In biological system, autonomic neural perception and motion behaviors enable adaptive capability to the external environments. The biomimetic construction of soft materials with synergetic perceptive and actuating characteristics that is highly desirable for realizing the intelligent soft systems. Also, current prototypes do not provide appropriate platforms for the closeup exploration of underwater life in a safely and silently interactive way. Here, we have developed a compliant, morphable and conductive sandwiched film composed of carbon nanotubes (CNTs) film sandwiched between two polydimethylsiloxane (PDMS) layers that can function as a self-perceptive soft actuator. The vertical movement of the actuator can be accurately controlled by applying extra pressure, which attributed to the deformation of elastic ultrathin PDMS film like the swim bladder. Furthermore, the actuator can real-time traced the actuation process and sensing the surrounding environment by composite a layer of CNTs film, also realized to guide the motions of the actuator according to the feedback signals.

在生物系统中，自主神经知觉和运动行为使人们能够适应外部环境。具有协同感知和促动特性的软材料的仿生构造，对于实现智能软系统非常需要。另外，当前的原型还没有以安全且无声的交互方式为水下生物的近景探索提供适当的平台。在这里，我们开发了一种柔顺，可变形和导电的夹心薄膜，该夹心薄膜由夹在两个聚二甲基硅氧烷（PDMS）层之间的碳纳米管（CNT）薄膜组成，该薄膜可以用作自感知软致动器。可以通过施加额外的压力来精确控制执行器的垂直运动，这归因于弹性超薄PDMS薄膜的变形，例如游泳膀胱。此外，执行器可以通过复合一层CNTs薄膜实时追踪执行过程并感应周围的环境，还可以根据反馈信号来指导执行器的运动。