标题： 反馈调节的光-机械柔性机器人执行器 显示英文标题

标题： Feedback Regulated Opto-Mechanical Soft Robotic Actuators

摘要： 自然生物可以将环境刺激转化为感官反馈，以调节自身并实现主动适应性。 然而，在合成材料系统中实现这种反馈调节机制仍然是一个巨大的挑战。 人们认为，在响应性材料中实现复杂的反馈机制将为无需复杂电子设备的自主、智能结构和驱动铺平道路。 受生命系统的启发，我们报告了一种通用原理，用于在光响应材料中设计和构建这样的反馈回路。 具体而言，我们设计了一种挡板-执行器机制，以将程序化的反馈整合到光-机械响应中。 通过简单地调整挡板相对于入射光束的位置，可以编程正反馈和负反馈。 我们展示了将光弯曲条转换为开关器的转变，其中光的强度决定了正反馈下的能量势垒，实现了多稳态形状变化。 通过利用负反馈和相关的稳态，我们演示了两种软体机器人，即一种运动机器人和一种游泳机器人。 此外，我们揭示了反馈在光响应材料中的普遍性，这为自我调节的机器人物质提供了新的见解。 显示英文摘要

摘要： Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge. It is believed that achieving complex feedback mechanisms in responsive materials will pave the way toward autonomous, intelligent structure and actuation without complex electronics. Inspired by living systems, we report a general principle to design and construct such feedback loops in light-responsive materials. Specifically, we design a baffle-actuator mechanism to incorporate programmed feedback into the opto-mechanical responsiveness. By simply addressing the baffle position with respect to the incident light beam, positive and negative feedback are programmed. We demonstrate the transformation of a light-bending strip into a switcher, where the intensity of light determines the energy barrier under positive feedback, realizing multi-stable shape-morphing. By leveraging the negative feedback and associated homeostasis, we demonstrate two soft robots, i.e., a locomotor and a swimmer. Furthermore, we unveil the ubiquity of feedback in light-responsive materials, which provides new insight into self-regulated robotic matters.