Amphibious Soft Robots Based on Programmable Actuators Fabricated by Brushing Chinese Ink on Paper

Soft robots based on actuators that can work in both on-ground and on-water situations are environmentally adaptable and can accomplish tasks in complex environments. However, most current amphibious actuators need external stimuli to move on water and require complex preparation processes. Herein, amphibious Ink-paper/polyethylene programmable actuators and robots are proposed, which are fabricated by rapidly brushing Chinese ink on paper. The actuator can bend on the ground and move autonomously on the water. On one hand, the actuator shows a maximum bending curvature of 2.66 cm