{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T06:52:16Z","timestamp":1781333536593,"version":"3.54.1"},"reference-count":83,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"71","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,10,26]]},"abstract":"<jats:p>\n            Hydrogels have diverse chemical properties and can exhibit reversibly large mechanical deformations in response to external stimuli; these characteristics suggest that hydrogels are promising materials for soft robots. However, reported actuators based on hydrogels generally suffer from slow response speed and\/or poor controllability due to intrinsic material limitations and electrode fabrication technologies. Here, we report a hydrogel actuator that operates at low voltages (&lt;3 volts) with high performance (strain &gt; 50%, energy density\u00a0&gt;\u00a07\u00a0\u00d7\u00a010\n            <jats:sup>5<\/jats:sup>\n            joules per cubic meter, and power density\u00a0&gt;\u00a03\u00a0\u00d7\u00a010\n            <jats:sup>4<\/jats:sup>\n            watts per cubic meter), surpassing existing hydrogel actuators and other types of electroactive soft actuators. The enhanced performance of our actuator is due to the formation of wrinkled nanomembrane electrodes that exhibit high conductivity and excellent mechanical deformation through capillary-assisted assembly of metal nanoparticles and deswelling-induced wrinkled structures. By applying an electric potential through the wrinkled nanomembrane electrodes that sandwich the hydrogel, we were able to trigger a reversible and substantial electroosmotic water flow inside a hydrogel film, which drove the controlled swelling of the hydrogel. The high energy efficiency and power density of our wrinkled nanomembrane electrode\u2013induced actuator enabled the fabrication of an untethered insect-scale aquabot integrated with an on-board control unit demonstrating maneuverability with fast locomotion speed (1.02 body length per second), which occupies only 2% of the total mass of the robot.\n          <\/jats:p>","DOI":"10.1126\/scirobotics.abo6463","type":"journal-article","created":{"date-parts":[[2022,10,26]],"date-time":"2022-10-26T17:58:36Z","timestamp":1666807116000},"source":"Crossref","is-referenced-by-count":98,"title":["High-performance electrified hydrogel actuators based on wrinkled nanomembrane electrodes for untethered insect-scale soft aquabots"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8278-6718","authenticated-orcid":true,"given":"Jongkuk","family":"Ko","sequence":"first","affiliation":[{"name":"Department of Chemical and Biological Engineering, Korea University, 145 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University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6616-0064","authenticated-orcid":true,"given":"Seokmin","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8914-0947","authenticated-orcid":true,"given":"Bongjun","family":"Yeom","sequence":"additional","affiliation":[{"name":"Department of Chemical Engineering, Hanyang University, Seongdong-gu, Seoul 04763, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4610-4521","authenticated-orcid":true,"given":"June","family":"Huh","sequence":"additional","affiliation":[{"name":"Department of Chemical and Biological Engineering, Korea 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Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7739-0882","authenticated-orcid":true,"given":"Je-Sung","family":"Koh","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon 16499, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7097-5968","authenticated-orcid":true,"given":"Jinhan","family":"Cho","sequence":"additional","affiliation":[{"name":"Department of Chemical and Biological Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of Korea."},{"name":"KU-KIST Graduate School of Converging Science and Technology, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul 02841, Republic of 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