Soft actuators have recently been widely studied due to their significant advantages including light weight, continuous deformability, high environment adaptability, and safe human-robot interactions. In this study, we designed electrically responsive poly(sodium 4-vinylbenzenesulfonate/2-hydroxyethylmethacrylate/acrylamide) (P(VBS/HEMA/AAm)) and poly(sodium 4-vinylbenzenesulfonate/2-hydroxyethyl methacrylate/acrylic acid) (P(VBS/HEMA/AAc)) hydrogels. A series of P(VBS/HEMA/AAm) and P(VBS/HEMA/AAc) hydrogels were prepared by adjusting the monomer composition and cross-linking density to systemically analyze various factors affecting the actuation of hydrogels under an electric field. All hydrogels exhibited more than 65% gel fraction and a high equilibrium water content (EWC) of more than 90%. The EWC of hydrogels gradually increased with decreasing cross-linker content and was also influenced by the monomer composition. The mechanical properties of hydrogels were proportional to the cross-linking density. Particularly, hydrogels showed bending deformation even at low voltages below 10 V, and the electrically responsive bending actuation of hydrogels can be modulated by cross-linking density, monomer composition, applied voltage, ion strength of the electrolyte solution, and geometrical parameters of the hydrogel. By controlling these factors, hydrogels showed a fast response with a bending of more than 100° within a minute. In addition, hydrogels did not show significant cytotoxicity in a biocompatibility test and exhibited more than 84% cell viability. These results indicate that P(VBS/HEMA/AAm) and P(VBS/HEMA/AAc) hydrogels with fast response properties even under a low electric field have the potential to be used in a wide range of soft actuator applications.
Keywords: crosslinking; electroactive; hydrogel; soft actuator; soft robotics.