Soft actuator materials change their shape or size in response to stimuli like electricity, heat, light, chemical or pH. These actuator materials are compliant and well suited for soft mechatronics and robots. This paper introduces the definition of soft materials and the position of soft actuator materials in comparison with conventional actuators and other solid state actuator materials. A thorough review of selected soft actuator materials is carried out, including responsive gels/hydrogels, ionic polymer metal composites, conducting polymers, carbon nanotubues/graphenes, dielectric elastomers, shape memory polymers and biopolymers. This review will give insights for applications of soft actuator materials via better understanding of the materials in terms of their preparation, performance and limitation.

This paper reports a nontoxic, soft and electroactive hydrogel made with polyvinyl alcohol (PVA) and cellulose nanocrystal (CNC). The CNC incorporating PVA-CNC hydrogels were prepared using a freeze–thaw technique with different CNC concentrations. Fourier transform infrared spectroscopy, thermogravimetric analysis, X-ray diffraction and scanning electron microscopy results proved the good miscibility of CNCs with PVA. The optical transparency, water uptake capacity and mechanical properties of the prepared hydrogels were investigated in this study. The CNC incorporating PVA-CNC hydrogels showed improved displacement output in the presence of an electric field and the displacement increased with an increase in the CNC concentration. The possible actuation mechanism was an electrostatic effect and the displacement improvement of the hydrogel associated with its enhanced dielectric properties and softness. Since the prepared PVA-CNC hydrogel is nontoxic and electroactive, it can be used for biomimetic soft robots, actively reconfigurable lenses and active drug-release applications.

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Cellulose nanofiber (CNF) exhibits excellent mechanical properties, which has been extensively proven through experimental techniques. However, understanding the mechanisms and the inherent structural behavior of cellulose is important in its vastly growing research areas of applications. This study focuses on taking a look into what happens to the atomic molecular interactions of CNF, mainly hydrogen bond, in the presence of external force. This paper investigates the hydrogen bond disparity within CNF structure. To achieve this, molecular dynamics simulations of cellulose I β nanofibers are carried out in equilibrated conditions in water using GROMACS software in conjunction with OPLS-AA force field. It is noted that the hydrogen bonds within the CNF are disrupted when a pulling force is applied. The simulated Young’s modulus of CNF is found to be 161 GPa. A simulated shear within the cellulose chains presents a trend with more hydrogen bond disruptions at higher forces.