Microrobots that are light and agile yet require no artificial power input can be widely used in medical, military, and industrial applications. As an actuation system to drive such robots, here we report a biologically inspired bilayer structure that harnesses the environmental humidity energy, with ratchets to rectify the motion. We named this actuator-ratchet system the hygrobot. The actuator uses a hygroscopically responsive film consisting of aligned nanofibers produced by directional electrospinning, which quickly swells and shrinks in lengthwise direction in response to the change of humidity. The ratchets based on asymmetric friction coefficients rectify oscillatory bending motion in a directional locomotion. We mathematically analyzed the mechanical response of the hygrobot, which allowed not only prediction of its performance but also the optimal design to maximize the locomotion speed given geometric and environmental constraints. The hygrobot sterilized a trail across an agar plate without any artificial energy supply.

A cellulose sponge is a mundane porous medium composed of numerous microporous cellulose sheets surrounding macroscale voids. Here, we quantify the capillary rise dynamics of non-aqueous liquids in a sponge using a combination of experiment and theory. Although the classical law of Washburn is obeyed in the early stages, the wet front propagation is no longer diffusive in the late stages and follows a power law, $h\sim t^{1/4}$, with $h$ and $t$ being the capillary rise height and time respectively. The transition of the power law is a consequence of the peculiar heterogeneous pore structure of cellulose sponges. The permeability and driving pressure change at the rise height above which the macro voids can no longer be filled completely due to significant effects of gravity. We rationalize the $t^{1/4}$ law by considering liquid flows along the corners of macro voids driven by capillary pressure of microscale wall pores.

Capillary rise of water in porous cellulose sponges is investigated considering hygroscopic shape evolutions of micropores.

Soft porous solids can change their shapes by absorbing liquids via capillarity. Such poro-elasto-capillary interactions can be seen in the wrinkling of paper, swelling of cellulose sponges, and morphing of resurrection plants. Here, we introduce physical principles relevant to the phenomena and survey recent advances in the understanding of swelling and shrinkage of bulk soft porous media due to wetting and drying. We then consider various morphing modes of porous sheets, which are induced by localized wetting and swelling of soft porous materials. We focus on physical insights with the aim of triggering novel experimental findings and promoting practical applications.

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