Versatile Ultrasoft Electromagnetic Actuators with Integrated Strain-Sensing Cellulose Nanofibril Foams

As robots more frequently fraternize with humans in everyday life, aspects such as safety, flexibility of tasks, and appearance become increasingly important. Soft robotics is attractive for new human-close applications, but soft actuators constitute a major challenge both in terms of actuation force and speed, and in terms of control and accuracy of the deformable soft actuator body. Herein, several of these challenges are addressed by developing versatile ultrasoft electromagnetic actuators that operate in absence of external magnetic fields, while simultaneously monitoring their states by internal strain sensors. The versatile actuators can compress to less than 50% of their initial length with strain-independent contraction force and operate in both contraction and expansion modes up to 200 Hz frequency while conforming to curved surfaces. The soft multilayer conductive cellulose-based foams are lightweight (3 mg cm(-3)) and provide internal strain-sensing capability and structural support, thereby improving the monitoring and controllability of the actuators while maintaining an axial softness of 0.6 kPa. It is believed that the concept of soft versatile electromagnetic actuators with integrated lightweight strain-sensing foams is promising for a wide range of applications within soft robotics.