Bioinspired Vacuum Generation via Pressure-to-Vacuum Conversion for Manipulating all Phases of Matter.

Animal diaphragm-lung systems are soft organs that generate a controllable vacuum. Elephants, as rare land animals, can manipulate all three states of matter using their lung-generated vacuum. In soft robotics, however, current vacuum generation relies on rigid components, and no single soft device effectively handles all states of matter. Traditional soft pumps and grippers are limited in scope: soft pumps provide continuous liquid flow but cannot directly manipulate solids, while grippers manage solids but are ineffective with liquids and gases. Inspired by lung functionality, we present a soft pressure-to-vacuum converter that provides precise control over the suction, holding, and release of solids, liquids, and gases through a single entry and exit point based on negative pressure. Through the selection of appropriate material properties and design variations, our soft device achieves vacuum levels up to -18 kPa, enabling intermittent control and sequential handling of various media without the need for additional components. We demonstrate diverse applications of our soft device, including artificial lungs, liquid blending, vacuum gripping, coffee preparation, and liquid-gas vaporization. This bioinspired device not only provides a safe and adaptable solution for vacuum generation but also addresses a critical gap in soft robotics, offering a multifunctional system capable of manipulating all states of matter.