Single-layer iron network microstructure magnetorheological elastomer for transparent soft actuator

Abstract

The motion of a soft magnetic magnetorheological elastomer, a composite material consisting of soft magnetic fillers and an elastomeric matrix, is limited by the gradient of the applied magnetic field, making its application as an out-of-plane soft actuator difficult. In this study, an anisotropic soft magnetic magnetorheological elastomer-based transparent soft actuator with large out-of-plane deformation was fabricated using a very low concentration (1 vol%) of carbonyl iron particles as the soft magnetic fillers. An applied AC electric field treatment method was used to manipulate iron particles in silicone oil, assembling and depositing them onto a glass substrate to form a single-layer iron-network microstructure. A single-layer iron-network microstructure-based magnetorheological elastomer (SL-sMRE) film with initial self-buckling was fabricated by exploiting the swelling properties of the residual silicone oil and polydimethylsiloxane. The SL-sMRE film exhibited out-of-plane deformation with a very short reaction time (228 ms) under a uniform magnetic field. When stimulated by a non-uniform magnetic field, the SL-sMRE film deformed away from the permanent magnet, which was not possible with an isotropic film. An optically transparent SL-sMRE film was applied to a transparent flexible gripping device that could detect the surface of a gripped object in real time. © 2024 Elsevier B.V.