Surface effects of liquid metal amoeba.

Liquid metals (LM) such as eutectic gallium-indium and gallium-indium-tin are important functional liquid-state metal materials with many unique properties, which have attracted wide attentions especially from soft robot area. Recently the amoeba-like transformations of LM on the graphite surface are discovered, which present a promising future for the design and assemble of self-fueled actuators with dendritically deformable body. It appears that the surface tension of the LM can be significantly reduced when it contacts graphite surface in alkaline solution. Clearly, the specific surface should play a vital role in inducing these intriguing behaviors, which is valuable and inspiring in soft robot design. However, the information regarding varied materials functions underlying these behaviors remains unknown. To explore the generalized effects of surface materials in those intriguing behavior, several materials including glass, graphite, nickel and copper oxides (CuO) were comparatively investigated as substrate surfaces. Important results were obtained that only LM amoeba transformations were observed on graphite and CuO surfaces. In order to identify the proper surface condition for LM transformation, the intrinsic properties of substrate surfaces, such as the surface charge and roughness, as well as the specific interaction with LM like wetting behavior and mutual locomotion etc., were characterized. The integrated results revealed that LM droplet appears more likely to deform on surfaces with higher positive surface charge density, higher roughness and less bubble generation on them. In addition, another surface material, CuO, is identified to own similar ability to graphite, which is valuable in achieving amoeba-like transformation. Moreover, this study offers a fundamental understanding of the surface properties in realizing LM amoeba transformations, which would shed light on packing and structure design of liquid metal-based soft device within multi-material system.