A Review of Research Progress on Liquid Metal-Driven Soft Robotics
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摘要: 随着软体机器人关键技术的快速发展, 液态金属因其独特的低熔点、高导电性、高导热性和良好的流动性, 成为该领域的研究热点。液态金属, 如镓基合金, 通过磁性增强、电活性增强和结构优化等显著提升了其在驱动系统中的辅助应用潜力。作为导电材料和柔性电极, 液态金属在驱动、传感和多自由度运动中的应用潜力。文中系统综述了液态金属的功能特性、驱动与传感技术, 并重点探讨了其在水下软体机器人中的应用现状与挑战。目前, 液态金属为电极的驱动器已实现电热驱动、电化学驱动和磁驱动等多种机制, 传感器则在高灵敏度应变检测、压力感知和多模态信号监测方面取得突破。然而, 水下应用中的多自由度运动仍面临驱动机制复杂、材料稳定性不足和控制系统不完善等技术难题。未来研究需进一步突破这些技术瓶颈, 以推动液态金属水下软体机器人的实用化进程。Abstract: With the rapid advancement of key technologies in soft robotics, liquid metals have emerged as a focus in this field due to their unique properties, including low melting point, high electrical conductivity, superior thermal conductivity, and excellent fluidity. Gallium-based alloys have significantly enhanced their auxiliary application potential in actuation systems through approaches like magnetic reinforcement, electroactive enhancement, and structural optimization. As conductive materials and flexible electrodes, they demonstrate further promise in actuation, sensing, and multi-degree-of-freedom(multi-DOF) motion through approaches like magnetic reinforcement, electroactive enhancement, and structural optimization. This review systematically summarizes the functional characteristics, actuation mechanisms, and sensing technologies of liquid metals, with particular emphasis on their current applications and challenges in underwater soft robotics. To date, liquid metal-based actuators have achieved diverse actuation modes, including electrothermal, electrochemical, and magnetic driving mechanisms, while corresponding sensors have made breakthroughs in high-sensitivity strain detection, pressure sensing, and multimodal signal monitoring. Nevertheless, the realization of multi-DOF motion in underwater environments still faces technical challenges, such as complex actuation mechanisms, insufficient material stability, and imperfect control systems. Future research needs to further overcome these technical bottlenecks to advance the practical application of liquid metal-driven underwater soft robots.
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图 2 基于磁性增强的液态金属的改性方法
Figure 2. Modification methods for liquid metals based on magnetic enhancement
图 6 软电磁驱动仿乌贼喷射推进机器鱼
Figure 6. Soft electromagnetic actuator-based squid-inspired jet-propelled robotic fish
表 1 常见液态金属的物理性能
Table 1. Physical properties of common liquid metals
液态金属 熔点
/°C粘度
/(mPa·s)电导率
/(S·m−1)热导率
/(W·m−1·℃−1)汞Hg[16] −38.83 1.55 1.04×106 8.34 镓Ga[17] 29.8 1.37 6.73 29.3 铷Rb 39.3 0.48 1.1×106 35.9 铯Cs 28.4 0.35 1.2×106 35.9 钫Fr 27 0.3 0.03×106 0.15 铟In[18] 156.6 1.25×107 81.6 锡Sn[18] 231.9 8.7×106 66.6 铋Bi[18] 271.4 9×105 7.87 GaIn21.4 (EGaIn)[6] 15.6 1.99 3.4 26.43 GaSn13.4[7] 21 GaAl0.9[7] 25.9 Ga68.5In21.5Sn10 (Galinstan)[19] 10.5 1.5 3.5 25.41 
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表 2 液态金属驱动技术的水下适用性对比
Table 2. Underwater applicability comparison of liquid metal actuation technologies
驱动机制 原理 水下优势 水下局限性 传感协同价值 磁场控制 外磁场操控磁性液态金属液滴 无接触控制、穿透性强 需预混铁颗粒、负载能力弱(<100 mg) 磁定位、运动轨迹反馈 电场驱动 电化学调控表面张力 低电压(0.5 V)、应变大(87%) 需电解质环境、电极腐蚀 阻抗监测流体化学特性 光驱动 光热/光化学相变 无线能量传输、非接触 水下光衰减严重、响应慢 集成光学传感器实现闭环控制 超声波 声空化/声辐射力 穿透浑浊水体、无惧光学干扰 能量转化效率低(<5%) 声呐避障与通信集成
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