The Polymer Society of Korea

Abstract

We present an all-printed, programmable, electrically driven artificial muscle actuator with proprioception capability for soft robotics. The actuator is based on a CNT-SIS-GLCE composite, where Joule heating from applied voltage induces contraction of the LCE matrix. The CNT network ensures both electrical conductivity and mechanical resilience, enabling repeated actuation. Importantly, the actuator’s resistance changes with deformation and temperature due to bolometric, dimensional, and percolation effects, allowing integrated self-sensing. This work demonstrates a scalable and flexible artificial muscle platform with built-in feedback, offering potential for wearable devices, human–machine interfaces, and biomedical robotics.