Microfluidic paper-based analytical soft actuators (μPAC)

Soft actuators have developed over the last decade for diverse applications including industrial machines and biomedical devices. Integration of chemical sensors with soft actuators would be beneficial in analyzing chemical and environmental conditions, but there have been limited devices to achieve such sensing capabilities. In this work, we developed a thin-film soft actuator integrated with a paper-based chemical sensor, termed a microfluidic paper-based analytical soft actuator (μPAC). μPAC consists of (1) a silicone thin film with a 3D-printed pneumatic chamber and (2) a cellulose paper. This cellulose paper offers dual functions: the strain-limiting layer of a soft actuator and the substrate for the chemical sensor for a paper-based analytical device (μPAD). We characterized the design parameters of the actuators-namely, (1) thickness of silicone thin film, (2) chamber length, and (3) Young's modulus of silicone thin film-to evaluate the actuation performance. These characterizations suggested that the cellulose paper served as a suitable self-straining layer of the actuator, making μPAC a chemical sensor that can actuate simultaneously. Highlighting the unique capability of μPAC, we demonstrated the local detection of pH on the curved target surface. Overall, this research demonstrated the rapid fabrication of actuating chemical sensors with a unique design by combining soft actuators and μPAD, enabling chemical sensing on various surface topologies by dynamically making conformal contact.