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. 2023 Apr 20;14:2263. doi: 10.1038/s41467-023-38040-4

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 4 — a Description of a PLCL-based transient robotic gripper capable of perceiving environmental factors such as temperature and pressure via integrated electronic components (left) and schematic exploded (middle) and magnified (right) views of individual sensing elements. b Photograph (left) and finite element simulation result (right) at several states of bending actuation of the gripper. When bent to 180°, the gripper experienced only a strain of less than 20%, corresponding to the elastic region of PLCL. c Relationship between bending angle and applied pneumatic pressure. Data are presented as mean values ± standard deviation. n = 3 independent samples. d Cyclic actuation stability of the gripper under several pressures of 35, 55, and 140 kPa. e Overall procedures of temperature-aware actuation with a threshold value of 80 °C (top: (i) rest, (ii) grip, (iii) heat up, and (iv) release), and controlled temperature condition of the bulb over time (bottom). f Comparison of the behavior of pressure sensor-embedded grippers with a limited pressure of 100 Pa for gripping soft, light cotton balls (top) and the corresponding changes of pressure values ((i) ~100 Pa, (ii) none).