{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T03:50:00Z","timestamp":1784087400382,"version":"3.55.0"},"reference-count":41,"publisher":"American Association for the Advancement of Science (AAAS)","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52225501"],"award-info":[{"award-number":["52225501"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["523B2040"],"award-info":[{"award-number":["523B2040"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["spj.science.org"],"crossmark-restriction":true},"short-container-title":["Research"],"published-print":{"date-parts":[[2025,1]]},"abstract":"<jats:p>Twisted nylon actuators (TNAs) are widely recognized in soft robotics for their excellent load-to-weight ratio and cost-effectiveness. However, their limitations in deformation and output force restrict their ability to support more advanced applications. Here, we report 3 performance-enhancing strategies inspired by the construction process of chromosome, which are validated through 3 novel types of TNAs. First, we design a dual-level helical structure, demonstrating remarkable improvements in the deformation (60.2% vertically and approximately 100% horizontally) and energy storage capability (launching a miniature basketball to 131 cm in height). Second, we present a parallel-twisted method, where the output force of TNAs reaches 11.0 N, achieving 12.1% contraction under a load of 15 N (10,000 times its weight). Additionally, we construct the dual-level helical structure based on parallel-twisted TNAs, resulting in a 439.7% improvement in load capability. We have adopted TNAs for several applications: (a) two bionic elbows capable of rotating and shooting a miniature basketball over 130 cm; (b) a robot that can rapidly jump over 30 cm; and (c) a soft finger that achieves contracting (15.3% contraction under 2 kg load), precise bending (tracking errors less than 2.0%), and twisting motions. This work presents approaches for fabricating high-performance soft actuators and explores the potential applications of these actuators for driving soft robots with multifunctional capabilities.<\/jats:p>","DOI":"10.34133\/research.0642","type":"journal-article","created":{"date-parts":[[2025,3,12]],"date-time":"2025-03-12T16:10:51Z","timestamp":1741795851000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":16,"title":["High-Performance Twisted Nylon Actuators for Soft Robots"],"prefix":"10.34133","volume":"8","author":[{"given":"Jin","family":"Sun","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shijing","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jie","family":"Deng","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dong","family":"Zhou","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dehong","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junkao","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weishan","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5684-9159","authenticated-orcid":true,"given":"Yingxiang","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, \rHarbin Institute of Technology, Harbin 150001, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","published-online":{"date-parts":[[2025,3,17]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1246906"},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaw2502"},{"key":"e_1_3_4_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1226762"},{"key":"e_1_3_4_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s42765-022-00254-4"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg5575"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3262118"},{"issue":"36","key":"e_1_3_4_8_2","doi-asserted-by":"crossref","first-page":"2402517","DOI":"10.1002\/adma.202402517","article-title":"Fully 3D-printed miniature soft hydraulic actuators with shape memory effect for morphing and manipulation","volume":"36","author":"Qing H","year":"2024","unstructured":"Qing H, Chi Y, Hong Y, Zhao Y, Qi F, Li Y, Yin J. 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