Pneumatic soft robot attracts extensive attention because of its own characteristics. It has great application potential in medical and other fields. Although the recent improvement of the soft robot shows great potentials for delicate manipulations, the development of completely untethered pneumatic intelligent soft robots remains challenging. This article introduces a novel type of untethered soft pneumatic actuator with embedded multiple sensing capabilities. The untethered drive of the soft pneumatic actuator is achieved by near-infrared-induced liquid-gas phase transition. In addition, a soft conductive resin was developed to make flexible sensors. Embedded flexible sensors enable bending and temperature sensing of soft actuators. With Digital Light Processing three-dimensional printing, the rapid fabrication of soft actuators and flexible sensors was realized. This article demonstrates the potential of the proposed untethered soft actuators with embedded multiple sensing capabilities as an important contribution to the research of completely untethered intelligent soft robots.

中文翻译：

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具有嵌入式多重传感功能的不受束缚的软气动执行器。

气动软体机器人因其自身的特点而受到广泛关注。在医学等领域具有巨大的应用潜力。尽管软体机器人最近的改进显示出精细操作的巨大潜力，但完全不受束缚的气动智能软体机器人的开发仍然具有挑战性。本文介绍了一种具有嵌入式多重传感功能的新型无系绳软气动执行器。软气动执行器的不受束缚的驱动是通过近红外诱导的液-气相变实现的。此外，还开发了一种软导电树脂来制造柔性传感器。嵌入式柔性传感器可实现软执行器的弯曲和温度传感。通过数字光处理三维打印，实现了软执行器和柔性传感器的快速制造。本文展示了所提出的具有嵌入式多重传感功能的不受束缚的软执行器的潜力，作为对完全不受束缚的智能软机器人研究的重要贡献。