Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making subgram autonomous soft robots untethered and capable of responding intelligently to the environment is a long-standing challenge. One obstacle is the low power density of soft actuators, leading to small robots unable to carry their sense and control electronics and a power supply. Dielectric elastomer actuators (DEAs), a class of electrostatic electroactive polymers, allow for kilohertz operation with high power density but require typically several kilovolts to reach full strain. The mass of kilovolt supplies has limited DEA robot speed and performance. In this work, we report low-voltage stacked DEAs (LVSDEAs) with an operating voltage below 450 volts and used them to propel an insect-sized (40 millimeters long) soft untethered and autonomous legged robot. The DEAnsect body, with three LVSDEAs to drive its three legs, weighs 190 milligrams and can carry a 950-milligram payload (five times its body weight). The unloaded DEAnsect moves at 30 millimeters/second and is very robust by virtue of its compliance. The sub–500-volt operation voltage enabled us to develop 780-milligram drive electronics, including optical sensors, a microcontroller, and a battery, for two channels to output 450 volts with frequencies up to 1 kilohertz. By integrating this flexible printed circuit board with the DEAnsect, we developed a subgram robot capable of autonomous navigation, independently following printed paths. This work paves the way for new generations of resilient soft and fast untethered robots.

Head-mounted displays for virtual reality (VR) and augmented reality (AR) allow users to see highly realistic virtual worlds. The wearable haptics that enable feeling and touching these virtual objects are typically bulky, tethered, and provide only low fidelity feedback. A particularly challenging type of wearable human-machine interface is feel-through haptics: ultra-thin wearables so soft as to be mechanically imperceptible when turned off, yet generating sufficient force when actuated to make virtual objects feel tangible, or to change the perceived texture of a physical object. Here, 18 µm thick soft dielectric elastomer actuators (DEA), directly applied on the skin, reports rich vibrotactile feedback generation from 1 Hz to 500 Hz. Users correctly identifies different frequency and sequence patterns with success rates from 73 to 97% for devices applied on their fingertips. An untethered version weighing only 1.3 grams allowed blindfolded users to correctly identify letters by "seeing" them through their fingers. The silicone-based DEA membrane is mechanically transparent, enabling wearable haptics for the many applications where hand dexterity is critical. The feel-through DEA can be placed in array format anywhere on the body.

We report a combined vibrational sum-frequency generation (SFG) spectroscopy, Brewster angle microscopy (BAM), and ellipsometry study of different surfactants on water as a function of surfactant density. Vibrational SFG spectra of surfactants on the water surface in a Langmuir trough have been measured in both the surfactant CH and the water OH stretch regions. At low densities, the SFG signal generated at the surface in the presence of the surfactant is indistinguishable from the SFG signal generated at the clean water-air interface. When the surfactant density increases, i.e., upon compressing the monolayer, a very sudden increase in the SFG signal in both the CH and OH spectral regions is observed. For higher laser fluences, this stepwise increase occurs at increasingly higher surfactant densities. Since BAM shows that surfactant molecules are clearly present at these low densities, we conclude that at low surfactant density the laser beam displaces relatively high-density domains with surfactants in the liquid expanded phase out of the region of the laser focus. This is a consequence of the thermal gradient induced by local heating of the water phase with the monolayer on top due to repetitive laser excitation at 1 kHz. It can be circumvented by using a rotating trough. In this manner, the sampled surface area can be refreshed, allowing artifact-free vibrational SFG spectra to be measured down to the very lowest surfactant densities. In ellipsometry experiments, a similar step can be noticed, which, however, is of a different nature; i.e., it is not related to heating (the laser fluence is very low and the light nonresonant) but to a molecular transition. The occurrence of the step in ellipsometry as a function of area per molecule depends critically on the preparation of the monolayer. By giving the molecules time and space to relax during the preparation of the monolayer, this step could also be eliminated.

We report the study of behenic acid Langmuir monolayers spread over chloride salts solutions of cadmium, lead, magnesium, or manganese. These monolayers were investigated by means of surface pressure−area isotherms and grazing incidence X-ray diffraction (GIXD). The effect of the concentration of cations in the subphase on the structure of the monolayers was probed at room temperature and for three different subphase pHs (5.5, 7.5, 10.5). A threshold in subphase concentration is detected for the formation of a superlattice structure corresponding to an inorganic organized layer in addition to the ordered behenic acid monolayer. This threshold is shown to strongly depend on the cation and the subphase pH. Above the threshold, the superstructure is independent of both the cation concentration and the pH. Below the threshold, the ions are disordered but induce a condensing effect on the fatty acid molecules, which is more or less pronounced depending on the ions. Moreover, the combination of isotherms and GIXD allows us to show that the existence of superstructures can be predicted from the shape of the isotherms. Indeed, a good agreement is obtained between the thresholds determined by the two experimental techniques.