Dual-Stimulus Smart Actuator and Robot Hand Based on a Vapor-Responsive PDMS Film and Triboelectric Nanogenerator.

Intelligent actuating materials with vapor-stimulated mechanical response usually require complicated synthesizing processes or have a high cost. Here, we found that the UV/O3-modified poly(dimethylsiloxane) PDMS) film can show spontaneous curling deformation when it encounters small alcohol molecules such as ethanol vapor. Based on the coupling of the vapor-responsive PDMS film and triboelectric nanogenerator (TENG), a flexible actuator for object transport and a double-finger gripper for loading small objects are designed. The deformation and size change induced by vapor stimulation help these devices to adapt to the target objects of different sizes, while the electrostatic force provided by TENG can move or control the target object, for instance, the double-finger gripper can clamp an object of a weight of 6 g.