Soft actuators with accurate and real-time motion perception are of great importance for flexible machines and artificial intelligence robotics to enable an autonomic response to surroundings. To enhance the sensing-signal reliability and calibration, synchronous motion perception with multiplex feedback signals is desired but has not been sufficiently explored. Herein, we present a soft bimorph actuator that has electrical and visual dual channel signal feedback functions for real-time multiplex motion perception. Cellulose paper and polyimide tape were assembled together as bimorph actuation layers on which an MXene/graphene bilayer was coated for electrothermal function and electrical signal feedback and a thermochromic interlayer was used for real-time visual signal feedback. Based on the proposed actuators, three kinds of bionic robotics and an electro-puppetry robot, “Wu Song Fights the Tiger”, with motion-programmable features are demonstrated, revealing the broad application prospects of the present soft actuators in bionic soft robotics with real-time multiplexing motion perception.

具有精确和实时运动感知能力的软执行器对于柔性机器和人工智能机器人，使其能够对周围环境做出自主响应至关重要。为了增强感测信号的可靠性和校准，期望具有多路复用反馈信号的同步运动感知，但是尚未进行充分的探索。在本文中，我们介绍了一种软双压电晶片执行器，该电子执行器具有用于实时多重运动感知的电气和视觉双通道信号反馈功能。纤维素纸和聚酰亚胺胶带组装在一起，形成双压电晶片驱动层，在其上涂覆MXene /石墨烯双层以实现电热功能和电信号反馈，并使用热致变色夹层进行实时视觉信号反馈。根据建议的执行器，演示了具有运动可编程功能的“ Wu Song Fighting the Tiger ”，揭示了当前的软执行器在具有实时多路复用运动感知功能的仿生软机器人中的广阔应用前景。