kuanming Yao Zhan Gao yuyu Gao Xingcan Huang Tsz Hung Wong Jingkun Zhou Dengfeng Li Hu Li Jiyu Li Ya Huang Rui Shi junsheng yu Xinge yu Department of Biomedical Engineering City University of Hong KongHong Kong 999077China Hong Kong Center forCerebra-Cardiovascular Health Engineering Hong Kong Science ParkNew TerritoriesHong KongChina State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of China(UESTC)Chengdu 610054China Shenzhen Research Institute City University of Hong Kong Shenzhen 518057China

With the requirements of self-powering sensors in flexible electronics,wearable triboelectric nanogenerators(TENGs)have attracted great attention due to their advantages of excellent electrical outputs and low-cost processing routes.The crosstalk effect between adjacent sensing units in TENGs significantly limits the pixel density of sensor arrays.Here,we present a skin-integrated,flexible TENG sensor array with 100 sensing units in an overall size of 7.5 cm×7.5 cm that can be processed in a simple,low-cost,and scalable way enabled by 3D printing.All the sensing units show good sensitivity of 0.11 V/kPa with a wide range of pressure detection from 10 to 65 kPa,which allows to accurately distinguish various tactile formats from gentle touching(as low as 2 kPa)to hard pressuring.The 3D printing patterned substrate allows to cast triboelectric layers of polydimethylsiloxane in an independent sensing manner for each unit,which greatly suppresses the cross talk arising from adjacent sensing units,where the maximum crosstalk output is only 10.8%.The excellent uniformity and reproducibility of the sensor array offer precise pressure mapping for complicated pattern loadings,which demonstrates its potential in tactile sensing and human-machine interfaces.

关键词： Tactile sensor Triboelectricnanogenerators Self-powering sensors Crosstalk suppression Human-machine interfaces

Control of vertical phase separation in high performance non-fullerene organic solar cell by introducing oscillating stratification preprocessing

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Nano Research 2021年第5期14卷 1319-1325页

作者： Dayong Zhang Pu Fan Jinyu Shi Yifan Zheng Jian Zhong junsheng yu State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic Science and EngineeringUniversity of Electronic Science and Technology of ChinaChengdu610054China Shanghai Institute of Optics and Fine Mechanics Chinese Academy of SciencesShanghai201800China

Non-fullerene organic solar cell(NFOSC)has attracted tremendous attention due to their great potential for commercial applications.To improve its power conversion efficiency(PCE),generally,sequential solution deposition(SSD)methods have been employed to construct the graded vertical phase separation(VPS)of the bulk-heterojunction(BHJ)active layer for efficient exciton separation and charge transition.However,a variety of orthogonal solvents used in the SSD may lead to the unpredicted change in the BHJ morphology and introduce additional defects inside the BHJ bulk thus complicate the fabrication process.Here,a simple oscillating stratification preprocessing(OSP)is developed to facilitate the formation of graded VPS among the BHJ layer.As a result,a significant improvement is obtained in PCE from 10.96%to 12.03%,which is the highest value reported among PBDB-T:ITIC based NFOSC.

关键词： oscillating stratification preprocessing graded vertical phase separation non-fullerene organic solar cells high performance sequential solution deposition

A Wideband E-Plane Crossover Coupler for Terahertz Applications

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China Communications 2021年第5期18卷 245-254页

作者： Xiaohe Cheng Zhiyan Liu yuan Yao junsheng yu Xiaodong Chen Beijing Key Laboratory of Work Safety Intelligent Monitoring School of Electronic EngineeringBeijing University of Posts and TelecommunicationsBeijing 100876China School of Electronic Engineering and Computer Science Queen Mary University of LondonLondon E14NSU.K.

In this paper,a new approach to design terahertz(THz)E-plane crossover coupler is reported.By cascading two symmetrical septum polarizers,a simple structure with wide operating bandwidth and high isolation performance is achieved.The working principle is explained by operating waveguide modes.To simplify the optimization process,the scattering matrix(S-matrix)of the crossover is calculated.Two prototypes loaded and unloaded electromagnetic band gap(EBG)are fabricated and measured.The electrical contact problem at assembly plane is eliminated by the prototype loaded EBG.A measured bandwidth of 17.3%from 92.5 to 110 GHz for reflection and isolation coefficients-2 dB is achieved.

关键词： butler matrix crossover coupler high isolation multi-beam THz

Enhancement of open circuit voltage in organic solar cells by doping a fluorescent red dye

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Frontiers in Energy 2012年第2期6卷 179-183页

作者： Qing LI junsheng yu yue ZANG Nana WANG Yadong JIANG State Key Laboratory of Electronic Thin Films and Integrated Devices School of Optoelectronic InformationUniversity of Electronic Science and Technology of ChinaChengdu 610054China

The open circuit voltage （Voc） of small- molecule organic solar cells （OSCs） could be improved by doping suitable fluorescent dyes into the donor layers. In this paper, 4-（dicyanomethylene）-2-t-butyl-6-（1,1,7,7- tetramethyljulolidyl-9-enyl）-4H-pyran （DCJTB） was used as a dopant, and the performance of the OSCs with different DCJTB concentration in copper phthalocyanine （CuPc） was studied. The results showed that the Voc of the OSC with 50% of DCJTB in CuPc increased by 15%, compared with that of the standard CuPc/fullerene （C60） device. The enhancement of the Voc was attributed to the lower highest occupied molecular orbital （HOMO） level in the DCJTB than that in the CuPc. Also, the light absorption intensity is enhanced between 400 and 550nm, where CuPc and C6o have low absorbance, leading to a broad absorption spectrum.

关键词： organic solar cells （OSCs） open circuit voltage fluorescent dye doping 4-（dicyanomethylene）-2- t-butyl-6-（ 1,1,7,7-tetramethyljulolidyl-9-enyl）-4H-pyran （DCJTB）

Study on ChemFET NO_2 Gas Sensor Array

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稀有金属材料与工程 2006年第A3期35卷 104-105页

作者： Guangzhong Xie junsheng yu Huilin Tai Wusheng Suo Yadong Jiang Bangchao Yang School of Optoelectronic Information University of Electronic Science ＆ Technology of China Chengdu 610054 China School of Microelectronics and Solid-State Electronics University of Electronic Science ＆ Technology of China Chengdu 610054 China

Based on conventional metal-oxide-semiconductor field-effect transistor (MOSFET),a novel kind of chemical field-effect transistor (ChemFET) gas sensor array has been designed and fabricated.The obtained sensor consists of self-assembly polyaniline (PAN) composite film containing poly(acrylic acid) (PAA) which was used as gate material of MOSFET instead of conventional metallic gate.The UV-Vis absorption spectra of PAN/PAA films were characterized.The NO_2 gas sensitive property of the ChemFET sensor array was also investigated.Results show that the drain current of devices increases with increasing of back-side voltage,and decreases with the increase of NO_2 concentration when the NO_2 concentration is below 20μg/g.The temperature dependence of ChemFET sensor array shows that the drain current of ChemFET sensor decreases with increasing of temperature.

关键词： NO2 sensitivity ChemFET sensor self-assembly polyaniline poly (acrylic acid)