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초록

Carbon nanotube (CNT) yarn actuators represent the most successful advancement in modern coiled yarn artificial muscle systems, but they still have limitations due to their reliance on external vessels or gels to maintain a liquid electrolyte environment. Here, we present a vessel-free woven actuator in which coiled CNT yarns simultaneously serve as electrodes and structural supports, stably confining liquid electrolyte droplets through surface tension. In the orthogonal configuration of coiled CNT yarns, electrolyte interfaces are formed between adjacent yarns, enabling reversible chemo-mechanical actuation via electrochemical double-layer (EDL) formation without an external electrolyte vessel. The proposed woven structure can accommodate up to 140 times its own weight in aqueous or organic electrolytes and reversibly undergoes in-plane contraction and relaxation upon voltage application. The square unit geometry was further expanded and evaluated in a 3 & times; 3 checkerboard array. The selective filling and emptying of electrolyte within each grid allowed for programming the deformation gradient across the array, which was demonstrated by controlling the translation and rotation of an object suspended on the electrolyte surface. This structural approach preserves the electrochemical mechanism of the CNT actuator while eliminating the need for electrolyte immersion, opening the way to building lightweight, compact, and multifunctional soft actuation systems.

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