▎ 摘　　要

A phase transition-controlled force actuator based on graphene/Ag/SR (silicone rubber) has been designed and fabricated. This actuator is based on the principles of phase transition. The actuator with an enclosed cavity, which consisted of a latex film and a graphene/Ag/SR-based electrothermal substrate, and then injecting ethanol into the cavity. The actuator can operate at a low voltage (6 V), and the magnitude of the feedback force can be controlled by applying a square wave signal which the duty cycle is adjustable. The minimal change in feedback force is 0.02 N. Owing to its simple fabrication, easy operation, lightweight (1.4 g), low driving voltage, large deformation and controllable force, manipulator, auto-injector and bionic fish have been made. Summarizing aforementioned experimental results, the manipulator can grip objects of different weights, and the auto-injector can inject a liquid and act as an injector. Furthermore, bionic fish can float and sink in the water. These devices showing that the phase transition actuator is expected to be widely used in soft robots, bionic devices design, and medical field. Also, this category of phase transition actuator could provide ideas for developing flexible actuator.