Soft actuators capable of reversible, strong and multiple actuations with minimum energy consumption are highly desired for the areas like soft robotics and internet of things. However, it remains highly challenging to achieve multiple-way actuations with materials having high mechanical strength and via a simple procedure. Here, accurate solvent sensing and solvent-induced actuations are realized at room temperature in 3D-printed actuator made of poly-ether-ether-ketone (PEEK), which is an excellent engineering plastic. The dual gradient of roughness and crystallinity in PEEK actuator, which is inspired by pinecone and regulated by 3D-printing, determines the absorption/desorption of solvent and thus the multiple-way actuation of PEEK actuator. The actuation can be further programmed by altering the solvent, the annealing temperature and the training method. As a result, PEEK actuator can be used to sense the incoming flow of organic solvents and to repeatedly transfer cargoes much heavier than its own bodyweight without the need of energy input. The work here not just provides a high-performance actuator that could function under harsh conditions, but also proposes a design strategy for sensor and actuators.

对于软机器人和物联网等领域，非常需要能够以最低能耗进行可逆、强力和多次驱动的软执行器。然而，使用具有高机械强度的材料并通过简单的程序实现多向驱动仍然非常具有挑战性。在这里，由聚醚醚酮 (PEEK) 制成的 3D 打印致动器在室温下实现了精确的溶剂传感和溶剂诱导致动，这是一种出色的工程塑料。PEEK 致动器的粗糙度和结晶度双梯度受松果启发并由 3D 打印调节，决定了溶剂的吸收/解吸，从而决定了 PEEK 致动器的多向致动。可以通过改变溶剂进一步对驱动进行编程，退火温度和训练方法。因此，PEEK 致动器可用于感应有机溶剂的流入流量，并在不需要能量输入的情况下重复传输比自身重量重得多的货物。这里的工作不仅提供了可以在恶劣条件下运行的高性能执行器，而且还提出了传感器和执行器的设计策略。