Soft robots have the appealing advantages of being highly flexible and adaptive to complex environments. However, the low‐stiffness nature of the constituent materials makes soft robotic systems incompetent in tasks requiring relatively high load capacity. Despite recent attempts to develop stiffness‐tunable soft actuators by employing variable stiffness materials and structures, the reported stiffness‐tunable actuators generally suffer from limitations including slow responses, small deformations, and difficulties in fabrication with microfeatures. This work presents a paradigm to design and manufacture fast‐response, stiffness‐tunable (FRST) soft actuators via hybrid multimaterial 3D printing. The integration of a shape memory polymer layer into the fully printed actuator body enhances its stiffness by up to 120 times without sacrificing flexibility and adaptivity. The printed Joule‐heating circuit and fluidic cooling microchannel enable fast heating and cooling rates and allow the FRST actuator to complete a softening–stiffening cycle within 32 s. Numerical simulations are used to optimize the load capacity and thermal rates. The high load capacity and shape adaptivity of the FRST actuator are finally demonstrated by a robotic gripper with three FRST actuators that can grasp and lift objects with arbitrary shapes and various weights spanning from less than 10 g to up to 1.5 kg.

Huanglongbing (HLB) is a destructive disease of citrus trees caused by phloem-limited bacteria, Candidatus Liberibacter spp. One of the early microscopic manifestations of HLB is excessive starch accumulation in leaf chloroplasts. We hypothesize that the causative bacteria in the phloem may intervene photoassimilate export, causing the starch to over-accumulate. We examined citrus leaf phloem cells by microscopy methods to characterize plant responses to Liberibacter infection and the contribution of these responses to the pathogenicity of HLB. Plasmodesmata pore units (PPUs) connecting companion cells and sieve elements were stained with a callose-specific dye in the Liberibacter-infected leaf phloem cells; callose accumulated around PPUs before starch began to accumulate in the chloroplasts. When examined by transmission electron microscopy, PPUs with abnormally large callose deposits were more abundant in the Liberibacter-infected samples than in the uninfected samples. We demonstrated an impairment of symplastic dye movement into the vascular tissue and delayed photoassimilate export in the Liberibacter-infected leaves. Liberibacter infection was also linked to callose deposition in the sieve plates, which effectively reduced the sizes of sieve pores. Our results indicate that Liberibacter infection is accompanied by callose deposition in PPUs and sieve pores of the sieve tubes and suggest that the phloem plugging by callose inhibits phloem transport, contributing to the development of HLB symptoms.

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Although the advances in artificial muscles enable creating soft robots with biological dexterity and self-adaption in unstructured environments, producing scalable artificial muscles with multiple-mode actuations is still elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles, called MAIPAMs (Muscle-fiber Array Inspired Pneumatic Artificial Muscles), capable of multiple-mode actuations (such as parallel elongation-bending-spiraling actuations, parallel 10 bending actuations, and cascaded elongation-bending-spiraling actuations). Our MAIPAMs mainly consist of active 3D elastomer-balloon arrays reinforced by a passive elastomer membrane, which is achieved through a planar design and one-step rolling fabrication approach. We introduce the prototypical designs of MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible while un-stretchable layers for contraction and twisting actuations and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows promising potentials for versatile robotic applications, such as carrying a camera for recording videos, gripping and manipulating objects, and climbing a pipe-line.