Reversible Elastomer–Fluid Transitions for Metamorphosic Robots

Abstract

AbstractEndowing robots with reversible phase transition ability, especially between elastomer and fluid states, can significantly broaden their functionality and applicability. Limited attempts have been made to realize the reversible elastomer–fluid transition. Existing phase transition materials in robotics have over‐hard (≈4 GPa) or over‐soft (≈4 kPa) stiffness in the solid states, which should be further investigated to perform more compliant motions. To address these challenges, a reversible elastomer–fluid transition mechanism  enabled by magnetically induced hot melt materials (MIMMs) is presented. The transition principle is explained and material characterizations are conducted. MIMMs‐based metamorphosic robots endow self‐metamorphosing abilities, such as self‐healing, spatial reshaping, self‐division/assembly, and additive manufacturability. When interacting with external environments, MIMMs‐based robots can perform further multifunctional abilities, such as collaborations for structure repairs, swimming by symbiosis with external objects, flowing through a narrow terrain by transiting to fluid, and working with elastomeric structures for stiffness‐variable fluid soft actuators. The proposed elastomer–fluid transitions open a new path for robots to generate more flexible and metamorphosic motions, thereby addressing the cross‐phase transformation challenges that soft robots face.