1
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Yang C, Liu X, Song X, Zhang L. Design and batch fabrication of anisotropic microparticles toward small-scale robots using microfluidics: recent advances. LAB ON A CHIP 2024; 24:4514-4535. [PMID: 39206574 DOI: 10.1039/d4lc00566j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/04/2024]
Abstract
Small-scale robots with shape anisotropy have garnered significant scientific interest due to their enhanced mobility and precise control in recent years. Traditionally, these miniature robots are manufactured using established techniques such as molding, 3D printing, and microfabrication. However, the advent of microfluidics in recent years has emerged as a promising manufacturing technology, capitalizing on the precise and dynamic manipulation of fluids at the microscale to fabricate various complex-shaped anisotropic particles. This offers a versatile and controlled platform, enabling the efficient fabrication of small-scale robots with tailored morphologies and advanced functionalities from the microfluidic-derived anisotropic microparticles at high throughput. This review highlights the recent advances in the microfluidic fabrication of anisotropic microparticles and their potential applications in small-scale robots. In this review, the term 'small-scale robots' broadly encompasses micromotors endowed with capabilities for locomotion and manipulation. Firstly, the fundamental strategies for liquid template formation and the methodologies for generating anisotropic microparticles within the microfluidic system are briefly introduced. Subsequently, the functionality of shape-anisotropic particles in forming components for small-scale robots and actuation mechanisms are emphasized. Attention is then directed towards the diverse applications of these microparticle-derived microrobots in a variety of fields, including pollution remediation, cell microcarriers, drug delivery, and biofilm eradication. Finally, we discuss future directions for the fabrication and development of miniature robots from microfluidics, shedding light on the evolving landscape of this field.
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Affiliation(s)
- Chaoyu Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong 999077, China.
| | - Xurui Liu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong 999077, China.
| | - Xin Song
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong 999077, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong 999077, China.
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2
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Wang Y, Zhang Q, Liu Q, Abrahams BF, Lang JP. The Use of Photocycloaddition Reactions to Drive Mechanical Motions Resembling Humanoid Movements. Angew Chem Int Ed Engl 2024; 63:e202409472. [PMID: 38889093 DOI: 10.1002/anie.202409472] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/20/2024] [Revised: 06/15/2024] [Accepted: 06/18/2024] [Indexed: 06/20/2024]
Abstract
With the aim of producing a photomechanical material for incorporation in soft microrobots, a one-dimensional diene coordination polymer (CP) [Cd(F-bpeb)(3-CBA)2]n (CP1, F-bpeb=4,4'-((1E,1'E)-(2,5-difluoro-1,4-phenylene)bis(ethene-2,1-diyl))dipyridine, 3-HCBA=3-chlorobenzoic acid) was synthesized and characterized. Irradiation of CP1 with ultraviolet (UV) or visible light causes [2+2] photocycloaddition reactions resulting in the introduction of crystal strain which triggers various types of crystal movements. Composite films of CP1-PVA (SC) fabricated by dispersing CP1 crystals into polyvinyl alcohol (PVA) solution allow amplification of the crystal movement so that the film strips exhibit fast and flexible curling upon photoirradiation. The composite films may be cut into long rectangular strips and folded to simulate soft microrobots which exhibit a variety of fast, flexible and continuous photomechanical movements resembling a human performing various gymnastic exercises.
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Affiliation(s)
- Yong Wang
- College of Chemistry, Chemical Engineering and Materials, Soochow University, Suzhou, 215123, Jiangsu, People's Republic of China
- State Key Laboratory of Organometallic Chemistry, Shanghai Institute of Organic Chemistry, Chinese Academy of Sciences, Shanghai, 200032, People's Republic of China
| | - Qiaoqiao Zhang
- College of Chemistry, Chemical Engineering and Materials, Soochow University, Suzhou, 215123, Jiangsu, People's Republic of China
| | - Qi Liu
- College of Chemistry, Chemical Engineering and Materials, Soochow University, Suzhou, 215123, Jiangsu, People's Republic of China
| | | | - Jian-Ping Lang
- College of Chemistry, Chemical Engineering and Materials, Soochow University, Suzhou, 215123, Jiangsu, People's Republic of China
- State Key Laboratory of Organometallic Chemistry, Shanghai Institute of Organic Chemistry, Chinese Academy of Sciences, Shanghai, 200032, People's Republic of China
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3
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Kim J, Mayorga-Burrezo P, Song SJ, Mayorga-Martinez CC, Medina-Sánchez M, Pané S, Pumera M. Advanced materials for micro/nanorobotics. Chem Soc Rev 2024; 53:9190-9253. [PMID: 39139002 DOI: 10.1039/d3cs00777d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/15/2024]
Abstract
Autonomous micro/nanorobots capable of performing programmed missions are at the forefront of next-generation micromachinery. These small robotic systems are predominantly constructed using functional components sourced from micro- and nanoscale materials; therefore, combining them with various advanced materials represents a pivotal direction toward achieving a higher level of intelligence and multifunctionality. This review provides a comprehensive overview of advanced materials for innovative micro/nanorobotics, focusing on the five families of materials that have witnessed the most rapid advancements over the last decade: two-dimensional materials, metal-organic frameworks, semiconductors, polymers, and biological cells. Their unique physicochemical, mechanical, optical, and biological properties have been integrated into micro/nanorobots to achieve greater maneuverability, programmability, intelligence, and multifunctionality in collective behaviors. The design and fabrication methods for hybrid robotic systems are discussed based on the material categories. In addition, their promising potential for powering motion and/or (multi-)functionality is described and the fundamental principles underlying them are explained. Finally, their extensive use in a variety of applications, including environmental remediation, (bio)sensing, therapeutics, etc., and remaining challenges and perspectives for future research are discussed.
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Affiliation(s)
- Jeonghyo Kim
- Advanced Nanorobots & Multiscale Robotics Laboratory, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic.
| | - Paula Mayorga-Burrezo
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
| | - Su-Jin Song
- Advanced Nanorobots & Multiscale Robotics Laboratory, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic.
| | - Carmen C Mayorga-Martinez
- Advanced Nanorobots & Multiscale Robotics Laboratory, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic.
| | - Mariana Medina-Sánchez
- CIC nanoGUNE BRTA, Tolosa Hiribidea 76, San Sebastián, 20018, Spain
- IKERBASQUE, Basque Foundation for Science, Plaza Euskadi, 5, Bilbao, 48009, Spain
- Micro- and NanoBiomedical Engineering Group (MNBE), Institute for Emerging Electronic Technologies, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
- Chair of Micro- and Nano-Biosystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, 01062, Dresden, Germany
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zürich, Tannenstrasse 3, CH-8092 Zürich, Switzerland
| | - Martin Pumera
- Advanced Nanorobots & Multiscale Robotics Laboratory, Faculty of Electrical Engineering and Computer Science, VSB - Technical University of Ostrava, 17. listopadu 2172/15, Ostrava 70800, Czech Republic.
- Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 123, Brno 61200, Czech Republic
- Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Republic of Korea
- Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung, Taiwan
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4
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Zhao Y, Lin J, Wu Q, Ying Y, Puigmartí-Luis J, Pané S, Wang S. Revolutionizing Tetracycline Hydrochloride Remediation: 3D Motile Light-Driven MOFs Based Micromotors in Harsh Saline Environments. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2406381. [PMID: 39206871 DOI: 10.1002/advs.202406381] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/10/2024] [Revised: 08/05/2024] [Indexed: 09/04/2024]
Abstract
Traditional light-driven metal-organic-frameworks (MOFs)-based micromotors (MOFtors) are typically constrained to two-dimensional (2D) motion under ultraviolet or near-infrared light and often demonstrate instability and susceptibility to ions in high-saline environments. This limitation is particularly relevant to employing micromotors in water purification, as real wastewater is frequently coupled with high salinity. In response to these challenges, ultrastable MOFtors capable of three-dimensional (3D) motion under a broad spectrum of light through thermophoresis and electrophoresis are successfully synthesized. The MOFtors integrated photocatalytic porphyrin MOFs (PCN-224) with a photothermal component made of polypyrrole (PPy) by three distinct methodologies, resulting in micromotors with different motion behavior and catalytic performance. Impressively, the optimized MOFtors display exceptional maximum velocity of 1305 ± 327 µm s-1 under blue light and 2357 ± 453 µm s-1 under UV light. In harsh saline environments, these MOFtors are not only maintain high motility but also exhibit superior tetracycline hydrochloride (TCH) removal efficiency of 3578 ± 510 mg g-1, coupling with sulfate radical-based advanced oxidation processes and peroxymonosulfate. This research underscores the significant potential of highly efficient MOFtors with robust photocatalytic activity in effectively removing TCH in challenging saline conditions, representing a substantial advancement in applying MOFtors within real-world water treatment technologies.
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Affiliation(s)
- Yu Zhao
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, P. R. China
| | - Jiawei Lin
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, P. R. China
| | - Qing Wu
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, P. R. China
| | - Yulong Ying
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, P. R. China
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona, Martí i Franquès, 1, Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Sheng Wang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, P. R. China
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5
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Wei K, Tang C, Ma H, Fang X, Yang R. 3D-printed microrobots for biomedical applications. Biomater Sci 2024; 12:4301-4334. [PMID: 39041236 DOI: 10.1039/d4bm00674g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/24/2024]
Abstract
Microrobots, which can perform tasks in difficult-to-reach parts of the human body under their own or external power supply, are potential tools for biomedical applications, such as drug delivery, microsurgery, imaging and monitoring, tissue engineering, and sensors and actuators. Compared with traditional fabrication methods for microrobots, recent improvements in 3D printers enable them to print high-precision microrobots, breaking through the limitations of traditional micromanufacturing technologies that require high skills for operators and greatly shortening the design-to-production cycle. Here, this review first introduces typical 3D printing technologies used in microrobot manufacturing. Then, the structures of microrobots with different functions and application scenarios are discussed. Next, we summarize the materials (body materials, propulsion materials and intelligent materials) used in 3D microrobot manufacturing to complete body construction and realize biomedical applications (e.g., drug delivery, imaging and monitoring). Finally, the challenges and future prospects of 3D printed microrobots in biomedical applications are discussed in terms of materials, manufacturing and advancement.
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Affiliation(s)
- Kun Wei
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Chenlong Tang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Hui Ma
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Xingmiao Fang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
| | - Runhuai Yang
- School of Biomedical Engineering, 3D-Printing and Tissue Engineering Center, Anhui Medical University, Hefei, 230032, China.
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6
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Wang S, Li S, Zhao W, Zhou Y, Wang L, Aizenberg J, Zhu P. Programming hierarchical anisotropy in microactuators for multimodal actuation. LAB ON A CHIP 2024; 24:4073-4084. [PMID: 39115160 DOI: 10.1039/d4lc00369a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/21/2024]
Abstract
Microactuators, capable of executing tasks typically repetitive, hazardous, or impossible for humans, hold great promise across fields such as precision medicine, environmental remediation, and swarm intelligence. However, intricate motions of microactuators normally require high complexity in design, making it increasingly challenging to realize at small scales using existing fabrication techniques. Taking inspiration from the hierarchical-anisotropy principle found in nature, we program liquid crystalline elastomer (LCE) microactuators with multimodal actuation tailored to their molecular, shape, and architectural anisotropies at (sub)nanometer, micrometer, and (sub)millimeter scales, respectively. Our strategy enables diverse deformations with individual LCE microstructures, including expanding, contracting, twisting, bending, and unwinding, as well as re-programmable shape transformations of assembled LCE architectures with negative Poisson's ratios, locally adjustable actuation, and changing from two-dimensional (2D) to three-dimensional (3D) structures. Furthermore, we design tetrahedral microactuators with well-controlled mobility and precise manipulation of both solids and liquids in various environments. This study provides a paradigm shift in the development of microactuators, unlocking a vast array of complexities achievable through manipulation at each hierarchical level of anisotropy.
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Affiliation(s)
- Shiyu Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
| | - Shucong Li
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
| | - Wenchang Zhao
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
| | - Ying Zhou
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
| | - Liqiu Wang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China.
| | - Joanna Aizenberg
- Department of Chemistry and Chemical Biology, Harvard University, Cambridge, MA, USA.
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Pingan Zhu
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen, China
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7
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Wang D, Zhang S, Li J, He H, Chen W, Liu J, Zhao J, Deng J, Liu Y. Vibration-Induced-Flow Mechanism and Its Application in Water Surface Robot. RESEARCH (WASHINGTON, D.C.) 2024; 7:0449. [PMID: 39130492 PMCID: PMC11312888 DOI: 10.34133/research.0449] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/26/2024] [Accepted: 07/21/2024] [Indexed: 08/13/2024]
Abstract
Vibration is a common strategy for aquatic organisms to achieve their life activities, especially at the air-water interface. For the locomotion of small creatures, the organs with plate features are often used on water surfaces, which inspires relevant studies about using thin plates for robot propulsions. However, the influence of the general deformations of thin plates on the generated flow fields has not been considered. Here, a comprehensive investigation is conducted about the flow fields that arose by vibrations of thin plates and the potential as locomotion strategies are explored. It is discovered that as thin plates are subjected to vibration excitations on the water surface, the produced flow fields are mainly determined by the vibration shapes, and the influence rules of plate deformations on the flow fields are identified. The main factors producing asymmetric flow fields are analyzed to realize the morphology control of the flow fields. Then, to determine effective locomotion strategies on the water surface, the flow fields stimulated by integrated vibration exciters are explored, and 2 water surface robots are developed consequentially, which exhibit superior motion performance. This work reveals the basic rules of the vibration-induced-flow mechanism by thin plates and establishes new locomotion strategies for aquatic robots.
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Affiliation(s)
| | | | | | | | | | | | | | - Jie Deng
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin 150001, China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin 150001, China
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8
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Sun M, Wu Y, Zhang J, Zhang H, Liu Z, Li M, Wang C, Sitti M. Versatile, modular, and customizable magnetic solid-droplet systems. Proc Natl Acad Sci U S A 2024; 121:e2405095121. [PMID: 39088393 PMCID: PMC11317579 DOI: 10.1073/pnas.2405095121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Accepted: 06/21/2024] [Indexed: 08/03/2024] Open
Abstract
Magnetic miniature robotic systems have attracted broad research interest because of their precise maneuverability in confined spaces and adaptability to diverse environments, holding significant promise for applications in both industrial infrastructures and biomedical fields. However, the predominant construction methodology involves the preprogramming of magnetic components into the system's structure. While this approach allows for intricate shape transformations, it exhibits limited flexibility in terms of reconfiguration and presents challenges when adapting to diverse materials, combining, and decoupling multiple functionalities. Here, we propose a construction strategy that facilitates the on-demand assembly of magnetic components, integrating ferrofluid droplets with the system's structural body. This approach enables the creation of complex solid-droplet robotic systems across a spectrum of length scales, ranging from 0.8 mm to 1.5 cm. It offers a diverse selection of materials and structural configurations, akin to assembling components like building blocks, thus allowing for the seamless integration of various functionalities. Moreover, it incorporates decoupling mechanisms to enable selective control over multiple functions, leveraging the fluidity, fission/fusion, and magneto-responsiveness properties inherent in the ferrofluid. Various solid-droplet systems have validated the feasibility of this strategy. This study advances the complexity and functionality achievable in small-scale magnetic robots, augmenting their potential for future biomedical and other applications.
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Affiliation(s)
- Mengmeng Sun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Yingdan Wu
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin150001, China
| | - Jianhua Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Hongchuan Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Türkiye
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Chunxiang Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Türkiye
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Türkiye
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Chen Q, Yan M, Hu A, Liang B, Lu H, Zhou L, Ma Y, Jia C, Su D, Kong B, Hong W, Jiang L, Dong J. Injectable Nanorobot-Hydrogel Superstructure for Hemostasis and Anticancer Therapy of Spinal Metastasis. NANO-MICRO LETTERS 2024; 16:259. [PMID: 39085736 PMCID: PMC11291792 DOI: 10.1007/s40820-024-01469-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/16/2024] [Accepted: 06/28/2024] [Indexed: 08/02/2024]
Abstract
Surgery remains the standard treatment for spinal metastasis. However, uncontrolled intraoperative bleeding poses a significant challenge for adequate surgical resection and compromises surgical outcomes. In this study, we develop a thrombin (Thr)-loaded nanorobot-hydrogel hybrid superstructure by incorporating nanorobots into regenerated silk fibroin nanofibril hydrogels. This superstructure with superior thixotropic properties is injected percutaneously and dispersed into the spinal metastasis of hepatocellular carcinoma (HCC) with easy bleeding characteristics, before spinal surgery in a mouse model. Under near-infrared irradiation, the self-motile nanorobots penetrate into the deep spinal tumor, releasing Thr in a controlled manner. Thr-induced thrombosis effectively blocks the tumor vasculature and reduces bleeding, inhibiting tumor growth and postoperative recurrence with Au nanorod-mediated photothermal therapy. Our minimally invasive treatment platform provides a novel preoperative therapeutic strategy for HCC spinal metastasis effectively controlling intraoperative bleeding and tumor growth, with potentially reduced surgical complications and enhanced operative outcomes.
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Affiliation(s)
- Qing Chen
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Miao Yan
- Department of Chemistry, Fudan University, Shanghai, 200438, People's Republic of China
- Department of Surgery, Yong Loo Lin School of Medicine, National University of Singapore, 1E Kent Ridge Road, Singapore, 119228, Singapore
| | - Annan Hu
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Bing Liang
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Hongwei Lu
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Lei Zhou
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Yiqun Ma
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Chao Jia
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Dihan Su
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China
| | - Biao Kong
- Department of Chemistry, Fudan University, Shanghai, 200438, People's Republic of China.
| | - Wei Hong
- Department of Geriatrics and Gerontology, Huadong Hospital, Fudan University, Shanghai, 200438, People's Republic of China.
| | - Libo Jiang
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China.
- State Key Laboratory of Molecular Engineering of Polymers, Fudan University, Shanghai, 200438, People's Republic of China.
| | - Jian Dong
- Department of Orthopaedic Surgery, Zhongshan Hospital, Fudan University, Shanghai, 200032, People's Republic of China.
- State Key Laboratory of Molecular Engineering of Polymers, Fudan University, Shanghai, 200438, People's Republic of China.
- Department of Orthopaedic Surgery Zhongshan Hospital Wusong Branch, Fudan University, Shanghai, 200940, People's Republic of China.
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10
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Li W, Liu B, Ou L, Li G, Lei D, Xiong Z, Xu H, Wang J, Tang J, Li D. Arbitrary Construction of Versatile NIR-Driven Microrobots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2402482. [PMID: 38940072 DOI: 10.1002/adma.202402482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/17/2024] [Revised: 06/03/2024] [Indexed: 06/29/2024]
Abstract
Emerging light-driven micro/nanorobots (LMNRs) showcase profound potential for sophisticated manipulation and various applications. However, the realization of a versatile and straightforward fabrication technique remains a challenging pursuit. This study introduces an innovative bulk heterojunction organic semiconductor solar cell (OSC)-based spin-coating approach, aiming to facilitate the arbitrary construction of LMNRs. Leveraging the distinctive properties of a near-infrared (NIR)-responsive organic semiconductor heterojunction solution, this technique enables uniform coating across various dimensional structures (0D, 1D, 2D, 3D) to be LMNRs, denoted as "motorization." The film, with a slender profile measuring ≈140 nm in thickness, effectively preserves the original morphology of objects while imparting actuation capabilities exceeding hundreds of times their own weight. The propelled motion of these microrobots is realized through NIR-driven photoelectrochemical reaction-induced self-diffusiophoresis, showcasing a versatile array of controllable motion profiles. The strategic customization of arbitrary microrobot construction addresses specific applications, ranging from 0D microrobots inducing living crystal formation to intricate, multidimensional structures designed for tasks such as microplastic extraction, cargo delivery, and phototactic precise maneuvers. This study advances user-friendly and versatile LMNR technologies, unlocking new possibilities for various applications, signaling a transformative era in multifunctional micro/nanorobot technologies.
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Affiliation(s)
- Wanyuan Li
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Baiyao Liu
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Leyan Ou
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Gangzhou Li
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Dapeng Lei
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Ze Xiong
- Wireless and Smart Bioelectronics Lab, School of Biomedical Engineering, ShanghaiTech University, Shanghai, 201210, P. R. China
| | - Huihua Xu
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Jizhuang Wang
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
| | - Jinyao Tang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong, 999077, P. R. China
| | - Dan Li
- College of Chemistry and Materials Science, Jinan University, Guangzhou, 510632, P. R. China
- Guangdong Provincial Key Laboratory of Supramolecular Coordination Chemistry, Jinan University, Guangzhou, P. R. China
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11
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Cui Z, Ul Islam T, Wang Y, den Toonder JMJ. Curved Surfaces Induce Metachronal Motion of Microscopic Magnetic Cilia. ACS APPLIED MATERIALS & INTERFACES 2024; 16:38733-38743. [PMID: 38985460 DOI: 10.1021/acsami.4c06884] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/11/2024]
Abstract
Cilia are hair-like organelles present on cell surfaces. They often exhibit a collective wave-like motion that can enhance fluid or particle transportation function, known as metachronal motion. Inspired by nature, researchers have developed artificial cilia capable of inducing metachronal motion, especially magnetic actuation. However, current methods remain intricate, requiring either control of the magnetic or geometrical properties of individual cilia or the generation of a complex magnetic field. In this paper, we present a novel elegant method that eliminates these complexities and induces metachronal motion of arrays of identical microscopic magnetic artificial cilia by applying a simple rotating uniform magnetic field. The key idea of our method is to place arrays of cilia on surfaces with a specially designed curvature. This results in consecutive cilia experiencing different magnetic field directions at each point in time, inducing a phase lag in their motion, thereby causing collective wave-like motion. Moreover, by tuning the surface curvature profile, we can achieve diverse metachronal patterns analogous to symplectic and antiplectic metachronal motion observed in nature, and we can even devise novel combinations thereof. Furthermore, we characterize the local flow patterns generated by the motion of the cilia, revealing the formation of vortical patterns. Our novel approach simplifies the realization of miniaturized metachronal motion in microfluidic systems and opens the possibility of controlling flow pattern generation and transportation, opening avenues for applications such as lab-on-a-chip technologies, organ-on-a-chip platforms, and microscopic object propulsion.
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Affiliation(s)
- Zhiwei Cui
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
| | - Tanveer Ul Islam
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
| | - Ye Wang
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
| | - Jaap M J den Toonder
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
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12
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Peng J, Zhao Y, Yang J, Liu Y. Crystal Engineering-Driven Sunlight Responsiveness and Flexible Waveguide Transmission. J Phys Chem Lett 2024; 15:7335-7341. [PMID: 38986014 DOI: 10.1021/acs.jpclett.4c01797] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/12/2024]
Abstract
Here, a barbituric acid derivative containing pyrene rings (DPPT) was successfully synthesized, and two types of crystals were prepared by using crystal engineering methods. Orange sheet-like crystals (DPPT-O, observed in visible light), prepared in a DCM/CH3OH solution, exhibited brittleness and weak fluorescence emission, along with sunlight-induced bending and fracturing. Red needle-like crystals (DPPT-R, also observed in visible light), synthesized in a DCM/CH3CN solution, demonstrated elastic properties, strong fluorescence emission, and excellent optical waveguide performance (with an optical loss coefficient of 0.23-0.30 dB mm-1). Single-crystal data analysis revealed that the stacking arrangement of molecules critically influenced the elasticity of the crystals, while the reaction cavity size regulated the photomechanical properties of the crystals. This study achieved effective control over sunlight responsiveness and flexible optical waveguide transmission for the first time, providing innovative insights for the application of homogeneous organic polycrystalline molecular crystals in this field.
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Affiliation(s)
- Jiang Peng
- Key Laboratory of Magnetic Molecules and Magnetic Information Materials of Ministry of Education & School of Chemistry and Materials Science, Shanxi Normal University, TaiYuan 030032, China
| | - Yuheng Zhao
- Key Laboratory of Magnetic Molecules and Magnetic Information Materials of Ministry of Education & School of Chemistry and Materials Science, Shanxi Normal University, TaiYuan 030032, China
| | - Jing Yang
- Key Laboratory of Magnetic Molecules and Magnetic Information Materials of Ministry of Education & School of Chemistry and Materials Science, Shanxi Normal University, TaiYuan 030032, China
| | - Yuanyuan Liu
- Key Laboratory of Magnetic Molecules and Magnetic Information Materials of Ministry of Education & School of Chemistry and Materials Science, Shanxi Normal University, TaiYuan 030032, China
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13
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Zhao L, Li W, Liu Y, Qi Y, An N, Yan M, Wang Z, Zhou M, Yang S. Designing Fast-Moving Antibacterial Microtorpedoes to Treat Lethal Bacterial Biofilm Infections. ACS NANO 2024. [PMID: 39023225 DOI: 10.1021/acsnano.4c04995] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/20/2024]
Abstract
Engineering fast-moving microrobot swarms that can physically disassemble bacterial biofilms and kill the bacteria released from the biofilms is a promising way to combat bacterial biofilm infections. Here, we report electrochemical design of Ag7O8NO3 microtorpedoes with outstanding antibacterial performance and meanwhile capable of moving at speeds of hundreds of body lengths per second in clinically used H2O2 aqueous solutions. These fast-moving antibacterial Ag7O8NO3 microtorpedoes could penetrate into and disintegrate the bacterial biofilms and, in turn, kill the bacteria released from the biofilms. Based on the understanding of the growth behavior of the microtorpedoes, we could fine-tune the morphology of the microtorpedoes to accelerate the moving speed and increase their penetration depth into the biofilms simply via controlling the potential waveforms. We further developed an automatic shaking method to selectively peel off the uniformly structured microtorpedoes from the electrode surface, realizing continuous electrochemical production of the microtorpedoes. Animal experiments proved that the microtorpedo swarms greatly increased the survival rate of the mice infected by lethal biofilms to >90%. We used the electrochemical method to design and massively produce uniformly structured fast-moving antibacterial microtorpedo swarms with application potentials in treatment of lethal bacterial biofilm infections.
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Affiliation(s)
- Liyan Zhao
- Department of Medical Oncology, The First Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou 310003, China
- Institute for Composites Science Innovation, School of Materials Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Wanlin Li
- Eye Center & Key Laboratory of Cancer Prevention and Intervention, MOE, The Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou 310029, China
| | - Yue Liu
- Institute for Composites Science Innovation, School of Materials Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yuchen Qi
- Eye Center & Key Laboratory of Cancer Prevention and Intervention, MOE, The Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou 310029, China
| | - Ning An
- Institute for Composites Science Innovation, School of Materials Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Mi Yan
- State Key Laboratory of Silicon Materials, School of Materials Science and Engineering, Zhejiang University, Hangzhou 310027, China
- State Key Laboratory of Baiyunobo Rare Earth Resource Researches and Comprehensive Utilization, Baotou Research Institution of Rare Earths, Baotou 014030, China
| | - Zuankai Wang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Min Zhou
- Eye Center & Key Laboratory of Cancer Prevention and Intervention, MOE, The Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou 310029, China
- Zhejiang University-University of Edinburgh Institute (ZJU-UoE Institute), Zhejiang University, Haining 314400, China
- State Key Laboratory (SKL) of Biobased Transportation Fuel Technology, Zhejiang University, Hangzhou 310027, China
| | - Shikuan Yang
- Department of Medical Oncology, The First Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou 310003, China
- Institute for Composites Science Innovation, School of Materials Science and Engineering, Zhejiang University, Hangzhou 310027, China
- State Key Laboratory of Baiyunobo Rare Earth Resource Researches and Comprehensive Utilization, Baotou Research Institution of Rare Earths, Baotou 014030, China
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14
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Wang G, Wang S, Hu T, Shi F. Multifunctional Hydrogel with 3D Printability, Fluorescence, Biodegradability, and Biocompatibility for Biomedical Microrobots. Molecules 2024; 29:3351. [PMID: 39064931 PMCID: PMC11279963 DOI: 10.3390/molecules29143351] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/05/2024] [Revised: 07/13/2024] [Accepted: 07/15/2024] [Indexed: 07/28/2024] Open
Abstract
As micron-sized objects, mobile microrobots have shown significant potential for future biomedical applications, such as targeted drug delivery and minimally invasive surgery. However, to make these microrobots viable for clinical applications, several crucial aspects should be implemented, including customizability, motion-controllability, imageability, biodegradability, and biocompatibility. Developing materials to meet these requirements is of utmost importance. Here, a gelatin methacryloyl (GelMA) and (2-(4-vinylphenyl)ethene-1,1,2-triyl)tribenzene (TPEMA)-based multifunctional hydrogel with 3D printability, fluorescence imageability, biodegradability, and biocompatibility is demonstrated. By using 3D direct laser writing method, the hydrogel exhibits its versatility in the customization and fabrication of 3D microstructures. Spherical hydrogel microrobots were fabricated and decorated with magnetic nanoparticles on their surface to render them magnetically responsive, and have demonstrated excellent movement performance and motion controllability. The hydrogel microstructures also represented excellent drug loading/release capacity and degradability by using collagenase, along with stable fluorescence properties. Moreover, cytotoxicity assays showed that the hydrogel was non-toxic, as well as able to support cell attachment and growth, indicating excellent biocompatibility of the hydrogel. The developed multifunctional hydrogel exhibits great potential for biomedical microrobots that are integrated with customizability, 3D printability, motion controllability, drug delivery capacity, fluorescence imageability, degradability, and biocompatibility, thus being able to realize the real in vivo biomedical applications of microrobots.
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Affiliation(s)
- Gang Wang
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
- School of Integrated Circuit, Guizhou Normal University, Guiyang 550025, China
| | - Sisi Wang
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
| | - Tao Hu
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
| | - Famin Shi
- School of Physics and Electronic Science, Guizhou Normal University, Guiyang 550025, China; (S.W.)
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15
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Gao Y, Ou L, Liu K, Guo Y, Li W, Xiong Z, Wu C, Wang J, Tang J, Li D. Template-Guided Silicon Micromotor Assembly for Enhanced Cell Manipulation. Angew Chem Int Ed Engl 2024; 63:e202405895. [PMID: 38660927 DOI: 10.1002/anie.202405895] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/27/2024] [Revised: 04/23/2024] [Accepted: 04/24/2024] [Indexed: 04/26/2024]
Abstract
Light-driven micro/nanorobots (LMNRs) are tiny, untethered machines with great potential in fields like precision medicine, nano manufacturing, and various other domains. However, their practicality hinges on developing light-manipulation strategies that combine versatile functionalities, flexible design options, and precise controllability. Our study introduces an innovative approach to construct micro/nanorobots (MNRs) by utilizing micro/nanomotors as fundamental building blocks. Inspired by silicon Metal-Insulator-Semiconductor (MIS) solar cell principles, we design a new type of optomagnetic hybrid micromotors (OHMs). These OHMs have been skillfully optimized with integrated magnetic constituent, resulting in efficient light propulsion, precise magnetic navigation, and the potential for controlled assembly. One of the key features of the OHMs is their ability to exhibit diverse motion modes influenced by fracture surfaces and interactions with the environment, streamlining cargo conveyance along "micro expressway"-the predesigned microchannels. Further enhancing their versatility, a template-guided assembly strategy facilitates the assembly of these micromotors into functional microrobots, encompassing various configurations such as "V-shaped", "N-shaped", and 3D structured microrobots. The heightened capabilities of these microrobots, underscore the innovative potential inherent in hybrid micromotor design and assembly, which provides a foundational platform for the realization of multi-component microrobots. Our work moves a step toward forthcoming microrobotic entities boasting advanced functionalities.
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Affiliation(s)
- Yuxin Gao
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Leyan Ou
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Kunfeng Liu
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Yuan Guo
- The Third People's Hospital of Ganzhou, Ganzhou City, Jiangxi Province, 341000, P. R. China
| | - Wanyuan Li
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Ze Xiong
- Wireless and Smart Bioelectronics Lab, School of Biomedical Engineering, ShanghaiTech University, Shanghai, 201210, P. R. China
| | - Changjin Wu
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong, P. R. China
| | - Jizhuang Wang
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
| | - Jinyao Tang
- Department of Chemistry, The University of Hong Kong, Pokfulam Road, Hong Kong, P. R. China
| | - Dan Li
- College of Chemistry and Materials Science, Guangdong Provincial Key Laboratory of Functional Supramolecular Coordination Materials and Applications, Jinan University, Guangzhou, Guangdong, 510632, P. R. China
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16
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Sartori P, Yadav RS, del Barrio J, DeSimone A, Sánchez‐Somolinos C. Photochemically Induced Propulsion of a 4D Printed Liquid Crystal Elastomer Biomimetic Swimmer. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2308561. [PMID: 38590131 PMCID: PMC11220691 DOI: 10.1002/advs.202308561] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/09/2023] [Revised: 01/16/2024] [Indexed: 04/10/2024]
Abstract
Underwater organisms exhibit sophisticated propulsion mechanisms, enabling them to navigate fluid environments with exceptional dexterity. Recently, substantial efforts have focused on integrating these movements into soft robots using smart shape-changing materials, particularly by using light for their propulsion and control. Nonetheless, challenges persist, including slow response times and the need of powerful light beams to actuate the robot. This last can result in unintended sample heating and potentially necessitate tracking specific actuation spots on the swimmer. To tackle these challenges, new azobenzene-containing photopolymerizable inks are introduced, which can be processed by extrusion printing into liquid crystalline elastomer (LCE) elements of precise shape and morphology. These LCEs exhibit rapid and significant photomechanical response underwater, driven by moderate-intensity ultraviolet (UV) and green light, being the actuation mechanism predominantly photochemical. Inspired by nature, a biomimetic four-lapped ephyra-like LCE swimmer is printed. The periodically illumination of the entire swimmer with moderate-intensity UV and green light, induces synchronous lappet bending toward the light source and swimmer propulsion away from the light. The platform eliminates the need of localized laser beams and tracking systems to monitor the swimmer's motion through the fluid, making it a versatile tool for creating light-fueled robotic LCE free-swimmers.
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Affiliation(s)
- Paolo Sartori
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Física de la Materia CondensadaZaragoza50009Spain
| | - Rahul Singh Yadav
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Química OrgánicaZaragoza50009Spain
| | - Jesús del Barrio
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Química OrgánicaZaragoza50009Spain
| | - Antonio DeSimone
- The BioRobotics InstituteScuola Superiore Sant'AnnaPisa56127Italy
- SISSA‐Scuola Internazionale Superiore di Studi AvanzatiTrieste34136Italy
| | - Carlos Sánchez‐Somolinos
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Física de la Materia CondensadaZaragoza50009Spain
- Centro de Investigación Biomédica en Red de Bioingeniería, Biomateriales y NanomedicinaInstituto de Salud Carlos IIIZaragoza50018Spain
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17
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Zhu QL, Liu W, Khoruzhenko O, Breu J, Bai H, Hong W, Zheng Q, Wu ZL. Closed Twisted Hydrogel Ribbons with Self-Sustained Motions under Static Light Irradiation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2314152. [PMID: 38652466 DOI: 10.1002/adma.202314152] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/25/2023] [Revised: 03/25/2024] [Indexed: 04/25/2024]
Abstract
Self-sustained motions are widespread in biological systems by harvesting energy from surrounding environments, which inspire scientists to develop autonomous soft robots. However, most-existing soft robots require dynamic heterogeneous stimuli or complex fabrication with different components. Recently, control of topological geometry has been promising to afford soft robots with physical intelligence and thus life-like motions. Reported here are a series of closed twisted ribbon robots, which exhibit self-sustained flipping and rotation under constant light irradiation. Both Möbius strip and Seifert ribbon robots are devised for the first time by using an identical hydrogel, which responds to light irradiation on either side. Experiment and simulation results indicate that the self-regulated motions of the hydrogel robots are related to fast and reversible response of muscle-like gel, self-shadowing effect, and topology-facilitated refresh of light-exposed regions. The motion speeds and directions of the hydrogel robots can be tuned over a wide range. These closed twisted ribbon hydrogels are further applied to execute specific tasks in aqueous environments, such as collecting plastic balls, climbing a vertical rod, and transporting objects. This work presents new design principle for autonomous hydrogel robots by benefiting from material response and topology geometry, which may be inspirative for the robotics community.
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Affiliation(s)
- Qing Li Zhu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Weixuan Liu
- Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Olena Khoruzhenko
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Josef Breu
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Huiying Bai
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Wei Hong
- Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Qiang Zheng
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Zi Liang Wu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
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18
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Chen W, Tong D, Meng L, Tan B, Lan R, Zhang Q, Yang H, Wang C, Liu K. Knotted Artificial Muscles for Bio-Mimetic Actuation under Deepwater. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2400763. [PMID: 38641927 DOI: 10.1002/adma.202400763] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/15/2024] [Revised: 03/07/2024] [Indexed: 04/21/2024]
Abstract
Muscles featuring high frequency and high stroke linear actuation are essential for animals to achieve superior maneuverability, agility, and environmental adaptability. Artificial muscles are yet to match their biological counterparts, due to inferior actuation speed, magnitude, mode, or adaptability. Inspired by the hierarchical structure of natural muscles, artificial muscles are created that are powerful, responsive, robust, and adaptable. The artificial muscles consist of knots braided from 3D printed liquid crystal elastomer fibers and thin heating threads. The unique hierarchical, braided knot structure offers amplified linear stroke, force rate, and damage-tolerance, as verified by both numerical simulations and experiments. In particular, the square knotted artificial muscle shows reliable cycles of actuation at 1Hz in 3000m depth underwater. Potential application is demonstrated by propelling a model boat. Looking ahead, the knotted artificial muscles can empower novel biomedical devices and soft robots to explore various environments, from inside human body to the mysterious deep sea.
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Affiliation(s)
- Wenhui Chen
- Department of Advanced Manufacturing and Robotics, Peking University, No. 5 Yiheyuan Rd., Beijing, 100871, China
| | - Dezhong Tong
- Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, 405 Hilgard Ave., Los Angeles, California, 90095, USA
| | - Linghan Meng
- Shenyang Institute of Automation, Chinese Academy of Sciences, No. 135 Chuangxin Rd., Shenyang, 110169, China
| | - Bowen Tan
- Department of Advanced Manufacturing and Robotics, Peking University, No. 5 Yiheyuan Rd., Beijing, 100871, China
| | - Ruochen Lan
- School of Materials Science and Engineering, Peking University, No. 5 Yiheyuan Rd., Beijing, 100871, China
| | - Qifeng Zhang
- Shenyang Institute of Automation, Chinese Academy of Sciences, No. 135 Chuangxin Rd., Shenyang, 110169, China
| | - Huai Yang
- School of Materials Science and Engineering, Peking University, No. 5 Yiheyuan Rd., Beijing, 100871, China
| | - Cong Wang
- Shenyang Institute of Automation, Chinese Academy of Sciences, No. 135 Chuangxin Rd., Shenyang, 110169, China
| | - Ke Liu
- Department of Advanced Manufacturing and Robotics, Peking University, No. 5 Yiheyuan Rd., Beijing, 100871, China
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19
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Hong KI, Choi S, Oh S, Ahn HS, Jang WD. Electrofluorochromic Hydrogels by Oligothiophene-Based Color-Tunable Fluorescent Dye Doping. ACS APPLIED MATERIALS & INTERFACES 2024; 16:31384-31391. [PMID: 38855921 DOI: 10.1021/acsami.4c00733] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2024]
Abstract
Soft electronic materials hold great promise for advancing flexible functional devices. Among the various soft materials available, hydrogels are particularly attractive for soft electronic device development due to their inherent properties, including transparency, shape adaptability through swelling/deswelling, and self-healing capabilities. Transparent hydrogels contribute to the creation of advanced smart devices such as sensors, smart windows, and anticounterfeiting technologies. Poly(vinyl alcohol) hydrogels are used as a platform for creating electrofluorochromic (EFC) devices in combination with oligothiophene-conjugated benzothiazole derivatives (OCBs) as fluorescent emitters. OCBs demonstrated excited-state intramolecular proton transfer (ESIPT) behavior with a large Stokes shift and emission changes responsive to solvent polarity and pH stimuli. Even in the solid state, OCBs exhibited strong fluorescence emission across a wide range of colors from blue to red, making them exceptionally well-suited for EFC device development. Their quantum yields in the powder state were obtained between 2.3% and 19.9%. Through the incorporation of OCBs into a PVA hydrogel (OCB@PVA), we achieved the successful fabrication of flexible EFC devices, including electronic paper and smart panels. When electric potentials (-2.4 and +2.4 V) were applied in OCB@PVA, fluorescence color changes were observed by an electrochemically induced pH change owing to electrohydrolysis of water. These devices demonstrated the potential of OCB@PVA hydrogels in the realm of flexible electronics. They could be used to create innovative and versatile devices with stimuli-responsive fluorescence properties.
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Affiliation(s)
- Kyeong-Im Hong
- Department of Chemistry, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Republic of Korea
| | - Suhyuk Choi
- Department of Chemistry, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Republic of Korea
| | - Sangyoon Oh
- Department of Chemistry, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Republic of Korea
| | - Hyun S Ahn
- Department of Chemistry, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Republic of Korea
| | - Woo-Dong Jang
- Department of Chemistry, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Republic of Korea
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20
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Cheng M, Cai W, Wang Z, Chen L, Yuan D, Ma Z, Bai Z, Kong D, Cen M, Xu S, Srivastava AK, Liu YJ. Responsive Liquid Crystal Network Microstructures with Customized Shapes and Predetermined Morphing for Adaptive Soft Micro-Optics. ACS APPLIED MATERIALS & INTERFACES 2024; 16:31776-31787. [PMID: 38858834 DOI: 10.1021/acsami.4c04275] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2024]
Abstract
Stimuli-responsive materials have garnered substantial interest in recent years, particularly liquid crystal networks (LCNs) with sophisticatedly designed structures and morphing capabilities. Extensive efforts have been devoted to LCN structural designs spanning from two-dimensional (2D) to three-dimensional (3D) configurations and their intricate morphing behaviors through designed alignment. However, achieving microscale structures and large-area preparation necessitates the development of novel techniques capable of facilely fabricating LCN microstructures with precise control over both overall shape and alignment, enabling a 3D-to-3D shape change. Herein, a simple and cost-effective in-cell soft lithography (ICSL) technique is proposed to create LCN microstructures with customized shapes and predesigned morphing. The ICSL technique involves two sequential steps: fabricating the desired microstructure as the template by using the photopolymerization-induced phase separation (PIPS) method and reproducing the LCN microstructures through templating. Meanwhile, surface anchoring is employed to design and achieve molecular alignment, accommodating different deformation modes. With the proposed ICSL technique, cylindrical and spherical microlens arrays (CMLAs and SMLAs) have been successfully fabricated with stimulus-driven polarization-dependent focusing effects. This technique offers distinct advantages including high customizability, large-area production, and cost-effectiveness, which pave a new avenue for extensive applications in different fields, exemplified by adaptive soft micro-optics and photonics.
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Affiliation(s)
- Ming Cheng
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Advanced Displays and Optoelectronics Technologies, and Centre for Display Research, Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong 999077, China
| | - Wenfeng Cai
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zhenming Wang
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Lei Chen
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Dandan Yuan
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Zongjun Ma
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Ziyan Bai
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Delai Kong
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Mengjia Cen
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
| | - Shaolin Xu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Abhishek Kumar Srivastava
- State Key Laboratory of Advanced Displays and Optoelectronics Technologies, and Centre for Display Research, Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong 999077, China
| | - Yan Jun Liu
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Engineering Research Center for High Resolution Light Field Display and Technology, Southern University of Science and Technology, Shenzhen 518055, China
- State Key Laboratory of Optical Fiber and Cable Manufacture Technology, Southern University of Science and Technology, Shenzhen 518055, China
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21
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Hao B, Wang X, Dong Y, Sun M, Xin C, Yang H, Cao Y, Zhu J, Liu X, Zhang C, Su L, Li B, Zhang L. Focused ultrasound enables selective actuation and Newton-level force output of untethered soft robots. Nat Commun 2024; 15:5197. [PMID: 38890294 PMCID: PMC11189400 DOI: 10.1038/s41467-024-49148-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/01/2023] [Accepted: 05/23/2024] [Indexed: 06/20/2024] Open
Abstract
Untethered miniature soft robots have significant application potentials in biomedical and industrial fields due to their space accessibility and safe human interaction. However, the lack of selective and forceful actuation is still challenging in revolutionizing and unleashing their versatility. Here, we propose a focused ultrasound-controlled phase transition strategy for achieving millimeter-level spatially selective actuation and Newton-level force of soft robots, which harnesses ultrasound-induced heating to trigger the phase transition inside the robot, enabling powerful actuation through inflation. The millimeter-level spatial resolution empowers single robot to perform multiple tasks according to specific requirements. As a concept-of-demonstration, we designed soft robot for liquid cargo delivery and biopsy robot for tissue acquisition and patching. Additionally, an autonomous control system is integrated with ultrasound imaging to enable automatic acoustic field alignment and control. The proposed method advances the spatiotemporal response capability of untethered miniature soft robots, holding promise for broadening their versatility and adaptability.
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Affiliation(s)
- Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Yue Dong
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, PR China.
| | - Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Chen Xin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Yanfei Cao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Jiaqi Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Xurui Liu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Chong Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Bing Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, PR China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong, SAR 999077, PR China.
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
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22
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Dutta SD, Luthfikasari R, Patil TV, Ganguly K, Seol Y, Randhawa A, Lim KT. Sunflower Pollen-Morphology Mimicked Spiky Zinc Nanomotors as a Photosensitizer for Killing Bacteria and Cancer Cells. ACS APPLIED BIO MATERIALS 2024; 7:3731-3745. [PMID: 38842103 DOI: 10.1021/acsabm.4c00092] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/07/2024]
Abstract
Photosensitizing agents have received increased attention from the medical community, owing to their higher photothermal efficiency, induction of hyperthermia, and sustained delivery of bioactive molecules to their targets. Micro/nanorobots can be used as ideal photosensitizing agents by utilizing various physical stimuli for the targeted killing of pathogens (e.g., bacteria) and cancer cells. Herein, we report sunflower-pollen-inspired spiky zinc oxide (s-ZnO)-based nanorobots that effectively kill bacteria and cancer cells under near-infrared (NIR) light irradiation. The as-fabricated s-ZnO was modified with a catechol-containing photothermal agent, polydopamine (PDA), to improve its NIR-responsive properties, followed by the addition of antimicrobial (e.g., tetracycline/TCN) and anticancer (e.g., doxorubicin/DOX) drugs. The fabricated s-ZnO/PDA@Drug nanobots exhibited unique locomotory behavior with an average speed ranging from 13 to 14 μm/s under 2.0 W/cm2 NIR light irradiation. Moreover, the s-ZnO/PDA@TCN nanobots exhibited superior antibacterial activity against E. coli and S. epidermidis under NIR irradiation. The s-ZnO/PDA@DOX nanobots also displayed sufficient reactive oxygen species (ROS) amplification in B16F10 melanoma cells and induced apoptosis under NIR light, indicating their therapeutic efficacy. We hope the sunflower pollen-inspired s-ZnO nanorobots have tremendous potential in biomedical engineering from the phototherapy perspective, with the hope to reduce pathogen infections.
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Affiliation(s)
- Sayan Deb Dutta
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Institute of Forest Science, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Center for Surgical Bioengineering, School of Medicine, University of California Davis, Davis, California 95817, United States
| | - Rachmi Luthfikasari
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Tejal V Patil
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Interdisciplinary Program in Smart Agriculture, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Keya Ganguly
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Institute of Forest Science, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Youjin Seol
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Aayushi Randhawa
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Interdisciplinary Program in Smart Agriculture, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
| | - Ki-Taek Lim
- Department of Biosystems Engineering, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Institute of Forest Science, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
- Interdisciplinary Program in Smart Agriculture, Kangwon National University, Chuncheon 24341, Gangwon-do, Republic of Korea
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23
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Zhou X, Chen G, Jin B, Feng H, Chen Z, Fang M, Yang B, Xiao R, Xie T, Zheng N. Multimodal Autonomous Locomotion of Liquid Crystal Elastomer Soft Robot. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2402358. [PMID: 38520731 PMCID: PMC11187929 DOI: 10.1002/advs.202402358] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/05/2024] [Revised: 03/12/2024] [Indexed: 03/25/2024]
Abstract
Self-oscillation phenomena observed in nature serve as extraordinary inspiration for designing synthetic autonomous moving systems. Converting self-oscillation into designable self-sustained locomotion can lead to a new generation of soft robots that require minimal/no external control. However, such locomotion is typically constrained to a single mode dictated by the constant surrounding environment. In this study, a liquid crystal elastomer (LCE) robot capable of achieving self-sustained multimodal locomotion, with the specific motion mode being controlled via substrate adhesion or remote light stimulation is presented. Specifically, the LCE is mechanically trained to undergo repeated snapping actions to ensure its self-sustained rolling motion in a constant gradient thermal field atop a hotplate. By further fine-tuning the substrate adhesion, the LCE robot exhibits reversible transitions between rolling and jumping modes. In addition, the rolling motion can be manipulated in real time through light stimulation to perform other diverse motions including turning, decelerating, stopping, backing up, and steering around complex obstacles. The principle of introducing an on-demand gate control offers a new venue for designing future autonomous soft robots.
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Affiliation(s)
- Xiaorui Zhou
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Guancong Chen
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Binjie Jin
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Haijun Feng
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Zike Chen
- State Key Laboratory of Fluid Power and Mechatronic SystemsKey Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China
| | - Mengqi Fang
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Bo Yang
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Rui Xiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsKey Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China
| | - Tao Xie
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Ning Zheng
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
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24
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Kropacek J, Maslen C, Gidoni P, Cigler P, Stepanek F, Rehor I. Light-Responsive Hydrogel Microcrawlers, Powered and Steered with Spatially Homogeneous Illumination. Soft Robot 2024; 11:531-538. [PMID: 38447126 DOI: 10.1089/soro.2023.0074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/08/2024] Open
Abstract
Sub-millimeter untethered locomoting robots hold promise to radically change multiple areas of human activity such as microfabrication/assembly or health care. To overcome the associated hurdles of such a degree of robot miniaturization, radically new approaches are being adopted, often relying on soft actuating polymeric materials. Here, we present light-driven, crawling microrobots that locomote by a single degree of freedom actuation of their light-responsive tail section. The direction of locomotion is dictated by the robot body design and independent of the spatial modulation of the light stimuli, allowing simultaneous multidirectional motion of multiple robots. Moreover, we present a method for steering such robots by reversibly deforming their front section, using ultraviolet (UV) light as a trigger. The deformation dictates the robot locomotion, performing right- or left-hand turning when the UV is turned on or off respectively. The robots' motion and navigation are not coupled to the position of the light sources, which enables simultaneous locomotion of multiple robots, steering of robots and brings about flexibility with the methods to deliver the light to the place of robot operation.
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Affiliation(s)
- Jindrich Kropacek
- Faculty of Chemical Engineering, Department of Chemical Engineering, University of Chemistry and Technology Prague, Prague, Czech Republic
| | - Charlie Maslen
- Faculty of Chemical Engineering, Department of Chemical Engineering, University of Chemistry and Technology Prague, Prague, Czech Republic
| | - Paolo Gidoni
- Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy
- Department of Decision-Making Theory, Institute of Information Theory and Automation of the Czech Academy of Sciences, Prague, Czech Republic
| | - Petr Cigler
- Synthetic Nanochemistry, Institute of Organic Chemistry and Biochemistry of the Czech Academy of Sciences, Prague, Czech Republic
| | - Frantisek Stepanek
- Faculty of Chemical Engineering, Department of Chemical Engineering, University of Chemistry and Technology Prague, Prague, Czech Republic
| | - Ivan Rehor
- Faculty of Chemical Engineering, Department of Chemical Engineering, University of Chemistry and Technology Prague, Prague, Czech Republic
- Synthetic Nanochemistry, Institute of Organic Chemistry and Biochemistry of the Czech Academy of Sciences, Prague, Czech Republic
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25
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Zhang Y, Wang M, Zhang T, Wang H, Chen Y, Zhou T, Yang R. Spermbots and Their Applications in Assisted Reproduction: Current Progress and Future Perspectives. Int J Nanomedicine 2024; 19:5095-5108. [PMID: 38836008 PMCID: PMC11149708 DOI: 10.2147/ijn.s465548] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2024] [Accepted: 05/25/2024] [Indexed: 06/06/2024] Open
Abstract
Sperm quality is declining dramatically during the past decades. Male infertility has been a serious health and social problem. The sperm cell driven biohybrid nanorobot opens a new era for automated and precise assisted reproduction. Therefore, it is urgent and necessary to conduct an updated review and perspective from the viewpoints of the researchers and clinicians in the field of reproductive medicine. In the present review, we first update the current classification, design, control and applications of various spermbots. Then, by a comprehensive summary of the functional features of sperm cells, the journey of sperms to the oocyte, and sperm-related dysfunctions, we provide a systematic guidance to further improve the design of spermbots. Focusing on the translation of spermbots into clinical practice, we point out that the main challenges are biocompatibility, effectiveness, and ethical issues. Considering the special requirements of assisted reproduction, we also propose the three laws for the clinical usage of spermbots: good genetics, gentle operation and no contamination. Finally, a three-step roadmap is proposed to achieve the goal of clinical translation. We believe that spermbot-based treatments can be validated and approved for in vitro clinical usage in the near future. However, multi-center and multi-disciplinary collaborations are needed to further promote the translation of spermbots into in vivo clinical applications.
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Affiliation(s)
- Yixuan Zhang
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
| | - Min Wang
- Center for Reproductive Medicine, The Affiliated Wuxi Maternity and Child Health Care Hospital of Nanjing Medical University, Wuxi, 214002, People’s Republic of China
| | - Ting Zhang
- Department of Laboratory Medicine, Wuxi Maternity and Child Health Care Hospital, Jiangnan University, Wuxi, 214002, People’s Republic of China
| | - Honghua Wang
- Center for Reproductive Medicine, The Affiliated Wuxi Maternity and Child Health Care Hospital of Nanjing Medical University, Wuxi, 214002, People’s Republic of China
| | - Ying Chen
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
| | - Tao Zhou
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
| | - Rui Yang
- Research Institute for Reproductive Medicine and Genetic Diseases, Wuxi Maternity and Child Health Care Hospital, Wuxi, 214002, People’s Republic of China
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26
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Zhao J, Sun Y, Dai Y, Wu J, Li K. Dynamic response of a simply supported liquid-crystal elastomer beam under moving illumination. Phys Rev E 2024; 109:054704. [PMID: 38907412 DOI: 10.1103/physreve.109.054704] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/05/2023] [Accepted: 04/03/2024] [Indexed: 06/24/2024]
Abstract
Optically responsive liquid crystal elastomer (LCE) devices have thriving potential to flourish in soft robots and microdrives, owing to their advantages of remote controllability, structural simplicity, and no power supply. In terms of illumination-driven modes, most research has focused on the dynamic response of LCE devices under continuous and periodic illumination, while the theoretical study of the dynamic response under moving illumination is limited. In this paper, based on the coupling of LCE and mechanical deformation under moving illumination, the dynamic model of a LCE simply supported beam is built to investigate its dynamic response under moving illumination. The analytical solution of the dynamic response of the LCE beam under moving illumination is derived through the modal superposition method and the Duhamel integration, and the solution is programed and analyzed with matlab software. By numerical calculations, the influence of the internal and driving parameters of the structure on the dynamic response of the LCE simply supported beam can be analyzed. The results show that when the moving speed of illumination reaches the first-order critical frequency, the maximum amplitude of the dynamic response at the beam mid-span will reach a peak. Meanwhile, the dynamic response of beam can be improved by increasing the illumination width, increasing the light intensity, increasing the shrinkage coefficient, and reducing the damping coefficient. This work provides theoretical guidance for applying the dynamic response of LCE devices under moving illumination in soft robots, microactuators, energy harvesters, sensors, etc.
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27
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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28
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Gruzdenko A, Mulder DJ, Schenning APHJ, den Toonder JMJ, Debije MG. Dual-Wavelength Volumetric Microlithography for Rapid Production of 4D Microstructures. ACS APPLIED MATERIALS & INTERFACES 2024; 16:22696-22703. [PMID: 38646711 PMCID: PMC11071039 DOI: 10.1021/acsami.4c01883] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/01/2024] [Revised: 04/11/2024] [Accepted: 04/11/2024] [Indexed: 04/23/2024]
Abstract
4D microstructured actuators are micro-objects made of stimuli-responsive materials capable of induced shape deformations, with applications ranging from microrobotics to smart micropatterned haptic surfaces. The novel technology dual-wavelength volumetric microlithography (DWVML) realizes rapid printing of high-resolution 3D microstructures and so has the potential to pave the way to feasible manufacturing of 4D microdevices. In this work, DWVML is applied for the first time to printing stimuli-responsive materials, namely, liquid crystal networks (LCNs). An LCN photoresist is developed and characterized, and large arrays of up to 5625 LCN micropillars with programmable shape changes are produced by means of DWVML in the time span of seconds, over areas as large as ∼5.4 mm2. The production rate of 0.24 mm3 h-1 is achieved, exceeding speeds previously reported for additive manufacturing of LCNs by 2 orders of magnitude. Finally, a membrane with tunable, micrometer-sized pores is fabricated to illustrate the potential DWVML holds for real-world applications.
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Affiliation(s)
- Alexandra Gruzdenko
- Stimuli-Responsive
Functional Materials and Devices, Department of Chemical Engineering
and Chemistry, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
- Interactive
Polymer Materials (IPM), Eindhoven University
of Technology, Groene
Loper 3, 5612 AE Eindhoven, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Den Dolech 2, 5600 MB Eindhoven, The Netherlands
| | - Dirk J. Mulder
- Photosynthetic, De Boelelaan
1085, 1081HV Amsterdam, The Netherlands
| | - Albert P. H. J. Schenning
- Stimuli-Responsive
Functional Materials and Devices, Department of Chemical Engineering
and Chemistry, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
- Interactive
Polymer Materials (IPM), Eindhoven University
of Technology, Groene
Loper 3, 5612 AE Eindhoven, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Den Dolech 2, 5600 MB Eindhoven, The Netherlands
| | - Jaap M. J. den Toonder
- Microsystems,
Department of Mechanical Engineering, Eindhoven
University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
- Interactive
Polymer Materials (IPM), Eindhoven University
of Technology, Groene
Loper 3, 5612 AE Eindhoven, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Den Dolech 2, 5600 MB Eindhoven, The Netherlands
| | - Michael G. Debije
- Stimuli-Responsive
Functional Materials and Devices, Department of Chemical Engineering
and Chemistry, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
- Interactive
Polymer Materials (IPM), Eindhoven University
of Technology, Groene
Loper 3, 5612 AE Eindhoven, The Netherlands
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29
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Wu L, Huang X, Wang M, Chen J, Chang J, Zhang H, Zhang X, Conn A, Rossiter J, Birchall M, Song W. Tunable Light-Responsive Polyurethane-urea Elastomer Driven by Photochemical and Photothermal Coupling Mechanism. ACS APPLIED MATERIALS & INTERFACES 2024; 16:19480-19495. [PMID: 38581369 DOI: 10.1021/acsami.4c00486] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/08/2024]
Abstract
Light-driven soft actuators based on photoresponsive materials can be used to mimic biological motion, such as hand movements, without involving rigid or bulky electromechanical actuations. However, to our knowledge, no robust photoresponsive material with desireable mechanical and biological properties and relatively simple manufacture exists for robotics and biomedical applications. Herein, we report a new visible-light-responsive thermoplastic elastomer synthesized by introducing photoswitchable moieties (i.e., azobenzene derivatives) into the main chain of poly(ε-caprolactone) based polyurethane urea (PAzo). A PAzo elastomer exhibits controllable light-driven stiffness softening due to its unique nanophase structure in response to light, while possessing excellent hyperelasticity (stretchability of 575.2%, elastic modulus of 17.6 MPa, and strength of 44.0 MPa). A bilayer actuator consisting of PAzo and polyimide films is developed, demonstrating tunable bending modes by varying incident light intensities. Actuation mechanism via photothermal and photochemical coupling effects of a soft-hard nanophase is demonstrated through both experimental and theoretical analyses. We demonstrate an exemplar application of visible-light-controlled soft "fingers" playing a piano on a smartphone. The robustness of the PAzo elastomer and its scalability, in addition to its excellent biocompatibility, opens the door to the development of reproducible light-driven wearable/implantable actuators and lightweight soft robots for clinical applications.
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Affiliation(s)
- Lei Wu
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
| | - Xia Huang
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
| | - Meng Wang
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
| | - Jishizhan Chen
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
| | - Jinke Chang
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
| | - Han Zhang
- School of Engineering and Materials Science, Queen Mary University of London, London E1 4NS, United Kingdom
| | - Xuetong Zhang
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
- Suzhou Institute of Nano-tech and Nano-bionics, Chinese Academy of Sciences, Suzhou 215123, PR China
| | - Andrew Conn
- Dept of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol BS8 1UB, United Kingdom
| | - Jonathan Rossiter
- Dept of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol, Bristol BS8 1UB, United Kingdom
| | - Martin Birchall
- UCL Ear Institute, Royal National Ear Nose and Throat and Eastman Dental Hospitals (UCLH NHS Foundation Trust), University College London, London WC1X 8EE, United Kingdom
| | - Wenhui Song
- Centre of Biomaterials for in Surgical Reconstruction and Regeneration, Department of Surgical Biotechnology, Division of Surgery & Interventional Science, University College London, London NW3 2PF, United Kingdom
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30
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Grawitter J, Stark H. Steering droplets on substrates with plane-wave wettability patterns and deformations. SOFT MATTER 2024; 20:3161-3174. [PMID: 38517317 DOI: 10.1039/d4sm00213j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/23/2024]
Abstract
Motivated by strategies for targeted microfluidic transport of droplets, we investigate how sessile droplets can be steered toward a preferred direction using travelling waves in substrate wettability or deformations of the substrate. To perform our numerical study, we implement the boundary-element method to solve the governing Stokes equations for the fluid flow field inside the moving droplet. In both cases we find two distinct modes of droplet motion. For small wave speed the droplet surfs with a constant velocity on the wave, while beyond a critical wave speed a periodic wobbling motion occurs, the period of which diverges at the transition. These observation can be rationalized by the nonuniform oscillator model and the transition described by a SNIPER bifurcation. For the travelling waves in wettability the mean droplet velocity in the wobbling state decays with the inverse wave speed. In contrast, for travelling-wave deformations of the substrate it is proportional to the wave speed at large speed values since the droplet always has to move up and down. To rationalize this behavior, the nonuniform oscillator model has to be extended. Since the critical wave speed of the bifurcation depends on the droplet radius, this dependence can be used to sort droplets by size.
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Affiliation(s)
- Josua Grawitter
- Technische Universität Berlin, Institut für Theoretische Physik, Straße des 17. Juni 135, 10623 Berlin, Germany.
| | - Holger Stark
- Technische Universität Berlin, Institut für Theoretische Physik, Straße des 17. Juni 135, 10623 Berlin, Germany.
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31
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Xu H, Wu S, Liu Y, Wang X, Efremov AK, Wang L, McCaskill JS, Medina-Sánchez M, Schmidt OG. 3D nanofabricated soft microrobots with super-compliant picoforce springs as onboard sensors and actuators. NATURE NANOTECHNOLOGY 2024; 19:494-503. [PMID: 38172430 PMCID: PMC11026159 DOI: 10.1038/s41565-023-01567-0] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/27/2023] [Accepted: 11/06/2023] [Indexed: 01/05/2024]
Abstract
Microscale organisms and specialized motile cells use protein-based spring-like responsive structures to sense, grasp and move. Rendering this biomechanical transduction functionality in an artificial micromachine for applications in single-cell manipulations is challenging due to the need for a bio-applicable nanoscale spring system with a large and programmable strain response to piconewton-scale forces. Here we present three-dimensional nanofabrication and monolithic integration, based on an acrylic elastomer photoresist, of a magnetic spring system with quantifiable compliance sensitive to 0.5 pN, constructed with customized elasticity and magnetization distributions at the nanoscale. We demonstrate the effective design programmability of these 'picospring' ensembles as energy transduction mechanisms for the integrated construction of customized soft micromachines, with onboard sensing and actuation functions at the single-cell scale for microrobotic grasping and locomotion. The integration of active soft springs into three-dimensional nanofabrication offers an avenue to create biocompatible soft microrobots for non-disruptive interactions with biological entities.
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Affiliation(s)
- Haifeng Xu
- Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen, China.
- Leibniz Institute for Solid State and Materials Research Dresden (Leibniz IFW Dresden), Dresden, Germany.
| | - Song Wu
- Leibniz Institute for Solid State and Materials Research Dresden (Leibniz IFW Dresden), Dresden, Germany
| | - Yuan Liu
- Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen, China
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China
| | | | - Lei Wang
- Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen, China
| | - John S McCaskill
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, Chemnitz, Germany
| | - Mariana Medina-Sánchez
- Leibniz Institute for Solid State and Materials Research Dresden (Leibniz IFW Dresden), Dresden, Germany.
- Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, Dresden, Germany.
| | - Oliver G Schmidt
- Research Center for Materials, Architectures and Integration of Nanomembranes (MAIN), Chemnitz University of Technology, Chemnitz, Germany.
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32
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Cui Z, Wang Y, den Toonder JMJ. Metachronal Motion of Biological and Artificial Cilia. Biomimetics (Basel) 2024; 9:198. [PMID: 38667209 PMCID: PMC11048255 DOI: 10.3390/biomimetics9040198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 03/22/2024] [Accepted: 03/23/2024] [Indexed: 04/28/2024] Open
Abstract
Cilia are slender, hair-like cell protrusions that are present ubiquitously in the natural world. They perform essential functions, such as generating fluid flow, propulsion, and feeding, in organisms ranging from protozoa to the human body. The coordinated beating of cilia, which results in wavelike motions known as metachrony, has fascinated researchers for decades for its role in functions such as flow generation and mucus transport. Inspired by nature, researchers have explored diverse materials for the fabrication of artificial cilia and developed several methods to mimic the metachronal motion observed in their biological counterparts. In this review, we will introduce the different types of metachronal motion generated by both biological and artificial cilia, the latter including pneumatically, photonically, electrically, and magnetically driven artificial cilia. Furthermore, we review the possible applications of metachronal motion by artificial cilia, focusing on flow generation, transport of mucus, particles, and droplets, and microrobotic locomotion. The overall aim of this review is to offer a comprehensive overview of the metachronal motions exhibited by diverse artificial cilia and the corresponding practical implementations. Additionally, we identify the potential future directions within this field. These insights present an exciting opportunity for further advancements in this domain.
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Affiliation(s)
- Zhiwei Cui
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Jaap M. J. den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
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33
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Wang B, Lu Y. Collective Molecular Machines: Multidimensionality and Reconfigurability. NANO-MICRO LETTERS 2024; 16:155. [PMID: 38499833 PMCID: PMC10948734 DOI: 10.1007/s40820-024-01379-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/29/2023] [Accepted: 02/17/2024] [Indexed: 03/20/2024]
Abstract
Molecular machines are key to cellular activity where they are involved in converting chemical and light energy into efficient mechanical work. During the last 60 years, designing molecular structures capable of generating unidirectional mechanical motion at the nanoscale has been the topic of intense research. Effective progress has been made, attributed to advances in various fields such as supramolecular chemistry, biology and nanotechnology, and informatics. However, individual molecular machines are only capable of producing nanometer work and generally have only a single functionality. In order to address these problems, collective behaviors realized by integrating several or more of these individual mechanical units in space and time have become a new paradigm. In this review, we comprehensively discuss recent developments in the collective behaviors of molecular machines. In particular, collective behavior is divided into two paradigms. One is the appropriate integration of molecular machines to efficiently amplify molecular motions and deformations to construct novel functional materials. The other is the construction of swarming modes at the supramolecular level to perform nanoscale or microscale operations. We discuss design strategies for both modes and focus on the modulation of features and properties. Subsequently, in order to address existing challenges, the idea of transferring experience gained in the field of micro/nano robotics is presented, offering prospects for future developments in the collective behavior of molecular machines.
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Affiliation(s)
- Bin Wang
- Department of Chemical Engineering, Tsinghua University, Beijing, 100084, People's Republic of China
| | - Yuan Lu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Tsinghua University, Beijing, 100084, People's Republic of China.
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34
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Rešetič A. Shape programming of liquid crystal elastomers. Commun Chem 2024; 7:56. [PMID: 38485773 PMCID: PMC10940691 DOI: 10.1038/s42004-024-01141-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2023] [Accepted: 03/07/2024] [Indexed: 03/18/2024] Open
Abstract
Liquid crystal elastomers (LCEs) are shape-morphing materials that demonstrate reversible actuation when exposed to external stimuli, such as light or heat. The actuation's complexity depends heavily on the instilled liquid crystal alignment, programmed into the material using various shape-programming processes. As an unavoidable part of LCE synthesis, these also introduce geometrical and output restrictions that dictate the final applicability. Considering LCE's future implementation in real-life applications, it is reasonable to explore these limiting factors. This review offers a brief overview of current shape-programming methods in relation to the challenges of employing LCEs as soft, shape-memory components in future devices.
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Affiliation(s)
- Andraž Rešetič
- Jožef Stefan Institute, Solid State Physics Department, Jamova cesta 39, 1000, Ljubljana, Slovenia.
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35
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Pinchin NP, Guo H, Meteling H, Deng Z, Priimagi A, Shahsavan H. Liquid Crystal Networks Meet Water: It's Complicated! ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2303740. [PMID: 37392137 DOI: 10.1002/adma.202303740] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/21/2023] [Revised: 06/21/2023] [Accepted: 06/29/2023] [Indexed: 07/03/2023]
Abstract
Soft robots are composed of compliant materials that facilitate high degrees of freedom, shape-change adaptability, and safer interaction with humans. An attractive choice of material for soft robotics is crosslinked networks of liquid crystal polymers (LCNs), as they are responsive to a wide variety of external stimuli and capable of undergoing fast, programmable, complex shape morphing, which allows for their use in a wide range of soft robotic applications. However, unlike hydrogels, another popular material in soft robotics, LCNs have limited applicability in flooded or aquatic environments. This can be attributed not only to the poor efficiency of common LCN actuation methods underwater but also to the complicated relationship between LCNs and water. In this review, the relationship between water and LCNs is elaborated and the existing body of literature is surveyed where LCNs, both hygroscopic and non-hygroscopic, are utilized in aquatic soft robotic applications. Then the challenges LCNs face in widespread adaptation to aquatic soft robotic applications are discussed and, finally, possible paths forward for their successful use in aquatic environments are envisaged.
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Affiliation(s)
- Natalie P Pinchin
- Department of Chemical Engineering, Waterloo Institute for Nanotechnology, Centre for Bioengineering and Biotechnology, University of Waterloo, Waterloo, ON, N2L 3G1, Canada
| | - Hongshuang Guo
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI-33101, Finland
| | - Henning Meteling
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI-33101, Finland
| | - Zixuan Deng
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI-33101, Finland
| | - Arri Priimagi
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI-33101, Finland
| | - Hamed Shahsavan
- Department of Chemical Engineering, Waterloo Institute for Nanotechnology, Centre for Bioengineering and Biotechnology, University of Waterloo, Waterloo, ON, N2L 3G1, Canada
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36
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Deng Z, Zhang H, Priimagi A, Zeng H. Light-Fueled Nonreciprocal Self-Oscillators for Fluidic Transportation and Coupling. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2209683. [PMID: 36525600 DOI: 10.1002/adma.202209683] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/20/2022] [Revised: 11/30/2022] [Indexed: 06/17/2023]
Abstract
Light-fueled self-oscillators based on soft actuating materials have triggered novel designs for small-scale robotic constructs that self-sustain their motion at non-equilibrium states and possess bioinspired autonomy and adaptive functions. However, the motions of most self-oscillators are reciprocal, which hinders their use in sophisticated biomimetic functions such as fluidic transportation. Here, an optically powered soft material strip that can perform nonreciprocal, cilia-like, self-sustained oscillation under water is reported. The actuator is made of planar-aligned liquid crystal elastomer responding to visible light. Two laser beams from orthogonal directions allow for piecewise control over the strip deformation, enabling two self-shadowing effects coupled in one single material to yield nonreciprocal strokes. The nonreciprocity, stroke pattern and handedness are connected to the fluidic pumping efficiency, which can be controlled by the excitation conditions. Autonomous microfluidic pumping in clockwise and anticlockwise directions, translocation of a micro-object by liquid propulsion, and coupling between two oscillating strips through liquid medium interaction are demonstrated. The results offer new concepts for non-equilibrium soft actuators that can perform bio-like functions under water.
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Affiliation(s)
- Zixuan Deng
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI 33101, Finland
| | - Hang Zhang
- Department of Applied Physics, Aalto University, P.O. Box 15100, Espoo, FI 02150, Finland
| | - Arri Priimagi
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI 33101, Finland
| | - Hao Zeng
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI 33101, Finland
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37
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Xiong J, Li X, He Z, Shi Y, Pan T, Zhu G, Lu D, Xin H. Light-controlled soft bio-microrobot. LIGHT, SCIENCE & APPLICATIONS 2024; 13:55. [PMID: 38403642 PMCID: PMC10894875 DOI: 10.1038/s41377-024-01405-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/17/2023] [Revised: 01/29/2024] [Accepted: 01/29/2024] [Indexed: 02/27/2024]
Abstract
Micro/nanorobots hold exciting prospects for biomedical and even clinical applications due to their small size and high controllability. However, it is still a big challenge to maneuver micro/nanorobots into narrow spaces with high deformability and adaptability to perform complicated biomedical tasks. Here, we report a light-controlled soft bio-microrobots (called "Ebot") based on Euglena gracilis that are capable of performing multiple tasks in narrow microenvironments including intestinal mucosa with high controllability, deformability and adaptability. The motion of the Ebot can be precisely navigated via light-controlled polygonal flagellum beating. Moreover, the Ebot shows highly controlled deformability with different light illumination duration, which allows it to pass through narrow and curved microchannels with high adaptability. With these features, Ebots are able to execute multiple tasks, such as targeted drug delivery, selective removal of diseased cells in intestinal mucosa, as well as photodynamic therapy. This light-controlled Ebot provides a new bio-microrobotic tool, with many new possibilities for biomedical task execution in narrow and complicated spaces where conventional tools are difficult to access due to the lack of deformability and bio-adaptability.
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Affiliation(s)
- Jianyun Xiong
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Xing Li
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Ziyi He
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Yang Shi
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Ting Pan
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Guoshuai Zhu
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Dengyun Lu
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China
| | - Hongbao Xin
- Guangdong Provincial Key Laboratory of Nanophotonic Manipulation, Institute of Nanophotonics, Jinan University, 511443, Guangzhou, China.
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38
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Feng W, He Q, Zhang L. Embedded Physical Intelligence in Liquid Crystalline Polymer Actuators and Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312313. [PMID: 38375751 DOI: 10.1002/adma.202312313] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2023] [Revised: 01/27/2024] [Indexed: 02/21/2024]
Abstract
Responsive materials possess the inherent capacity to autonomously sense and respond to various external stimuli, demonstrating physical intelligence. Among the diverse array of responsive materials, liquid crystalline polymers (LCPs) stand out for their remarkable reversible stimuli-responsive shape-morphing properties and their potential for creating soft robots. While numerous reviews have extensively detailed the progress in developing LCP-based actuators and robots, there exists a need for comprehensive summaries that elucidate the underlying principles governing actuation and how physical intelligence is embedded within these systems. This review provides a comprehensive overview of recent advancements in developing actuators and robots endowed with physical intelligence using LCPs. This review is structured around the stimulus conditions and categorizes the studies involving responsive LCPs based on the fundamental control and stimulation logic and approach. Specifically, three main categories are examined: systems that respond to changing stimuli, those operating under constant stimuli, and those equip with learning and logic control capabilities. Furthermore, the persisting challenges that need to be addressed are outlined and discuss the future avenues of research in this dynamic field.
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Affiliation(s)
- Wei Feng
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Qiguang He
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
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den Hoed FM, Carlotti M, Palagi S, Raffa P, Mattoli V. Evolution of the Microrobots: Stimuli-Responsive Materials and Additive Manufacturing Technologies Turn Small Structures into Microscale Robots. MICROMACHINES 2024; 15:275. [PMID: 38399003 PMCID: PMC10893381 DOI: 10.3390/mi15020275] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/19/2023] [Revised: 02/02/2024] [Accepted: 02/07/2024] [Indexed: 02/25/2024]
Abstract
The development of functional microsystems and microrobots that have characterized the last decade is the result of a synergistic and effective interaction between the progress of fabrication techniques and the increased availability of smart and responsive materials to be employed in the latter. Functional structures on the microscale have been relevant for a vast plethora of technologies that find application in different sectors including automotive, sensing devices, and consumer electronics, but are now also entering medical clinics. Working on or inside the human body requires increasing complexity and functionality on an ever-smaller scale, which is becoming possible as a result of emerging technology and smart materials over the past decades. In recent years, additive manufacturing has risen to the forefront of this evolution as the most prominent method to fabricate complex 3D structures. In this review, we discuss the rapid 3D manufacturing techniques that have emerged and how they have enabled a great leap in microrobotic applications. The arrival of smart materials with inherent functionalities has propelled microrobots to great complexity and complex applications. We focus on which materials are important for actuation and what the possibilities are for supplying the required energy. Furthermore, we provide an updated view of a new generation of microrobots in terms of both materials and fabrication technology. While two-photon lithography may be the state-of-the-art technology at the moment, in terms of resolution and design freedom, new methods such as two-step are on the horizon. In the more distant future, innovations like molecular motors could make microscale robots redundant and bring about nanofabrication.
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Affiliation(s)
- Frank Marco den Hoed
- Center for Materials Interfaces, Istituto Italiano di Tecnologia, Via R. Piaggio 34, 56025 Pontedera, Italy;
- Smart and Sustainable Polymeric Products, Engineering and Technology Institute Groningen (ENTEG), University of Groningen, Nijenborgh 4, 9747 AG Groningen, The Netherlands;
| | - Marco Carlotti
- Center for Materials Interfaces, Istituto Italiano di Tecnologia, Via R. Piaggio 34, 56025 Pontedera, Italy;
- Dipartimento di Chimica e Chimica Industriale, University of Pisa, Via Moruzzi 13, 56124 Pisa, Italy
| | - Stefano Palagi
- BioRobotics Institute, Sant’Anna School of Advanced Studies, P.zza Martiri della Libertà 33, 56127 Pisa, Italy;
| | - Patrizio Raffa
- Smart and Sustainable Polymeric Products, Engineering and Technology Institute Groningen (ENTEG), University of Groningen, Nijenborgh 4, 9747 AG Groningen, The Netherlands;
| | - Virgilio Mattoli
- Center for Materials Interfaces, Istituto Italiano di Tecnologia, Via R. Piaggio 34, 56025 Pontedera, Italy;
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40
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Zhang C, Fei G, Lu X, Xia H, Zhao Y. Liquid Crystal Elastomer Artificial Tendrils with Asymmetric Core-Sheath Structure Showing Evolutionary Biomimetic Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2307210. [PMID: 37805917 DOI: 10.1002/adma.202307210] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/20/2023] [Revised: 10/05/2023] [Indexed: 10/09/2023]
Abstract
The sophisticated and complex haptonastic movements in response to environmental-stimuli of living organisms have always fascinated scientists. However, how to fundamentally mimic the sophisticated hierarchical architectures of living organisms to provide the artificial counterparts with similar or even beyond-natural functions based on the underlying mechanism remains a major scientific challenge. Here, liquid crystal elastomer (LCE) artificial tendrils showing evolutionary biomimetic locomotion are developed following the structure-function principle that is used in nature to grow climbing plants. These elaborately designed tendril-like LCE actuators possess an asymmetric core-sheath architecture which shows a higher-to-lower transition in the degree of LC orientation from the sheath-to-core layer across the semi-ellipse cross-section. Upon heating and cooling, the LCE artificial tendril can undergo reversible tendril-like shape-morphing behaviors, such as helical coiling/winding, and perversion. The fundamental mechanism of the helical shape-morphing of the artificial tendril is revealed by using theoretical models and finite element simulations. Besides, the incorporation of metal-ligand coordination into the LCE network provides the artificial tendril with reconfigurable shape-morphing performances such as helical transitions and rotational deformations. Finally, the abilities of helical and rotational deformations are integrated into a new reprogrammed flagellum-like architecture to perform evolutionary locomotion mimicking the haptonastic movements of the natural flagellum.
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Affiliation(s)
- Chun Zhang
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Guoxia Fei
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Xili Lu
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Hesheng Xia
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Yue Zhao
- Département de chimie Université de Sherbrooke Sherbrooke, Québec, J1K 2R1, Canada
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41
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Tabrizi M, Clement JA, Babaei M, Martinez A, Gao J, Ware TH, Shankar MR. Three-dimensional blueprinting of molecular patterns in liquid crystalline polymers. SOFT MATTER 2024; 20:511-522. [PMID: 38113054 DOI: 10.1039/d3sm01374j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/21/2023]
Abstract
Exploiting the interplay of anisotropic diamagnetic susceptibility of liquid crystalline monomers and site selective photopolymerization enables the fabrication of 3D freeforms with highly refined microstructures. Utilizing chain transfer agents in the mesogenic inks presents a pathway for broadly tuning the mechanical properties of liquid crystalline polymers and their response to stimuli. In particular, the combination of 1,4-benzenedimethanethiol and tetrabromomethane is shown to enable voxelated blueprinting of molecular order, while allowing for a modulation of the crosslink density and the mechanical properties. The formulation of these monomers allows for the resolution of the voxels to approach the limits set by the coherence lengths defined by the anchoring from surfaces. These compositions demonstrate the expected thermotropic responses while allowing for their functionalization with photochromic switches to elicit photomechanical responses. Actuation strains are shown to outstrip that accomplished with prior systems that did not access chain transfer agents to modulate the structure of the macromolecular network. Test cases of this system are shown to create freeform actuators that exploit the refined director patterns during high-resolution printing. These include topological defects, hierarchically-structured light responsive grippers, and biomimetic flyers whose flight dynamics can be actively modulated via irradiation with light.
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Affiliation(s)
- Mohsen Tabrizi
- Department of Industrial Engineering, Swanson School of Engineering, University of Pittsburgh, PA 15261, USA.
| | - J Arul Clement
- Department of Industrial Engineering, Swanson School of Engineering, University of Pittsburgh, PA 15261, USA.
| | - Mahnoush Babaei
- Department of Aerospace Engineering & Engineering Mechanics, University of Texas at Austin, 2617 Wichita Street, C0600, Austin, TX 78712, USA.
| | - Angel Martinez
- Department of Applied Physics and Materials Science, Northern Arizona University, Science Annex, 525 S Beaver St, Flagstaff, AZ 86011, USA.
| | - Junfeng Gao
- Department of Industrial Engineering, Swanson School of Engineering, University of Pittsburgh, PA 15261, USA.
| | - Taylor H Ware
- Department of Biomedical Engineering, Texas A&M University, 101 Bizzell Street, College Station, TX 77843, USA
- Department of Materials Science and Engineering, Texas A&M University, 209 Reed McDonald Building, College Station, TX 77843, USA.
| | - M Ravi Shankar
- Department of Industrial Engineering, Swanson School of Engineering, University of Pittsburgh, PA 15261, USA.
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42
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Zhu QL, Liu W, Khoruzhenko O, Breu J, Hong W, Zheng Q, Wu ZL. Animating hydrogel knotbots with topology-invoked self-regulation. Nat Commun 2024; 15:300. [PMID: 38182606 PMCID: PMC10770334 DOI: 10.1038/s41467-023-44608-x] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/26/2023] [Accepted: 12/21/2023] [Indexed: 01/07/2024] Open
Abstract
Steering soft robots in a self-regulated manner remains a grand challenge, which often requires continuous symmetry breaking and recovery steps for persistent motion. Although structural morphology is found significant for robotic functions, geometric topology has rarely been considered and appreciated. Here we demonstrate a series of knotbots, namely hydrogel-based robots with knotted structures, capable of autonomous rolling and spinning/rotating motions. With symmetry broken by external stimuli and restored by self-regulation, the coupling between self-constraint-induced prestress and photothermal strain animates the knotbots continuously. Experiments and simulations reveal that nonequilibrium processes are regulated dynamically and cooperatively by self-constraints, active deformations, and self-shadowing effect of the photo-responsive gel. The active motions enable the knotbots to execute tasks including gear rotation and rod climbing. This work paves the way to devise advanced soft robots with self-regulated sustainable motions by harnessing the topology.
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Affiliation(s)
- Qing Li Zhu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Weixuan Liu
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, 518055, Shenzhen, China
| | - Olena Khoruzhenko
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Josef Breu
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Wei Hong
- Shenzhen Key Laboratory of Soft Mechanics & Smart Manufacturing, Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, 518055, Shenzhen, China.
| | - Qiang Zheng
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, 310058, Hangzhou, China.
| | - Zi Liang Wu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, 310058, Hangzhou, China.
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43
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Huang H, Yang S, Ying Y, Chen X, Puigmartí-Luis J, Zhang L, Pané S. 3D Motion Manipulation for Micro- and Nanomachines: Progress and Future Directions. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2305925. [PMID: 37801654 DOI: 10.1002/adma.202305925] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2023] [Revised: 09/08/2023] [Indexed: 10/08/2023]
Abstract
In the past decade, micro- and nanomachines (MNMs) have made outstanding achievements in the fields of targeted drug delivery, tumor therapy, microsurgery, biological detection, and environmental monitoring and remediation. Researchers have made significant efforts to accelerate the rapid development of MNMs capable of moving through fluids by means of different energy sources (chemical reactions, ultrasound, light, electricity, magnetism, heat, or their combinations). However, the motion of MNMs is primarily investigated in confined two-dimensional (2D) horizontal setups. Furthermore, three-dimensional (3D) motion control remains challenging, especially for vertical movement and control, significantly limiting its potential applications in cargo transportation, environmental remediation, and biotherapy. Hence, an urgent need is to develop MNMs that can overcome self-gravity and controllably move in 3D spaces. This review delves into the latest progress made in MNMs with 3D motion capabilities under different manipulation approaches, discusses the underlying motion mechanisms, explores potential design concepts inspired by nature for controllable 3D motion in MNMs, and presents the available 3D observation and tracking systems.
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Affiliation(s)
- Hai Huang
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Yulong Ying
- School of Materials Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
| | - Xiangzhong Chen
- Institute of Optoelectronics, State Key Laboratory of Photovoltaic Science and Technology, Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, 200433, China
| | - Josep Puigmartí-Luis
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional, University of Barcelona (UB), Barcelona, 08028, Spain
- Institució Catalana de Recerca i Estudis Avançats (ICREA), Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Li Zhang
- Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China
| | - Salvador Pané
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zürich, Tannenstrasse 3, Zürich, CH-8092, Switzerland
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44
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Lan X, Du Y, Liu F, Li G. Development of Microrobot with Optical Magnetic Dual Control for Regulation of Gut Microbiota. MICROMACHINES 2023; 14:2252. [PMID: 38138421 PMCID: PMC10745365 DOI: 10.3390/mi14122252] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Revised: 12/13/2023] [Accepted: 12/13/2023] [Indexed: 12/24/2023]
Abstract
Microrobots have emerged as a promising precision therapy approach that has been widely used in minimally invasive treatments, targeted drug delivery, and wound cleansing, and they also offer a potential new method for actively modulating gut microbiota. Here, a double-faced microrobot was designed to carry gut bacteria via covalently immobilizing the antibodies, and a corresponding integrated optical and magnetic dual-driving control system was also developed for precise control of the microrobot. The microrobot utilizes magnetic microsphere as its core, with one side coated in gold, which serves as the optical receptor surface and the interface for bacterial attachment. The specific gut bacterium, S. cerevisiae, was immobilized on the gold-coated side using the corresponding antibodies. The dual-driving control system enables the precise modulation of gut bacteria by synergistically manipulating the microrobots' movement via the optical field and magnetic field. The feasibility of independent and coordinated control using optical fields and magnetic fields was validated through experimental and numerical simulation approaches. This work introduces a novel method for the precise modulation of gut microbiota, providing a new avenue for disease treatments based on gut bacteria.
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Affiliation(s)
| | | | | | - Gongxin Li
- The Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, China; (X.L.); (Y.D.); (F.L.)
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45
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Kou Y, Liu X, Ma X, Xiang Y, Zang J. Learning-based intelligent trajectory planning for auto navigation of magnetic robots. Front Robot AI 2023; 10:1281362. [PMID: 38149059 PMCID: PMC10750377 DOI: 10.3389/frobt.2023.1281362] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Accepted: 11/20/2023] [Indexed: 12/28/2023] Open
Abstract
Introduction: Electromagnetically controlled small-scale robots show great potential in precise diagnosis, targeted delivery, and minimally invasive surgery. The automatic navigation of such robots could reduce human intervention, as well as the risk and difficulty of surgery. However, it is challenging to build a precise kinematics model for automatic robotic control because the controlling process is affected by various delays and complex environments. Method: Here, we propose a learning-based intelligent trajectory planning strategy for automatic navigation of magnetic robots without kinematics modeling. The Long Short-Term Memory (LSTM) neural network is employed to establish a global mapping relationship between the current sequence in the electromagnetic actuation system and the trajectory coordinates. Result: We manually control the robot to move on a curved path 50 times to form the training database to train the LSTM network. The trained LSTM network is validated to output the current sequence for automatically controlling the magnetic robot to move on the same curved path and the tortuous and branched new paths in simulated vascular tracks. Discussion: The proposed trajectory planning strategy is expected to impact the clinical applications of robots.
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Affiliation(s)
- Yuanshi Kou
- Laboratory for Soft intelligent Materials and Devices, School of Integrated Circuit, Huazhong University of Science and Technology, Wuhan, China
| | - Xurui Liu
- Laboratory for Soft intelligent Materials and Devices, School of Integrated Circuit, Huazhong University of Science and Technology, Wuhan, China
| | - Xiaotian Ma
- Laboratory for Soft intelligent Materials and Devices, School of Integrated Circuit, Huazhong University of Science and Technology, Wuhan, China
| | - Yuanzhuo Xiang
- Wuhan National Laboratory for Optoelectronics, School of Integrated Circuit, Huazhong University of Science and Technology, Wuhan, China
| | - Jianfeng Zang
- Laboratory for Soft intelligent Materials and Devices, School of Integrated Circuit, Huazhong University of Science and Technology, Wuhan, China
- Wuhan National Laboratory for Optoelectronics, School of Integrated Circuit, Huazhong University of Science and Technology, Wuhan, China
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
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46
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Yuan Z, Liu J, Qian G, Dai Y, Li K. Self-Rotation of Electrothermally Responsive Liquid Crystal Elastomer-Based Turntable in Steady-State Circuits. Polymers (Basel) 2023; 15:4598. [PMID: 38232009 PMCID: PMC10708095 DOI: 10.3390/polym15234598] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/21/2023] [Revised: 11/28/2023] [Accepted: 11/29/2023] [Indexed: 01/19/2024] Open
Abstract
Self-excited motions, characterized by their ability to harness energy from a consistent environment and self-regulate, exhibit significant potential in micro-devices, autonomous robotics, sensor technology, and energy generation. This study introduces an innovative turntable system based on an electrothermally responsive liquid crystal elastomer (LCE). This system facilitates self-rotation within a steady-state circuit. Employing an electrothermal LCE model, we have modeled and numerically analyzed the nonlinear dynamics of an LCE-rope within steady-state circuits, utilizing the four-order Runge-Kutta method for calculations. The numerical results reveal the emergence of two distinct motion patterns in the turntable system under steady-state conditions: a self-rotation pattern and a static pattern. The self-rotation is initiated when the system's absorbed energy surpasses the energy lost due to damping effects. Furthermore, this paper delves into the critical conditions necessary for initiating self-rotation and examines the influence of various key dimensionless parameters on the system's rotation amplitude and frequency. These parameters include gravitational acceleration, the initial position of the mass ball, elastic stiffness of the LCE and spring, limiting temperature, heating zone angle, thermal shrinkage coefficient, and damping factor. Our computational findings establish that these parameters exert a modulatory impact on the rotation amplitude and period. This research enhances the understanding of self-excited motions and offers promising avenues for applications in energy harvesting, monitoring, soft robotics, medical devices, and micro- and nano-devices.
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Affiliation(s)
- Zongsong Yuan
- College of Civil Engineering, Anhui Jianzhu University, Hefei 230601, China; (Z.Y.); (G.Q.); (Y.D.)
| | - Junxiu Liu
- College of Civil Engineering, Anhui Jianzhu University, Hefei 230601, China; (Z.Y.); (G.Q.); (Y.D.)
- Anhui Province Key Laboratory of Building Structure and Underground Engineering, Anhui Jianzhu University, Hefei 230601, China
| | - Guqian Qian
- College of Civil Engineering, Anhui Jianzhu University, Hefei 230601, China; (Z.Y.); (G.Q.); (Y.D.)
| | - Yuntong Dai
- College of Civil Engineering, Anhui Jianzhu University, Hefei 230601, China; (Z.Y.); (G.Q.); (Y.D.)
| | - Kai Li
- College of Civil Engineering, Anhui Jianzhu University, Hefei 230601, China; (Z.Y.); (G.Q.); (Y.D.)
- Anhui Province Key Laboratory of Building Structure and Underground Engineering, Anhui Jianzhu University, Hefei 230601, China
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47
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Zhao P, Yan L, Gao X. Magnetic Liquid Metal Droplet Robot with Multifunction and High Output Force in Milli-Newton. Soft Robot 2023; 10:1146-1158. [PMID: 37327366 DOI: 10.1089/soro.2022.0183] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/18/2023] Open
Abstract
Magnetically actuated miniature robots have immeasurable potential in lab-on-a-chip and biomedical due to their ability to navigate in constrained space. However, current soft robots made by elastomers have limited functionalities and are prevented from very narrow environments such as channel much smaller than their size because of their non- or limited deformability. In this study, a soft and multifunctional robot based on liquid metal (magnetic liquid-metal droplet robot [MLDR]) with high output force is reported. It is fabricated by engulfing iron particles into a Galinstan droplet. By changing the shape and motion of permanent magnets, the MLDR can be reshaped and moved. The MLDR can also be split in batches and merged efficiently. It shows good softness and flexibility when navigating freely in a narrow channel, and thus can pass through a confined space smaller than its size easily. Furthermore, the MLDR can also push and spread the accumulated liquid in a desired path, and manipulate the motions of small objects well. Benefiting from the solidification-like phenomenon, an MLDR can output milli-Newton-level force much higher than the output force of ferrofluid droplet robots in micro-Newton level. The demonstrated capabilities of the MLDR are promising for the applications in lab-on-a-chip or biomedical devices.
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Affiliation(s)
- Peiran Zhao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
| | - Liang Yan
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
- Ningbo Institute of Technology, Beihang University, Ningbo, China
- Tianmushan Laboratory, Hangzhou, China
- Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, China
| | - Xiaoshan Gao
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
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48
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Gu Z, Zhu R, Shen T, Dou L, Liu H, Liu Y, Liu X, Liu J, Zhuang S, Gu F. Autonomous nanorobots with powerful thrust under dry solid-contact conditions by photothermal shock. Nat Commun 2023; 14:7663. [PMID: 38001071 PMCID: PMC10674020 DOI: 10.1038/s41467-023-43433-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/23/2023] [Accepted: 11/08/2023] [Indexed: 11/26/2023] Open
Abstract
Nanorobotic motion on solid substrates is greatly hindered by strong nanofriction, and powerful nanomotors‒the core components for nanorobotic motion‒are still lacking. Optical actuation addresses power and motion control issues simultaneously, while conventional technologies with small thrust usually apply to fluid environments. Here, we demonstrate micronewton-thrust nanomotors that enable the autonomous nanorobots working like conventional robots with precise motion control on dry surfaces by a photothermal-shock technique. We build a pulsed laser-based actuation and trapping platform, termed photothermal-shock tweezers, for general motion control of metallic nanomaterials and assembled nanorobots with nanoscale precision. The thrust-to-weight ratios up to 107 enable nanomotors output forces to interact with external micro/nano-objects. Leveraging machine vision and deep learning technologies, we assemble the nanomotors into autonomous nanorobots with complex structures, and demonstrate multi-degree-of-freedom motion and sophisticated functions. Our photothermal shock-actuation concept fundamentally addresses the nanotribology challenges and expands the nanorobotic horizon from fluids to dry solid surfaces.
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Affiliation(s)
- Zhaoqi Gu
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Runlin Zhu
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Tianci Shen
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Lin Dou
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Hongjiang Liu
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Yifei Liu
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Xu Liu
- State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, 300130, Tianjin, China
| | - Jia Liu
- Department of Industrial and Systems Engineering, Auburn University, Auburn, AL, 36849, USA
| | - Songlin Zhuang
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China
| | - Fuxing Gu
- Laboratory of Integrated Opto-Mechanics and Electronics, Shanghai Key Laboratory of Modern Optical System, School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, 200093, Shanghai, China.
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49
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Ube T, Suka I, Ogikubo S, Hashimoto G, Suda M, Yamamoto HM, Ikeda T. Inducing Motions of Polymers in Liquid Nitrogen with Light. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2306402. [PMID: 37867200 DOI: 10.1002/adma.202306402] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/02/2023] [Revised: 09/02/2023] [Indexed: 10/24/2023]
Abstract
Polymer materials that show macroscopic deformation in response to external stimuli are feasible for novel soft actuators including microactuators. Incorporation of photochromic moieties, such as azobenzenes, into polymer networks enables macroscopic deformation under irradiation with light through photoisomerization. Under cryogenic conditions, however, it has been difficult to induce macroscopic deformation as polymers lose their soft nature due to the severe restrictions of molecular motions. Here, activation of molecular motions and macroscopic deformation in liquid nitrogen only with light for polymers containing photochromic moieties is reported. Photoinduced bending of polymer networks with normal azobenzenes in liquid nitrogen is enabled by preliminary UV irradiation at room temperature to produce cis-isomers. To realize photoinduced deformation directly in liquid nitrogen, polymer networks are functionalized with bridged azobenzenes, which exist as cis-isomers in thermodynamic equilibrium. The films with bridged azobenzenes exhibit reversible photoisomerization and bending upon irradiation with light in liquid nitrogen without the need of preliminary irradiation, implying that the change in conformation of polymer chains can be isothermally induced even under cryogenic conditions. Achievement of flexible motions under cryogenic conditions through isothermal processes will greatly expand the operating temperature range of soft actuators.
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Affiliation(s)
- Toru Ube
- Research & Development Initiative, Chuo University, Tokyo, 112-8551, Japan
| | - Ikumi Suka
- Graduate School of Science and Engineering, Chuo University, Tokyo, 112-8551, Japan
| | - Shunya Ogikubo
- Graduate School of Science and Engineering, Chuo University, Tokyo, 112-8551, Japan
| | - Gaku Hashimoto
- Graduate School of Science and Engineering, Chuo University, Tokyo, 112-8551, Japan
| | - Masayuki Suda
- Graduate School of Engineering, Kyoto University, Kyoto, 615-8510, Japan
| | | | - Tomiki Ikeda
- Research & Development Initiative, Chuo University, Tokyo, 112-8551, Japan
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50
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Urban D, Marcucci N, Wölfle CH, Torgersen J, Hjelme DR, Descrovi E. Polarization-driven reversible actuation in a photo-responsive polymer composite. Nat Commun 2023; 14:6843. [PMID: 37891157 PMCID: PMC10611746 DOI: 10.1038/s41467-023-42590-y] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2023] [Accepted: 10/16/2023] [Indexed: 10/29/2023] Open
Abstract
Light-responsive polymers and especially amorphous azopolymers with intrinsic anisotropic and polarization-dependent deformation photo-response hold great promises for remotely controlled, tunable devices. However, dynamic control requires reversibility characteristics far beyond what is currently obtainable via plastic deformation of such polymers. Here, we embed azopolymer microparticles in a rubbery elastic matrix at high density. In the resulting composite, cumulative deformations are replaced by reversible shape switching - with two reversible degrees of freedom defined uniquely by the writing beam polarization. We quantify the locally induced strains, including small creeping losses, directly by means of a deformation tracking algorithm acting on microscope images of planar substrates. Further, we introduce free-standing 3D actuators able to smoothly undergo multiple configurational changes, including twisting, roll-in, grabbing-like actuation, and even continuous, pivot-less shape rotation, all dictated by a single wavelength laser beam with controlled polarization.
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Affiliation(s)
- David Urban
- Department of Electronic Systems, Norwegian University of Science and Technology, O.S. Bragstads plass 2b, 7034, Trondheim, Norway
- Dipartimento di Scienza Applicata e Tecnologia, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129, Torino, Italy
| | - Niccolò Marcucci
- Dipartimento di Scienza Applicata e Tecnologia, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129, Torino, Italy
| | - Christoph Hubertus Wölfle
- Institute of Materials Science, Department of Materials Engineering, TUM School of Engineering and Design, Technical University of Munich, Boltzmannstraße 15, 85748, Garching, Germany
| | - Jan Torgersen
- Institute of Materials Science, Department of Materials Engineering, TUM School of Engineering and Design, Technical University of Munich, Boltzmannstraße 15, 85748, Garching, Germany
| | - Dag Roar Hjelme
- Department of Electronic Systems, Norwegian University of Science and Technology, O.S. Bragstads plass 2b, 7034, Trondheim, Norway
| | - Emiliano Descrovi
- Dipartimento di Scienza Applicata e Tecnologia, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129, Torino, Italy.
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