We present a soft actuator composed of fluidic channels of liquid metal alloy embedded in a liquid crystal elastomer (LCE). The LM channels function as stretchable Joule heating elements that deliver heat to the LCE to induce a shape memory phase transition. Because the heater is fluidic, it can deform with the surrounding LCE as the actuator extends and contracts during actuation. In addition to contractile actuation, the LCE can be programmed to perform in-plane or out-of-plane flexural actuation, which exhibit deformations predictable using a simple finite element analysis model. By combining a liquid metal heater with a shape memory polymer, we achieve a soft actuator that does not require an external heat source and can instead be directly activated with electrical current. Finally, we show that the liquid metal channels can also function as a sensor during the actuation cycle, allowing for closed-loop control of the soft actuator.

中文翻译：

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使用液晶弹性体和封装的液态金属焦耳加热器的软执行器

我们提出了一种软致动器，它由嵌入在液晶弹性体（LCE）中的液态金属合金的流体通道组成。LM通道用作可拉伸的焦耳加热元件，将热量传递到LCE，以诱导形状记忆相变。因为加热器是流体的，所以当致动器在致动期间伸展和收缩时，加热器会随周围的LCE变形。除了可收缩的致动外，还可以对LCE进行编程，以执行平面内或平面外挠曲致动，这些挠性致动表现出可使用简单的有限元分析模型预测的变形。通过将液态金属加热器与形状记忆聚合物相结合，我们实现了一种软致动器，它不需要外部热源，而是可以直接用电流激活。最后，