This work reports a miniaturized actuator with state-sensing and bi-stable capabilities that was developed by utilizing the shape memory effect of ionogel. The actuator consists of a carbon nanotube (CNT) dispersed ionogel finger, a thermo-responsive liquid-crystal elastomer (LCE) cantilever, and a micromachined heater layer. The LCE cantilever serves as an actuating material for deforming the ionogel finger, while the heater layer is used to induce LCE deformation by elevating the LCE temperature. Due to the one-way shape memory effect, the ionogel finger possesses bistability with large deformations, and is capable of staying in either position without consuming energy. The ionogel finger also functions as a sensing material for detecting its state in a sensorless fashion. A bi-stable gripper constructed by assembling two proposed actuators was demonstrated and characterized. In addition, a video demonstration showed that the gripper could grasp and stably hold heavy metal objects without consuming any power because of its bistability.

中文翻译：

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具有状态传感功能的小型化离子凝胶双稳态执行器

这项工作报告了一种具有状态传感和双稳态功能的小型执行器，该执行器是利用离子凝胶的形状记忆效应开发的。该执行器由碳纳米管（CNT）分散的离子凝胶指、热响应液晶弹性体（LCE）悬臂和微机械加热层组成。LCE 悬臂用作使离子凝胶手指变形的致动材料，而加热器层用于通过升高 LCE 温度来诱导 LCE 变形。由于单向形状记忆效应，离子凝胶手指具有大变形的双稳定性，并且能够在不消耗能量的情况下停留在任一位置。离子凝胶手指还可用作传感材料，以无传感器方式检测其状态。通过组装两个所提出的执行器构建的双稳态夹具进行了演示和表征。此外，视频演示表明，由于其双稳态，该夹具可以在不消耗任何电力的情况下抓取并稳定地握住重金属物体。