High-power autonomous soft actuators are in high demand yet face challenges related to tethered power and dedicated control. Light-driven oscillation by stimuli-responsive polymers allows for remote energy input and control autonomy, but generating high output power density is a daunting challenge requiring an advanced material design principle. Here, inspired by the flight muscle structure of insects, we develop a self-oscillator based on two antagonistically contracting photo-active layers sandwiching an inactive layer. The actuator produces an output power density of 33 W kg⁻¹, 275-fold higher than other configurations and comparable to that of insects. Such oscillators allow for broad-wavelength operation and multifunction integration, including proprioceptive actuation and energy harvesting. We demonstrate high-performance flapping motion enabling various locomotion modes, including a wing with a thrust-to-weight ratio of 0.32. This work advances autonomous, sustained and untethered actuators for powerful robotics.

大功率自主软致动器的需求量很大，但面临着与系留电源和专用控制相关的挑战。刺激响应聚合物的光驱动振荡允许远程能量输入和控制自主性，但产生高输出功率密度是一项艰巨的挑战，需要先进的材料设计原理。在这里，受到昆虫飞行肌肉结构的启发，我们开发了一种基于两个拮抗收缩的光活性层夹在非活性层之间的自振荡器。该致动器产生的输出功率密度为 33 W kg⁻¹，比其他配置高 275 倍，与昆虫的输出功率密度相当。这种振荡器允许宽波长操作和多功能集成，包括本体感觉驱动和能量收集。我们展示了高性能的拍打运动，支持各种运动模式，包括推重比为 0.32 的机翼。这项工作为强大的机器人技术推进了自主、持续和不受束缚的致动器。