In this study, we fabricated a nanofiber-based electrothermo-pneumatic soft actuator (ETPSA) using electrospinning technique. The actuator uses liquid–vapor phase transition. The ETPSA developed in the present study goes beyond the limitations of the existing pneumatic soft actuators. The present ETPSA has a built-in source of heat (Joule heating from an embedded metal wire) and allows the smooth anthropomorphic movement of the actuator and, in particular, eliminates the use of external pumping systems that are indispensable in the existing pneumatic soft actuators and robots. In addition, since the present ETPSA can be operated effectively even using a portable miniature battery, it holds great promise as an adaptable soft actuator for various robotic applications with high energy efficiency and programmable motions.
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