A water surface not only provides a habitat to many living organisms but also opens up new possibilities to develop state-of-the-art technologies. Here, we show a technology for the layer-by-layer assembly of free-standing nanofilms by controlled rolling. The water surface is exploited as an ideal platform for rolling a nanofilm, allowing adhesion control and frictionless feeding. The nanofilm floating on the water surface is attached to a tube by van der Waals adhesion and is rolled up by the rotation of the tube. This method can assemble diverse film materials including metals, polymers, and two-dimensional materials, with an easy control of the number of layers. Furthermore, heterogeneous and spiral structures of the nanofilm are achieved. Various applications such as a stretchable tubular electrode, an electroactive polymer tube actuator, and a superelastic nanofilm tube are demonstrated. We believe this work can potentially lead to a breakthrough in the nanofilm assembly processes.

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Soft actuators exhibit activeness and flexibility and are widely used as next‐generation intelligent devices. However, their locomotion depends on friction with contact surfaces that restrict their movement. To overcome this limitation, a noncontact‐type multiresponsive soft actuator that levitates in a magnetic field is proposed. This soft actuator can respond to humidity, heat, and diamagnetic repulsion force stimuli, resulting in high degrees of freedom and multiple motions. The soft actuator is fabricated by coating a highly hygroscopic membrane onto a diamagnetic graphite film, which enables the actuator to levitate in the magnetic field. Bending actuation is induced by the swelling mismatch between the two layers via the hygrothermal response. The translational force driven by local concentrated heating of the actuator leads to the realization of high‐speed linear and curvilinear motions. Frictionless rotational motion is also realized remotely with broad heating of an asymmetrically bent soft actuator, generating nonzero torque acting on the floating soft actuator. The proposed levitating soft actuators are applied to a fast and reliable capsule‐delivery gripper and a remotely controllable levitated motor. The soft actuator exhibits the potential to be applied in a wide range of applications, such as soft robotics and smart mechanical devices.

The prediction of hygroscopic swelling of flexible polymer substrates is crucial in various fields from smart structures to flexible electronics. In this study, the prediction method for time-dependent hygroscopic deformation is presented by employing the finite element method (FEM). In order to precisely consider the strain gradients inside the substrate, moisture distribution depending on time is quantitatively investigated by a moisture absorption analysis and sequentially combined with a mechanical deformation analysis. The essential hygroscopic properties including the saturated moisture content, moisture diffusivity, and the coefficient of moisture expansion are precisely measured. Through the application of these hygroscopic properties to a hygro-mechanical analysis model, the moisture distribution and the hygroscopic deformation are quantitatively simulated with time. For the verification of this model, the simulation results of bilayer structures are compared with the experimental results, which are measured using a three-dimensional deformation measurement system. The presented model demonstrates that the global and local hygroscopic deformations are accurately predicted by this approach, showing above 90% averaged accuracy at each time step. These results can be obtained by precisely measured hygroscopic properties and the consideration of the effect of non-uniform distribution on the hygroscopic deformation.

Designing a robot with soft materials that are lightweight and compact allows it to enable safe human–robot interaction and portable design. While most research has been concentrated on various external stimuli to trigger soft actuators and sensors, less work has been conducted on stimuli for soft brakes that lock and release the motion. Brakes are essential components for robotic systems to achieve stable positioning and increase safety against unintended movements. In this study, a tubular brake is proposed that utilized the hygromechanical behavior of polymers for compact soft wearable robots. The inner diameter of the tube changes quantitatively with varying moisture content in the tube. This change adjusts the contact pressure between the tube and its inner wire, to control the friction applied to the force transmission wire. The brake can generate high frictional braking force per unit mass (∼774 N g–1) and unit area (∼0.5 MPa), which is 2.5 times higher than other soft brakes. It is also lightweight, flexible, and easily adaptable to the existing wire-driven mechanisms by replacing the conventional wire sheath with the hygroscopic polymer tube. The effectiveness of the brake was demonstrated by implementing it into an electrical-power-free wearable rehabilitation glove for a stroke survivor.