Powerful, soft combustion actuators for insect-scale robots.

Insects perform feats of strength and endurance that belie their small stature. Insect-scale robots-although subject to the same scaling laws-demonstrate reduced performance because existing microactuator technologies are driven by low-energy density power sources and produce small forces and/or displacements. The use of high-energy density chemical fuels to power small, soft actuators represents a possible solution. We demonstrate a 325-milligram soft combustion microactuator that can achieve displacements of 140%, operate at frequencies >100 hertz, and generate forces >9.5 newtons. With these actuators, we powered an insect-scale quadrupedal robot, which demonstrated a variety of gait patterns, directional control, and a payload capacity 22 times its body weight. These features enabled locomotion through uneven terrain and over obstacles.

Valveless microliter combustion for densely packed arrays of powerful soft actuators.

Existing tactile stimulation technologies powered by small actuators offer low-resolution stimuli compared to the enormous mechanoreceptor density of human skin. Arrays of soft pneumatic actuators initially show promise as small-resolution (1- to 3-mm diameter), highly conformable tactile display strategies yet ultimately fail because of their need for valves bulkier than the actuators themselves. In this paper, we demonstrate an array of individually addressable, soft fluidic actuators that operate without electromechanical valves. We achieve this by using microscale combustion and localized thermal flame quenching. Precisely, liquid metal electrodes produce sparks to ignite fuel lean methane-oxygen mixtures in a 5-mm diameter, 2-mm tall silicone cylinder. The exothermic reaction quickly pressurizes the cylinder, displacing a silicone membrane up to 6 mm in under 1 ms. This device has an estimated free-inflation instantaneous stroke power of 3 W. The maximum reported operational frequency of these cylinders is 1.2 kHz with average displacements of ∼100 µm. We demonstrate that, at these small scales, the wall-quenching flame behavior also allows operation of a 3 × 3 array of 3-mm diameter cylinders with 4-mm pitch. Though we primarily present our device as a tactile display technology, it is a platform microactuator technology with application beyond this one.

Controlling fracture cascades through twisting and quenching.

Fracture fundamentally limits the structural stability of macroscopic and microscopic matter, from beams and bones to microtubules and nanotubes. Despite substantial recent experimental and theoretical progress, fracture control continues to present profound practical and theoretical challenges. While bending-induced fracture of elongated rod-like objects has been intensely studied, the effects of twist and quench dynamics have yet to be explored systematically. Here, we show how twist and quench protocols may be used to control such fracture processes, by revisiting Feynman's observation that dry spaghetti typically breaks into three or more pieces when exposed to large pure bending stresses. Combining theory and experiment, we demonstrate controlled binary fracture of brittle elastic rods for two distinct protocols based on twisting and nonadiabatic quenching. Our experimental data for twist-controlled fracture agree quantitatively with a theoretically predicted phase diagram, and we establish asymptotic scaling relations for quenched fracture. Due to their general character, these results are expected to apply to torsional and kinetic fracture processes in a wide range of systems.