Soft robots can adapt to dynamic environments without prior knowledge of their properties. Plants inspire mechanisms for counterbalancing dynamic loads by locally modulating compliance through anisotropic humidity-responsive materials and structures. In addition to well-known passive bilayers, plants may also actively control swelling. The combination of robust hygroscopic material-level response and simple electrical control makes active swelling particularly attractive for technological implementation. However, dynamic swelling demands the development and optimisation of congruent pumping solutions. This work suggests electrohydrodynamic pumping, enabled by highly reversible ion immobilisation at capacitive electrodes, as a particularly suitable low-pressure, high-area liquid displacement solution for active swelling. Local pore fill ratio (PFR) modulation is used as a measure for dynamic liquid displacement and swelling. A method for highly localised (10μm membrane thickness) assessment of the dynamic variation of PFR in a 400μm laminate undergoing cross-plane electrokinetic liquid displacement is developed. Two modes for transient PFR modulation were identified: electrokinetic ion transfer and diffusive solvent redistribution, pronounced at high and low voltage scan rates, respectively. The strategic combination of these modes enables various compliance-modulation scenarios. The system contains (within a cycle) a constant amount of liquid in an open network of liquid-filled pores. 30%-75% PFR yielded the highest dynamic PFR modulation: a high amount of empty pores is beneficial, yet a too-low PFR compromises the continuous liquid pathway necessary for electrokinetic pumping. The dynamic nature of internal liquid rearrangement was characterised by relatively fast electrokinetics-driven fluxes (6.3% PFR change in 80 s), followed by a slow equilibration of concentration and PFR. At high scan rates, PFR decreased at positive polarisation, while both positive and negative polarity yielded a similar decrease at low scan rates (5 mV s-1). Localised control over the swelling gradient enables the design of systems that morphologically adapt to complex dynamic loading conditions.
Keywords: electrokinetics; electrosorption; miniature pumps; plant-inspired; swelling.
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