Thermal-sensing actuator based on conductive polymer ionogel for autonomous human-machine interaction

Empowering soft robots with the ability to perceive will greatly improve human-machine interaction, enabling autonomous robotic systems. However, integrating additional sensing components into soft actuators poses significant challenges, particularly in terms of adhesion and stiffness matching. Here, we present a novel dualfunctional thermal-sensing actuator (TSA) with conductive polymer ionogel electrodes. This TSA leverages ion diffusion for thermal sensing and electrochemical actuation, all within a single device. One remarkable feature of this TSA is its ability to not only sense temperature through heat conduction upon contact, but also remotely sense thermal radiation, especially from the human body. We further designed a sensing-actuation smart control system and demonstrated robotic hands, bionic butterflies and flytraps that exhibit autonomous and programmable responses when approached by a human hand. This work represents a pioneering effort in integrating thermal sensing and actuation functions within a single device. It not only facilitates proprioceptive actuation but also offers fresh insights for the development of autonomous robots.