Study on the Twisted and Coiled Polymer Actuator with Strain Self-Sensing Ability

Twisted and coiled polymer actuators (TCAs) are a kind of efficient artificial muscles, which have good prospects for application in soft robots, bionic devices, and biological, medical, and other high-tech fields. However, the inability to dynamically sense and adjust the strain of the actuator will lead to uncertainty in the accuracy of deformation and strain, resulting in imprecise target action. Herein, TCAs with strain self-sensing ability (TCASA) are prepared by integrating the stretchable optomechanical film (SOMF) sensors into TCAs, which provides a simple strategy for dynamical strain sensing. These SOMFs have a wide range of color changes during deformation of TCAs, and the strain is perceived by observing the color change according to the corresponding relationship between color change and strain. Furthermore, the proposed TCASA maintain excellent cycling stability of strain self-sensing during cyclic tests (200 cycles) and excellent strain self-sensing performance to perform strain control compared to TCAs without SOMFs. The results indicate that the proposed structure is a promising soft actuator with excellent strain self-sensing ability, which is well suited for soft robots, bionic devices, biological and medical fields, smart wearable technologies, and so forth, especially when controlled, repetitive deformations are required.