Soft robotics aims to close the performance gap between built and biological machines through materials design. Soft robots are constructed from soft, actuatable materials to be physically intelligent, or to have traits that living organisms possess such as passive adaptability and morphological computation through their compliant, deformable bodies. However, materials selection for physical intelligence often involves low-performance and/or energy-inefficient, stimuli-responsive materials for actuation. Additional challenges in soft robot sensorization and control further limit the practical utility of these machines. Recognizing that electrically controllable materials are crucial for the development of soft machines that are both physically and computationally intelligent, we review progress in the development of electroprogrammable materials for soft robotic actuation. We focus on thermomechanical, electrostatic, and electrochemical actuation strategies that are directly controlled by electric currents and fields. We conclude with an outlook on the design and fabrication of next-generation robotic materials that will facilitate true bioinspired autonomy.

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用于仿生软机器的电控材料

软机器人技术旨在通过材料设计来缩小人造机器和生物机器之间的性能差距。软机器人由柔软的可驱动材料制成，具有物理智能，或者具有生物体所具有的特征，例如通过其柔顺的、可变形的身体进行被动适应和形态计算。然而，物理智能的材料选择通常涉及低性能和/或低能效、刺激响应的驱动材料。软机器人传感和控制方面的额外挑战进一步限制了这些机器的实际用途。认识到电控材料对于物理和计算智能软机器的开发至关重要，我们回顾了用于软机器人驱动的电可编程材料的开发进展。我们专注于由电流和场直接控制的热机械、静电和电化学驱动策略。最后，我们对下一代机器人材料的设计和制造进行了展望，这将促进真正的仿生自主性。