advances.sciencemag.org/cgi/content/full/3/1/e1600327/DC1

Supplementary Materials for

Knitting and weaving artificial muscles

Ali Maziz, Alessandro Concas, Alexandre Khaldi, Jonas Stålhand, Nils-Krister Persson, Edwin W. H. Jager

Published 25 January 2017, Sci. Adv. 3, e1600327 (2017)

DOI: 10.1126/sciadv.1600327

The PDF file includes:

fig. S1. Illustration of the two-step chemical-electrochemical combined CP

synthesis used for the fabrication of the textile actuators.

fig. S2. Schematic illustration of the three-electrode electrochemical cell.

fig. S3. SEM-EDX measurements of the cross section of PEDOT-PPy–coated

Lyocell single yarn.

fig. S4. Circumferential strain measurements of the PEDOT-PPy–coated Lyocell

single yarn.

fig. S5. Illustration of electrochemical cell configuration used for characterizing

the textile actuators.

fig. S6. Stress-strain measurements.

fig. S7. Electromechanical characterizations of the elastane-based textile actuator.

fig. S8. Current transient during the textile actuator life cycle test.

fig. S9. Schematic illustration of the textiles constructions.

fig. S10. Electromechanical characterizations of the copper-based fabric actuator.

table S1. Effect of polyethylene glycol derivatives on the film thickness and

electrical conductivity of the VPP PEDOT film.

Other Supplementary Material for this manuscript includes the following:

(available at advances.sciencemag.org/cgi/content/full/3/1/e1600327/DC1)

movie S1 (.mov format). A textuator unit drives a lever arm in a LEGO setup.

Two-step chemical-electrochemical combined PEDOT-PPy synthesis.

The methodology for the fabrication of the textile-actuator is based on a two-step PEDOT-

PPy combined chemical-electrochemical CPs synthesis The chemically synthesized PEDOT

seed-layer forms a conductive electrode surface, allowing the following controllable

electrochemical deposition of the functional, actuating PPy layer (fig. S1).

ig S1. Illustration of the two-step chemical-electrochemical combined CP synthesis used

for the fabrication of the textile actuators.

Influence polyethyleneglycol derivatives on PEDOT conductivity

Table S1 shows the effect of the amount of polyethyleneglycol derivatives (PEGM and

PEGDM) in the oxidative solution on the film thickness and electrical conductivity of VPP

PEDOT film synthesized on glass substrate for 30min.

able S1 Effect of polyethyleneglycol derivatives (at a 1:1 ratio) on the film thickness and

electrical conductivity of VPP PEDOT film synthesized on glass substrate for 30 min.

(1) (2)

Vapour-phase polymerization of

EDOT

Electrochemical synthesis of PPy

Textile fabric PEDOT-coated textile PPy/PEDOT-coated textile

.f

.t

Electrochemical synthesis of PPy.

ig S2. Schematic illustration of the three-electrode electrochemical cell

Scanning electron microscopy- Energy-dispersive X-ray spectroscopies (SEM-EDX)

ig S3. (A) SEM image of PEDOT-PPy coated Lyocell-based yarn section (2.0 wt.% PEDOT

and 20.0 wt.% PPy) and (B) the corresponding EDX (Energy-Dispersive X-ray spectroscopy).

The light blue spots in Figure x represent the sulfur domains and illustrate the location of

PEDOT (via sulfur atoms of thiophene moieties and dopant) and PPy (via dopant). The light

pink spots illustrate the location of PPy domains (via nitrogen atoms of pyrrole moieties and

dopant)

The average electronic resistance per unit length of the conducting yarn is 126 Ω.cm which is

relatively high and sufficient for use in actuators.

Potentiostat

REF

CE

W

Py 0.1 M LiTFSI 0.1 M dissolved PC

f .

f .

Weight percent of PEDOT and PPy calculation.

The weight percent of PEDOT and PPy was determined by weighing the textile samples in a

dry state before and after the two-step chemical-electrochemical coating and calculated with

the following relationships.

ℎ = , −

.% =

, × 100

Circumferential strain measurements of the single yarn.

Circumferential strain measurement of the S-yarn was recorded using a Mitutoyo LSM-501H

contactless Laser Scan Micrometer (LSM), controlled by a display unit (Mitutoyo LSM-6100)

and the output signal was fed to the potentiostat ( ig S4A). The S-yarn was submerged in a

three-electrode electrochemical cell containing LiTFSI (0.1 M) dissolved in propylene

carbonate. Gold coated polyethylene (PET) substrate was used as counter electrode and a

Ag/Ag+ non-aqueous reference electrode.

The Ag/Ag+ reference electrode is commonly employed in non-aqueous electrochemical

studies. The Ag/Ag+ reference electrode is made by placing a clean silver wire into an

electrolyte containing silver ion i.e. Silver nitrate (AgNO3). The electrolyte in the reference

compartment is 0.01 M AgNO3, 0.1 M tetrabutylammonium perchlorate (TBAP)/ acetonitrile

CH3CN). Typical other polar or dipolar aprotic solvents such dimethylformamide (DMF),

dimethylsulfoxide (DMSO) and propylene carbonate (PC) can be also used instead of CH3CN.

An alternating potential of -1.0 V and 0.5V was employed to reduce and oxidise the PEDOT-

PPy and the circumferential strain (radial expansion) was measured ig S4B). The

circumferential strain set-up and measurement procedures are described in more detail in

references (33, 35).

f .

f( .

LaserDetector

LaserSource

L∆L

PPy-coatedS-Yarn

Cross-section

PPyActuated in 0.1M

LiTFSI in PC

232

234

236

238

600 700 800 900 1000 1100 1200 1300 1400

Fib

re d

iam

ete

r (µm

)

Time (sec)

Fibre diameter

-1,2

-1

-0,8

-0,6

-0,4

-0,2

0

0,2

0,4

0,6

600 700 800 900 1000 1100 1200 1300 1400

Ap

plie

d p

ote

ntia

l (V

)

Time (sec)

Applied potential (V)

-0,05

-0,03

-0,01

0,01

0,03

0,05

600 700 800 900 1000 1100 1200 1300 1400

Cur

ren

t (m

A)

Time (sec)

Current (mA)

(i)

(ii)

(iii)

B

A

ig S4. Circumferential strain measurements of the S-yarn. (A) Illustration of experimental

set-up for circumferential strain measurement with a laser scanning micrometer (LSM). (B).

Displacement (i), applied potential (ii) and current (iii) during charging and discharging of

PEDOT-PPy coated S-yarn between -1 V and 0.5 V, 100s half period. The PPy-PEDOT layer

expands during reduction and contracts during oxidation.

Isometric force and isotonic strain measurements.

ig S5 Illustration of electrochemical cell configuration used for characterizing the

textile-actuators.

f .

f ..

.

Tensile strength results

ig S6 Stress–strain curves (A) single Lyocell yarn (0.2 mm in diameter), (B) Single Elastan

yarn (0.2 mm in diameter) and (C) Single stainless steel wire AISI 304 (0.1mm in diameter)

Electromechanical characterizations of the elastan based textile-actuator.

ig S7. Isotonic strain (∆L/L0) versus time for Elastan based S-yarn and knitted fabric

(L*w= 20mm*5mm) during activation between 0.5 V and -1 V for 800s. The knitted fabric

was 1:1 rib knitwear. PPy coating same as for the Lyocell yarns and fabrics.

0

5

10

15

20

25

30

35

0 20 40 60 80 100 120 140

Stre

ss (

MP

a)

Strain (%)

0

100

200

300

400

500

600

700

800

900

1000

0 10 20 30 40 50

Stre

ss (

MP

a)

Strain (%)

A B

C

0

50

100

150

200

250

0 5 10 15 20

Stre

ss (

MP

a)

Strain (%)

0 800 1600 2400 3200 4000 4800

0

1

2

3

4

5

6

7

8

9

10

Str

ain

(%)

Time (sec)

Elastane knitted fabric

Elastane S-yarn

.

.f .

f .

Current transient during the textile actuator life cycle test

ig S8. The current versus time for the 12 T-yarn weave life cycle test. (A) 1-5 first cycles.

(B) 1-100 first cycles. (C) 7900-7905 cycles and (D) 7900-8000.

Textiles constructions

ig S9. Schematic illustration of (A) plain knitted and (B) weave constructions.

-20

-15

-10

-5

0

5

10

15

20

0 200 400 600 800 1000 1200 1400 1600 1800 2000

Cur

rent

(mA

)

Time (sec)

1-100 cycles

-15

-10

-5

0

5

10

15

20

158000 158200 158400 158600 158800 159000 159200 159400 159600 159800 160000

Cur

rent

(mA

)

Time (sec)

7900-8000 cylces

B

-20

-15

-10

-5

0

5

10

15

20

0 10 20 30 40 50 60 70 80 90 100

Cur

rent

(mA

)

Time (sec)

1-5 cyclesA

-15

-10

-5

0

5

10

15

20

158000 158010 158020 158030 158040 158050 158060 158070 158080 158090 158100

Cur

rent

(mA

)

Time (sec)

7900-7905 cylcesC D

f .

f .

ig S10. (A) Three knitted Cu fabrics, from the top to the bottom: an uncoated Cu fabric;

a PPy-coated fabric connected with Al wires and a PPy-coated Cu fabric connected with Cu

wires. (B) Actuation of a knitted PPy-coated Cu fabric. The voltage has been switched

between -1 V and 0 V every 400 s. the average displacement was equal to 96 μm. The

displacement was measured using a model laser displacement sensor (optoNCDT 1700-50 by

Micro-epsilon) connected to a PC.

Copper-based fabric actuator

f .