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Emerging 4D printing strategies for on-demand local actuation & micro printing of soft materials. Eur Polym J 2022. [DOI: 10.1016/j.eurpolymj.2022.111778] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
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52
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Multimodal collective swimming of magnetically articulated modular nanocomposite robots. Nat Commun 2022; 13:6750. [PMID: 36347849 PMCID: PMC9643480 DOI: 10.1038/s41467-022-34430-2] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/18/2022] [Accepted: 10/26/2022] [Indexed: 11/11/2022] Open
Abstract
Magnetically responsive composites can impart maneuverability to miniaturized robots. However, collective actuation of these composite robots has rarely been achieved, although conducting cooperative tasks is a promising strategy for accomplishing difficult missions with a single robot. Here, we report multimodal collective swimming of ternary-nanocomposite-based magnetic robots capable of on-demand switching between rectilinear translational swimming and rotational swimming. The nanocomposite robots comprise a stiff yet lightweight carbon nanotube yarn (CNTY) framework surrounded by a magnetic polymer composite, which mimics the hierarchical architecture of musculoskeletal systems, yielding magnetically articulated multiple robots with an agile above-water swimmability (~180 body lengths per second) and modularity. The multiple robots with multimodal swimming facilitate the generation and regulation of vortices, enabling novel vortex-induced transportation of thousands of floating microparticles and heavy semi-submerged cargos. The controllable collective actuation of these biomimetic nanocomposite robots can lead to versatile robotic functions, including microplastic removal, microfluidic vortex control, and transportation of pharmaceuticals.
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53
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Takahashi H. MEMS-Based Micro Sensors for Measuring the Tiny Forces Acting on Insects. SENSORS (BASEL, SWITZERLAND) 2022; 22:s22208018. [PMID: 36298366 PMCID: PMC9609827 DOI: 10.3390/s22208018] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/29/2022] [Revised: 10/14/2022] [Accepted: 10/18/2022] [Indexed: 06/01/2023]
Abstract
Small insects perform agile locomotion, such as running, jumping, and flying. Recently, many robots, inspired by such insect performance, have been developed and are expected to be smaller and more maneuverable than conventional robots. For the development of insect-inspired robots, understanding the mechanical dynamics of the target insect is important. However, evaluating the dynamics via conventional commercialized force sensors is difficult because the exerted force and insect itself are tiny in strength and size. Here, we review force sensor devices, especially fabricated for measuring the tiny forces acting on insects during locomotion. As the force sensor, micro-force plates for measuring the ground reaction force and micro-force probes for measuring the flying force have mainly been developed. In addition, many such sensors have been fabricated via a microelectromechanical system (MEMS) process, due to the process precision and high sensitivity. In this review, we focus on the sensing principle, design guide, fabrication process, and measurement method of each sensor, as well as the technical challenges in each method. Finally, the common process flow of the development of specialized MEMS sensors is briefly discussed.
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Affiliation(s)
- Hidetoshi Takahashi
- Department of Mechanical Engineering, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama 223-8522, Japan
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54
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Tang Y, Li M, Wang T, Dong X, Hu W, Sitti M. Wireless Miniature Magnetic Phase-Change Soft Actuators. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2204185. [PMID: 35975467 PMCID: PMC7613683 DOI: 10.1002/adma.202204185] [Citation(s) in RCA: 26] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/09/2022] [Revised: 08/09/2022] [Indexed: 05/28/2023]
Abstract
Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g-1 work capacity under remote magnetic radio frequency heating, which are 106 -107 times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s-1 fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.
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Affiliation(s)
- Yichao Tang
- School of Mechanical Engineering Tongji University Shanghai 201804, China; Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Mingtong Li
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute of Functional Nano & Soft Materials (FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices Soochow University Suzhou, Jiangsu 215123, China
| | - Tianlu Wang
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland
| | - Xiaoguang Dong
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; of Mechanical Engineering Vanderbilt University Nashville, TN 37215, USA; Vanderbilt Institute for Surgery and Engineering Vanderbilt University Nashville, TN 37215, USA
| | - Wenqi Hu
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland; School of Medicine and College of Engineering Koç University Istanbul 34450, Turkey
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55
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Nadzharyan TA, Shamonin M, Kramarenko EY. Theoretical Modeling of Magnetoactive Elastomers on Different Scales: A State-of-the-Art Review. Polymers (Basel) 2022; 14:4096. [PMID: 36236044 PMCID: PMC9572082 DOI: 10.3390/polym14194096] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/28/2022] [Revised: 09/20/2022] [Accepted: 09/24/2022] [Indexed: 11/17/2022] Open
Abstract
A review of the latest theoretical advances in the description of magnetomechanical effects and phenomena observed in magnetoactive elastomers (MAEs), i.e., polymer networks filled with magnetic micro- and/or nanoparticles, under the action of external magnetic fields is presented. Theoretical modeling of magnetomechanical coupling is considered on various spatial scales: from the behavior of individual magnetic particles constrained in an elastic medium to the mechanical properties of an MAE sample as a whole. It is demonstrated how theoretical models enable qualitative and quantitative interpretation of experimental results. The limitations and challenges of current approaches are discussed and some information about the most promising lines of research in this area is provided. The review is aimed at specialists involved in the study of not only the magnetomechanical properties of MAEs, but also a wide range of other physical phenomena occurring in magnetic polymer composites in external magnetic fields.
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Affiliation(s)
- Timur A. Nadzharyan
- Faculty of Physics, Lomonosov Moscow State University, 119991 Moscow, Russia
| | - Mikhail Shamonin
- East Bavarian Centre for Intelligent Materials (EBACIM), Ostbayerische Technische Hochschule (OTH) Regensburg, Seybothstr. 2, 93053 Regensburg, Germany
| | - Elena Yu. Kramarenko
- Faculty of Physics, Lomonosov Moscow State University, 119991 Moscow, Russia
- A.N. Nesmeyanov Institute of Organoelement Compounds, Russian Academy of Sciences (INEOS RAS), 119991 Moscow, Russia
- Enikilopov Institute of Synthetic Polymeric Materials, Russian Academy of Sciences (ISPM RAS), 117393 Moscow, Russia
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56
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Shui L, Ni K, Wang Z. Aligned Magnetic Nanocomposites for Modularized and Recyclable Soft Microrobots. ACS APPLIED MATERIALS & INTERFACES 2022; 14:43802-43814. [PMID: 36100583 DOI: 10.1021/acsami.2c13108] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small scale. Here, we propose a facile technique to manufacture diverse soft microrobots (∼100 μm in all dimensions) by mechanically assembling modular magnetic microactuators into different three-dimensional (3D) configurations. The module is composed of a cubic micropillar supported on a square substrate, both made of elastomer matrix embedded with prealigned magnetic nanoparticle chains. By directionally bonding the sides or backs of identical modules together, we demonstrate that assemblies from only two and four modules can execute a wide range of locomotion, including gripping microscale objects, crawling and crossing solid obstacles, swimming within narrow and tortuous microchannels, and rolling along flat and inclined surfaces, upon applying proper magnetic fields. The assembled microrobots can additionally perform pick-transfer-place and cargo-release tasks at the microscale. More importantly, like the game of block-building, the microrobots can be disassembled back to separate modules and then reassembled to other configurations as demanded. The present study not only provides a versatile and economic manufacturing technique for reconfigurable and recyclable soft microrobots, enabling unlimited design space for diverse robotic locomotion from limited materials and module structures, but also extends the functionality and dexterity of existing soft robots to microscale that should facilitate practical applications at such small scale.
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Affiliation(s)
- Langquan Shui
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan 430072, Hubei, China
| | - Ke Ni
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan 430072, Hubei, China
| | - Zhengzhi Wang
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan 430072, Hubei, China
- State Key Laboratory of Water Resources and Hydropower Engineering Science, Wuhan University, Wuhan 430072, Hubei, China
- Wuhan University Shenzhen Research Institute, Shenzhen 518108, China
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57
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Fan X, Jiang Y, Li M, Zhang Y, Tian C, Mao L, Xie H, Sun L, Yang Z, Sitti M. Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces. SCIENCE ADVANCES 2022; 8:eabq1677. [PMID: 36112686 PMCID: PMC9481141 DOI: 10.1126/sciadv.abq1677] [Citation(s) in RCA: 23] [Impact Index Per Article: 11.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/10/2022] [Accepted: 08/01/2022] [Indexed: 06/15/2023]
Abstract
Magnetic miniature soft robots have shown great potential for facilitating biomedical applications by minimizing invasiveness and possible physical damage. However, researchers have mainly focused on fixed-size robots, with their active locomotion accessible only when the cross-sectional dimension of these confined spaces is comparable to that of the robot. Here, we realize the scale-reconfigurable miniature ferrofluidic robots (SMFRs) based on ferrofluid droplets and propose a series of control strategies for reconfiguring SMFR's scale and deformation to achieve trans-scale motion control by designing a multiscale magnetic miniature robot actuation (M3RA) system. The results showed that SMFRs, varying from centimeters to a few micrometers, leveraged diverse capabilities, such as locomotion in structured environments, deformation to squeeze through gaps, and even reversible scale reconfiguration for navigating sharply variable spaces. A miniature robot system with these capabilities combined is promising to be applied in future wireless medical robots inside confined regions of the human body.
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Affiliation(s)
- Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Yihui Jiang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
| | - Yunfei Zhang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Chenyao Tian
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Liyang Mao
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Lining Sun
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, Stuttgart 70569, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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58
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Bhattacharjee A, Jabbarzadeh M, Kararsiz G, Fu HC, Kim MJ. Bacteria-inspired magnetically actuated rod-like soft robot in viscous fluids. BIOINSPIRATION & BIOMIMETICS 2022; 17:065001. [PMID: 35926485 DOI: 10.1088/1748-3190/ac870f] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2022] [Accepted: 08/04/2022] [Indexed: 06/15/2023]
Abstract
This paper seeks to design, develop, and explore the locomotive dynamics and morphological adaptability of a bacteria-inspired rod-like soft robot propelled in highly viscous Newtonian fluids. The soft robots were fabricated as tapered, hollow rod-like soft scaffolds by applying a robust and economic molding technique to a polyacrylamide-based hydrogel polymer. Cylindrical micro-magnets were embedded in both ends of the soft scaffolds, which allowed bending (deformation) and actuation under a uniform rotating magnetic field. We demonstrated that the tapered rod-like soft robot in viscous Newtonian fluids could perform two types of propulsion; boundary rolling was displayed when the soft robot was located near a boundary, and swimming was displayed far away from the boundary. In addition, we performed numerical simulations to understand the swimming propulsion along the rotating axis and the way in which this propulsion is affected by the soft robot's design, rotation frequency, and fluid viscosity. Our results suggest that a simple geometrical asymmetry enables the rod-like soft robot to perform propulsion in the low Reynolds number (Re≪ 1) regime; these promising results provide essential insights into the improvements that must be made to integrate the soft robots into minimally invasivein vivoapplications.
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Affiliation(s)
- Anuruddha Bhattacharjee
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
| | - Mehdi Jabbarzadeh
- Department of Mechanical Engineering, The University of Utah, Salt Lake City, UT 84112, United States of America
| | - Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
| | - Henry C Fu
- Department of Mechanical Engineering, The University of Utah, Salt Lake City, UT 84112, United States of America
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
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59
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Ren Z, Zhang M, Song S, Liu Z, Hong C, Wang T, Dong X, Hu W, Sitti M. Soft-robotic ciliated epidermis for reconfigurable coordinated fluid manipulation. SCIENCE ADVANCES 2022; 8:eabq2345. [PMID: 36026449 PMCID: PMC9417179 DOI: 10.1126/sciadv.abq2345] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/27/2022] [Accepted: 07/13/2022] [Indexed: 06/08/2023]
Abstract
The fluid manipulation capabilities of current artificial cilia are severely handicapped by the inability to reconfigure near-surface flow on various static or dynamically deforming three-dimensional (3D) substrates. To overcome this challenge, we propose an electrically driven soft-robotic ciliated epidermis with multiple independently controlled polypyrrole bending actuators. The beating kinematics and the coordination of multiple actuators can be dynamically reconfigured to control the strength and direction of fluid transportation. We achieve fluid transportation along and perpendicular to the beating directions of the actuator arrays, and toward or away from the substrate. The ciliated epidermises are bendable and stretchable and can be deployed on various static or dynamically deforming 3D surfaces. They enable previously difficult to obtain fluid manipulation functionalities, such as transporting fluid in tubular structures or enhancing fluid transportation near dynamically bending and expanding surfaces.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
| | - Mingchao Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Shanyuan Song
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Chong Hong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Xiaoguang Dong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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60
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Abstract
Anchoring soft millirobots on surfaces, such as biological tissues, is essential to perform long-duration medical functions robustly on a target position. For robust anchoring, we propose a wireless mechanism that can be precisely controlled by remote heating to achieve on-demand needle release and mechanical interlocking. Such a mechanism can be easily integrated on existing untethered soft robots, allowing them to anchor robustly to soft surfaces while retaining their locomotion capabilities. Furthermore, we demonstrate advanced functionalities of such robots, such as controlled surface detachment and subsurface drug delivery into three-dimensional cancer spheroids. Given these capabilities, the proposed mechanism can serve as a platform for the development of soft robots with a new suite of biomedical capabilities. Untethered soft miniature robots capable of accessing hard-to-reach regions can enable new, disruptive, and minimally invasive medical procedures. However, once the control input is removed, these robots easily move from their target location because of the dynamic motion of body tissues or fluids, thereby restricting their use in many long-term medical applications. To overcome this, we propose a wireless spring-preloaded barbed needle release mechanism, which can provide up to 1.6 N of force to drive a barbed needle into soft tissues to allow robust on-demand anchoring on three-dimensional (3D) surfaces. The mechanism is wirelessly triggered using radio-frequency remote heating and can be easily integrated into existing untethered soft robotic platforms without sacrificing their mobility. Design guidelines aimed at maximizing anchoring over the range of the most biological tissues (kPa range) and extending the operating depth of the device inside the body (up to 75%) are also presented. Enabled by these advances, we achieve robust anchoring on a variety of ex vivo tissues and demonstrate the usage of such a device when integrated with existing soft robotic platforms and medical imaging. Moreover, by simply changing the needle, we demonstrate additional functionalities such as controlled detachment and subsurface drug delivery into 3D cancer spheroids. Given these capabilities, our proposed mechanism could enable the development of a new class of biomedical-related functionalities, such as local drug delivery, disease monitoring, and hyperthermia for future untethered soft medical robots.
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61
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Yu K, Feng Z, Du H, Lee KH, Li K, Zhang Y, Masri SF, Wang Q. Constructive adaptation of 3D-printable polymers in response to typically destructive aquatic environments. PNAS NEXUS 2022; 1:pgac139. [PMID: 36741439 PMCID: PMC9896903 DOI: 10.1093/pnasnexus/pgac139] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/25/2022] [Accepted: 07/27/2022] [Indexed: 02/07/2023]
Abstract
In response to environmental stressors, biological systems exhibit extraordinary adaptive capacity by turning destructive environmental stressors into constructive factors; however, the traditional engineering materials weaken and fail. Take the response of polymers to an aquatic environment as an example: Water molecules typically compromise the mechanical properties of the polymer network in the bulk and on the interface through swelling and lubrication, respectively. Here, we report a class of 3D-printable synthetic polymers that constructively strengthen their bulk and interfacial mechanical properties in response to the aquatic environment. The mechanism relies on a water-assisted additional cross-linking reaction in the polymer matrix and on the interface. As such, the typically destructive water can constructively enhance the polymer's bulk mechanical properties such as stiffness, tensile strength, and fracture toughness by factors of 746% to 790%, and the interfacial bonding by a factor of 1,000%. We show that the invented polymers can be used for soft robotics that self-strengthen matrix and self-heal cracks after training in water and water-healable packaging materials for flexible electronics. This work opens the door for the design of synthetic materials to imitate the constructive adaptation of biological systems in response to environmental stressors, for applications such as artificial muscles, soft robotics, and flexible electronics.
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Affiliation(s)
- Kunhao Yu
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Zhangzhengrong Feng
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Haixu Du
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Kyung Hoon Lee
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Ketian Li
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Yanchu Zhang
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Sami F Masri
- Sonny Astani Department of Civil and Environmental Engineering, University of Southern California, Los Angeles, CA 90089, USA
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62
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A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism. MICROMACHINES 2022; 13:mi13081188. [PMID: 36014110 PMCID: PMC9413114 DOI: 10.3390/mi13081188] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/07/2022] [Revised: 07/25/2022] [Accepted: 07/26/2022] [Indexed: 01/25/2023]
Abstract
Miniature soft sensors are crucial for the perception of soft robots. Although centimeter-scale sensors have been well developed, very few works addressed millimeter-scale, three-dimensional-shaped soft sensors capable of measuring multi-axis forces. In this work, we developed a millimeter-scale (overall size of 6 mm × 11 mm × 11 mm) soft sensor based on liquid metal printing technology and self-folding origami parallel mechanism. The origami design of the sensor enables the soft sensor to be manufactured within the plane and then fold into a three-dimensional shape. Furthermore, the parallel mechanism allows the sensor to rotate along two orthogonal axes. We showed that the soft sensor can be self-folded (took 17 s) using a shape-memory polymer and magnets. The results also showed that the sensor prototype can reach a deformation of up to 20 mm at the tip. The sensor can realize a measurement of external loads in six directions. We also showed that the soft sensor enables underwater sensing with a minimum sensitivity of 20 mm/s water flow. This work may provide a new manufacturing method and insight into future millimeter-scale soft sensors for bio-inspired robots.
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63
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Feng X, Fan D, Tian G, Zhang Y. Coupled Bionic Drag-Reducing Surface Covered by Conical Protrusions and Elastic Layer Inspired from Pufferfish Skin. ACS APPLIED MATERIALS & INTERFACES 2022; 14:32747-32760. [PMID: 35815482 DOI: 10.1021/acsami.2c08513] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Inspired by the drag-reducing properties of the cone-like spines and elastic layer covering the pufferfish skin, important efforts are underway to establish rational multiple drag-reducing strategies for the development of new marine engineering materials. In the present work, a new drag-reducing surface (CPES) covered by conical protrusions (sparse "k-type" with rough height k+ = 13-15) and an elastic layer are constructed on copper substrate via a hybrid method, combining the sintering and coating processes. The drag-reducing feature of the prepared CPES biomimetic surface is achieved by rheometer and particle image velocimetry (PIV) experiments. To comprehensively investigate its drag reduction mechanism, the porous copper substrate (PCS), copper substrate (CS), conical protrusion resin substrate (CPRS), and conical protrusion porous copper substrate (CPPCS) were used for a comparative analysis. In laminar flow, we discovered that the conical protrusion structure and wettability of the elastic surface coupling affect the CPES sample's drag-reducing performance (7-8%) and that the interface produced slip to reduce the viscous drag. In turbulent flow, the CPES biomimetic surface exhibits an 11.5-17.5% drag-reducing performance. Such behavior was enabled by two concurrent mechanisms: (i) The conical protrusions as vortex generators enhance the number of vortices and the wake effect, enabling faster movement of downstream strips, reducing viscous drag; (ii) The conical protrusion elements break and lift large-scale vortices to produce numerous small-scale vortices with low energy, effectively weakening perturbations and momentum exchange. Additionally, the elastic layer shows high adhesion and stability on copper substrate after sandpaper abrasion and water-flow erosion tests. The copper substrate surface formed by the sintering method is also covered with dense porous structures, which gives the elastic layer and conical protrusions excellent combined robustness. Our findings not only shed new light on the design of robust drag-reducing surfaces but also provide new avenues for underwater drag reduction in the field of marine applications.
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Affiliation(s)
- Xiaoming Feng
- College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China
| | - Dongliang Fan
- College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China
| | - Guizhong Tian
- College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China
| | - Yaosheng Zhang
- College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China
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64
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Ma C, Chang Y, Wu S, Zhao RR. Deep Learning-Accelerated Designs of Tunable Magneto-Mechanical Metamaterials. ACS APPLIED MATERIALS & INTERFACES 2022; 14:33892-33902. [PMID: 35833606 DOI: 10.1021/acsami.2c09052] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Metamaterials are artificially structured materials with unusual properties, such as negative Poisson's ratio, acoustic band gap, and energy absorption. However, metamaterials made of conventional materials lack tunability after fabrication. Thus, active metamaterials using magneto-mechanical actuation for untethered, fast, and reversible shape configurations are developed to tune the mechanical response and property of metamaterials. Although the magneto-mechanical metamaterials have shown promising capabilities in tunable mechanical stiffness, acoustic band gaps, and electromagnetic behaviors, the existing demonstrations rely on the forward design methods based on experience or simulations, by which the metamaterial properties are revealed only after the design. Considering the massive design space due to the material and structural programmability, a robust inverse design strategy is desired to create the magneto-mechanical metamaterials with preferred tunable properties. In this work, we develop an inverse design framework where a deep residual network replaces the conventional finite-element analysis for acceleration, realizing metamaterials with predetermined global strains under magnetic actuations. For validation, a direct-ink-writing printing method of the magnetic soft materials is adopted to fabricate the designed complex metamaterials. The deep learning-accelerated design framework opens avenues for the designs of magneto-mechanical metamaterials and other active metamaterials with target mechanical, acoustic, thermal, and electromagnetic properties.
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Affiliation(s)
- Chunping Ma
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Yilong Chang
- Department of Mechanical Engineering, Stanford University, Stanford, California 94305, United States
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, California 94305, United States
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, California 94305, United States
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65
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Wu Y, Zhang S, Yang Y, Li Z, Wei Y, Ji Y. Locally controllable magnetic soft actuators with reprogrammable contraction-derived motions. SCIENCE ADVANCES 2022; 8:eabo6021. [PMID: 35749490 PMCID: PMC9232107 DOI: 10.1126/sciadv.abo6021] [Citation(s) in RCA: 30] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/14/2022] [Accepted: 05/10/2022] [Indexed: 06/01/2023]
Abstract
Reprogrammable magneto-responsive soft actuators capable of working in enclosed and confined spaces and adapting functions under changing situations are highly demanded for new-generation smart devices. Despite the promising prospect, the realization of versatile morphing modes (more than bending) and local magnetic control remains challenging but is crucial for further on-demand applications. Here, we address the challenges by maximizing the unexplored potential of magnetothermal responsiveness and covalent adaptable networks (CANs) in liquid crystalline elastomers (LCEs). Various magneto-actuated contraction-derived motions that were hard to achieve previously (e.g., bidirectional shrinkage and dynamic 3D patterns) can be attained, reprogrammed, and assembled seamlessly to endow functional diversity and complexity. By integration of LCEs with different magneto-responsive threshold values, local and sequential magnetic control is readily realized. Many magnetic actuation portfolios are performed by rationally imputing "logic switch" sequences. Meanwhile, our systems exhibit additional favorable performances including stepwise magnetic controllability, multiresponsiveness, self-healing, and remolding ability.
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Affiliation(s)
- Yahe Wu
- The Key Laboratory of Bioorganic Phosphorus Chemistry and Chemical Biology, Department of Chemistry, Tsinghua University, Beijing 100084, China
| | - Shuai Zhang
- The Key Laboratory of Bioorganic Phosphorus Chemistry and Chemical Biology, Department of Chemistry, Tsinghua University, Beijing 100084, China
| | - Yang Yang
- Institute of Nuclear and New Energy Technology, Tsinghua University, Beijing 100084, China
| | - Zhen Li
- Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China
| | - Yen Wei
- The Key Laboratory of Bioorganic Phosphorus Chemistry and Chemical Biology, Department of Chemistry, Tsinghua University, Beijing 100084, China
| | - Yan Ji
- The Key Laboratory of Bioorganic Phosphorus Chemistry and Chemical Biology, Department of Chemistry, Tsinghua University, Beijing 100084, China
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66
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Ganguly S, Margel S. 3D printed magnetic polymer composite hydrogels for hyperthermia and magnetic field driven structural manipulation. Prog Polym Sci 2022. [DOI: 10.1016/j.progpolymsci.2022.101574] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022]
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67
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Wu Y, Dong X, Kim JK, Wang C, Sitti M. Wireless soft millirobots for climbing three-dimensional surfaces in confined spaces. SCIENCE ADVANCES 2022; 8:eabn3431. [PMID: 35622917 PMCID: PMC9140972 DOI: 10.1126/sciadv.abn3431] [Citation(s) in RCA: 32] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/19/2021] [Accepted: 04/11/2022] [Indexed: 06/01/2023]
Abstract
Wireless soft-bodied robots at the millimeter scale allow traversing very confined unstructured terrains with minimal invasion and safely interacting with the surrounding environment. However, existing untethered soft millirobots still lack the ability of climbing, reversible controlled surface adhesion, and long-term retention on unstructured three-dimensional (3D) surfaces, limiting their use in biomedical and environmental applications. Here, we report a fundamental peeling-and-loading mechanism to allow untethered soft-bodied robots to climb 3D surfaces by using both the soft-body deformation and whole-body motion of the robot under external magnetic fields. This generic mechanism is implemented with different adhesive robot footpad designs, allowing vertical and inverted surface climbing on diverse 3D surfaces with complex geometries and different surface properties. With the unique robot footpad designs that integrate microstructured adhesives and tough bioadhesives, the soft climbing robot could achieve controllable adhesion and friction to climb 3D soft and wet surfaces including porcine tissues, which paves the way for future environmental inspection and minimally invasive medicine applications.
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Affiliation(s)
- Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Xiaoguang Dong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | - Jae-kang Kim
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Chunxiang Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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68
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Li M, Yang Y, Cheng Z, Xu F. 硬磁软曲梁大变形力学模型. CHINESE SCIENCE BULLETIN-CHINESE 2022. [DOI: 10.1360/tb-2022-0372] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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69
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Ying Z, Zhang H, Wang L, Melnik R. Propulsion optimization of a jellyfish-inspired robot based on a nonintrusive reduced-order model with proper orthogonal decomposition. BIOINSPIRATION & BIOMIMETICS 2022; 17:046005. [PMID: 35366655 DOI: 10.1088/1748-3190/ac6374] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/06/2022] [Accepted: 04/01/2022] [Indexed: 06/14/2023]
Abstract
In this research, the propulsion of the proposed jellyfish-inspired mantle undulated propulsion robot (MUPRo) is optimized. To reliably predict the hydrodynamic forces acting on the robot, the proposed nonintrusive reduced-order model (NIROM) based on proper orthogonal decomposition (POD) additionally considers the POD basis that makes an important contribution to the features on the specified boundary. The proposed model establishes a mapping between the parameter-driven motion of the mantle and the evolution of the fluid characteristics around the swimmer. Moreover, to predict new cases where the input needs to be updated, the input of the proposed model is taken from the kinematics of the robot rather than extracted from full-order high-fidelity models. In this paper, it takes approximately 950 s to perform a simulation using the full-order high-fidelity model. However, the computational cost for one prediction with the proposed POD-NIROM is around 0.54 s, of which about 0.2 s is contributed by preprocessing. Compared with the NIROM based on the classic POD method, the proposed POD-NIROM can effectively update the input and reasonably predict the characteristics on the boundary. The analysis of the hydrodynamic performance of the MUPRo pinpoints that, over a certain period and with a certain undulation amplitude, the hydrodynamic force generated by the swinging-like mantle motion (k< 0.5) is greater, outperformingAequorea victoriain startup acceleration. It is demonstrated that considering a certain power loss and a certain tail beat amplitude, the wave-like mantle motion (k> 0.5) can produce greater propulsion, which means higher propulsion efficiency.
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Affiliation(s)
- Zixiang Ying
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 310027 Hangzhou, People's Republic of China
| | - Haozhi Zhang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 310027 Hangzhou, People's Republic of China
| | - Linxiang Wang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 310027 Hangzhou, People's Republic of China
| | - Roderick Melnik
- MS2Discovery Interdisciplinary Research Institute, Wilfrid Laurier University, Waterloo, ON N2L 3L5, Canada
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70
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Zhang X, Wu Y, Li Y, Jiang H, Yang Q, Wang Z, Liu J, Wang Y, Fan X, Kong J. Small-scale soft grippers with environmentally responsive logic gates. MATERIALS HORIZONS 2022; 9:1431-1439. [PMID: 35380150 DOI: 10.1039/d2mh00097k] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Small-scale soft grippers are adaptive and deformable, and can be utilized for confined environments (e.g., the human body). Small-scale soft grippers require logic-based computation to achieve intelligent control and perform logical analysis of the surrounding information. However, it is a great challenge to integrate electronic chips and power supplies (i.e., batteries) on their small systems. Here, the approach provides a route to add computational capabilities via environmentally responsive logic gates in small-scale soft grippers, without electronics, external control, or tethering. Various origami-inspired grippers performing YES, NOT, XOR, AND, OR, NOR and NAND gates, respectively, were developed by stimuli-responsive hydrogels as building blocks. Although the hydrogels respond to different kinds of stimuli, their outputs are the same: a change in hydrogel size, leading to the bending of the arms of the grippers. Hence, the logic gates can be integrated easily within a gripper (e.g., connecting an AND gate to another AND gate). Moreover, the gripper fabricated by dual-responsive hydrogels can intelligently and autonomously switch from an AND gate to an OR gate upon varied environmental stimuli. In addition, a magnetic gripper with an AND gate was fabricated that can analyse different stimuli, and capture and release the targeted object via the environmentally responsive logic gates. This strategy provides a new route to incorporate on-board perception, control and computation via environmentally responsive logic gates in small-scale soft robots and machines.
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Affiliation(s)
- Xuan Zhang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Ya Wu
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Yan Li
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - He Jiang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Qinglin Yang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Zichao Wang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Jiahao Liu
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Yang Wang
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Xiaodong Fan
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
| | - Jie Kong
- MOE Key Laboratory of Materials Physics and Chemistry in Extraordinary Conditions, Shaanxi Key Laboratory of Macromolecular Science and Technology, School of Chemistry and Chemical Engineering, Northwestern Polytechnical University, Xi'an, 710072, P. R. China.
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71
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Xia N, Jin B, Jin D, Yang Z, Pan C, Wang Q, Ji F, Iacovacci V, Majidi C, Ding Y, Zhang L. Decoupling and Reprogramming the Wiggling Motion of Midge Larvae Using a Soft Robotic Platform. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2109126. [PMID: 35196405 DOI: 10.1002/adma.202109126] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/11/2021] [Revised: 02/06/2022] [Indexed: 06/14/2023]
Abstract
The efficient motility of invertebrates helps them survive under evolutionary pressures. Reconstructing the locomotion of invertebrates and decoupling the influence of individual basic motion are crucial for understanding their underlying mechanisms, which, however, generally remain a challenge due to the complexity of locomotion gaits. Herein, a magnetic soft robot to reproduce midge larva's key natural swimming gaits is developed, and the coupling effect between body curling and rotation on motility is investigated. Through the authors' systematically decoupling studies using programmed magnetic field inputs, the soft robot (named LarvaBot) experiences various coupled gaits, including biomimetic side-to-side flexures, and unveils that the optimal rotation amplitude and the synchronization of curling and rotation greatly enhance its motility. The LarvaBot achieves fast locomotion and upstream capability at the moderate Reynolds number regime. The soft robotics-based platform provides new insight to decouple complex biological locomotion, and design programmed swimming gaits for the fast locomotion of soft-bodied swimmers.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Bowen Jin
- Beijing Computational Science Research Center, Haidian District, Beijing, 100193, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Veronica Iacovacci
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, 56025, Italy
| | - Carmel Majidi
- Soft Machines Lab, Carnegie Mellon University, Pittsburgh, PA, 15213, USA
| | - Yang Ding
- Beijing Computational Science Research Center, Haidian District, Beijing, 100193, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
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72
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Lee YW, Chun S, Son D, Hu X, Schneider M, Sitti M. A Tissue Adhesion-Controllable and Biocompatible Small-Scale Hydrogel Adhesive Robot. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2109325. [PMID: 35060215 DOI: 10.1002/adma.202109325] [Citation(s) in RCA: 40] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2021] [Revised: 01/13/2022] [Indexed: 06/14/2023]
Abstract
Recently, the realization of minimally invasive medical interventions on targeted tissues using wireless small-scale medical robots has received an increasing attention. For effective implementation, such robots should have a strong adhesion capability to biological tissues and at the same time easy controlled detachment should be possible, which has been challenging. To address such issue, a small-scale soft robot with octopus-inspired hydrogel adhesive (OHA) is proposed. Hydrogels of different Young's moduli are adapted to achieve a biocompatible adhesive with strong wet adhesion by preventing the collapse of the octopus-inspired patterns during preloading. Introduction of poly(N-isopropylacrylamide) hydrogel for dome-like protuberance structure inside the sucker wall of polyethylene glycol diacrylate hydrogel provides a strong tissue attachment in underwater and at the same time enables easy detachment by temperature changes due to its temperature-dependent volume change property. It is finally demonstrated that the small-scale soft OHA robot can efficiently implement biomedical functions owing to strong adhesion and controllable detachment on biological tissues while operating inside the body. Such robots with repeatable tissue attachment and detachment possibility pave the way for future wireless soft miniature robots with minimally invasive medical interventions.
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Affiliation(s)
- Yun-Woo Lee
- Physical Intelligence Department, Max Planck Institute for Intelligent System, 70569, Stuttgart, Germany
| | - Sungwoo Chun
- Physical Intelligence Department, Max Planck Institute for Intelligent System, 70569, Stuttgart, Germany
- Department of Electronics and Information Engineering, Korea University, Sejong, 30019, Republic of Korea
| | - Donghoon Son
- Physical Intelligence Department, Max Planck Institute for Intelligent System, 70569, Stuttgart, Germany
- School of Mechanical Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Xinghao Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent System, 70569, Stuttgart, Germany
| | - Martina Schneider
- Physical Intelligence Department, Max Planck Institute for Intelligent System, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent System, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich, 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, 34450, Turkey
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73
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Yu Z, Shang J, Shi Q, Xia Y, Zhai DH, Wang H, Huang Q, Fukuda T. Electrically Controlled Aquatic Soft Actuators with Desynchronized Actuation and Light-Mediated Reciprocal Locomotion. ACS APPLIED MATERIALS & INTERFACES 2022; 14:12936-12948. [PMID: 35244389 DOI: 10.1021/acsami.2c01838] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Soft-bodied aquatic invertebrates can overcome hydrodynamic resistance and display diverse locomotion modes in response to environmental cues. Exploring the dynamics of locomotion from bioinspired aquatic actuators will broaden the perspective of underwater manipulation of artificial systems in fluidic environments. Here, we report a multilayer soft actuator design based on a light-driven hydrogel and a laser-induced graphene (LIG) actuator, minimizing the effect of the time delay by a monolithic hydrogel-based system while maintaining shape-morphing functionality. Moreover, different time scales in the response of actuator materials enable a real-time desynchronization of energy inputs, holding great potential for applications requiring desynchronized stimulation. This hybrid design principle is ultimately demonstrated with a high-performance aquatic soft actuator possessing an underwater walking speed of 0.81 body length per minute at a relatively low power consumption of 3 W. When integrated with an optical sensor, the soft actuator can sense the variation in light intensity and achieve mediated reciprocal motion. Our proposed locomotion mechanism could inspire other multilayer soft actuators to achieve underwater functionalities at the same spatiotemporal scale. The underwater actuation platform could be used to study locomotion kinematics and control mechanisms that mimic the motion of soft-bodied aquatic organisms.
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Affiliation(s)
- Zhiqiang Yu
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China
| | - Junyi Shang
- School of Automation, Beijing Institute of Technology, Beijing 100081, China
| | - Qing Shi
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China
| | - Yuanqing Xia
- School of Automation, Beijing Institute of Technology, Beijing 100081, China
| | - Di-Hua Zhai
- School of Automation, Beijing Institute of Technology, Beijing 100081, China
| | - Huaping Wang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China
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74
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Li M, Tang Y, Soon RH, Dong B, Hu W, Sitti M. Miniature coiled artificial muscle for wireless soft medical devices. SCIENCE ADVANCES 2022; 8:eabm5616. [PMID: 35275717 PMCID: PMC8916729 DOI: 10.1126/sciadv.abm5616] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
Wireless small-scale soft-bodied devices are capable of precise operation inside confined internal spaces, enabling various minimally invasive medical applications. However, such potential is constrained by the small output force and low work capacity of the current miniature soft actuators. To address this challenge, we report a small-scale soft actuator that harnesses the synergetic interactions between the coiled artificial muscle and radio frequency-magnetic heating. This wirelessly controlled actuator exhibits a large output force (~3.1 N) and high work capacity (3.5 J/g). Combining this actuator with different mechanical designs, its tensile and torsional behaviors can be engineered into different functional devices, such as a suture device, a pair of scissors, a driller, and a clamper. In addition, by assuming a spatially varying magnetization profile, a multilinked coiled muscle can have both magnetic field-induced bending and high contractile force. Such an approach could be used in various future untethered miniature medical devices.
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Affiliation(s)
- Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute of Functional Nano & Soft Materials (FUNSOM), Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Soochow University, Suzhou, Jiangsu 215123, P. R. China
| | - Yichao Tang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Tongji University, Shanghai 201804, P. R. China
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Tongji University, Shanghai 201804, P. R. China
| | - Bin Dong
- Institute of Functional Nano & Soft Materials (FUNSOM), Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Soochow University, Suzhou, Jiangsu 215123, P. R. China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Corresponding author. (W.H.); (M.S.)
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
- Corresponding author. (W.H.); (M.S.)
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75
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Abstract
In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.
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Affiliation(s)
- Yoonho Kim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xuanhe Zhao
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
- Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
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76
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Li S, Liu D, Hu Y, Su Z, Zhang X, Guo R, Li D, Lu Y. Soft Magnetic Microrobot Doped with Porous Silica for Stability-Enhanced Multimodal Locomotion in a Nonideal Environment. ACS APPLIED MATERIALS & INTERFACES 2022; 14:10856-10874. [PMID: 35188736 DOI: 10.1021/acsami.1c25102] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
As an emerging field of robotics, magnetic-field-controlled soft microrobot has broad application prospects for its flexibility, locomotion diversity, and remote controllability. Magnetic soft microrobots can perform multimodal locomotion under the control of a magnetic field, which may have potential applications in precision medicine. However, previous research studies mainly focus on new locomotion in a relatively ideal environment, lacking exploration on the ability of magnetic microrobot locomotion to resist external disturbances and proceed in a nonideal environment. Here, a porous silica-doped soft magnetic microrobot is constructed for enhanced stability of multimodal locomotion in the nonideal biological environment. Porous silica spheres are doped into a NdFeB-silicone elastomer base, improving adhesion properties and refining the comprehensive mechanical properties of the microrobot. Multimodal locomotions are achieved, and the influence of porous silica doping on the stability of each locomotion in a nonideal environment is explored in depth. Motions in nonideal circumstances such as climbing, loading, current rushing, wind blowing, and obstacle hindering are conducted successfully with porous silica doping. Such a stability-enhanced multimodal locomotion system can be used in biocatalysis and thrombus removal, and its prospect for precision medicine is highlighted by in vivo demonstration of multimodal locomotion with nonideal disturbance.
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Affiliation(s)
- Shangsong Li
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
- School of Materials Science and Engineering, Tsinghua University, Beijing 100084, China
| | - Dong Liu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Yuping Hu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Zhijie Su
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Xinai Zhang
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
- Beijing No.4 High School International Campus, Beijing 100034, China
| | - Ruirui Guo
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
- College of Bioengineering, Tianjin University of Science and Technology, Tianjin 300457, China
| | - Dan Li
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
| | - Yuan Lu
- Key Laboratory of Industrial Biocatalysis, Ministry of Education, Department of Chemical Engineering, Tsinghua University, Beijing 100084, China
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77
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Li M, Pal A, Aghakhani A, Pena-Francesch A, Sitti M. Soft actuators for real-world applications. NATURE REVIEWS. MATERIALS 2022; 7:235-249. [PMID: 35474944 PMCID: PMC7612659 DOI: 10.1038/s41578-021-00389-7] [Citation(s) in RCA: 168] [Impact Index Per Article: 84.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 09/21/2021] [Indexed: 05/22/2023]
Abstract
Inspired by physically adaptive, agile, reconfigurable and multifunctional soft-bodied animals and human muscles, soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, haptic devices and medical devices. However, the complex performance of biological systems cannot yet be fully replicated in synthetic designs. In this Review, we discuss new materials and structural designs for the engineering of soft actuators with physical intelligence and advanced properties, such as adaptability, multimodal locomotion, self-healing and multi-responsiveness. We examine how performance can be improved and multifunctionality implemented by using programmable soft materials, and highlight important real-world applications of soft actuators. Finally, we discuss the challenges and opportunities for next-generation soft actuators, including physical intelligence, adaptability, manufacturing scalability and reproducibility, extended lifetime and end-of-life strategies.
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Affiliation(s)
- Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey
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78
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Zhao H, Cheng X, Wu C, Liu TL, Zhao Q, Li S, Ni X, Yao S, Han M, Huang Y, Zhang Y, Rogers JA. Mechanically Guided Hierarchical Assembly of 3D Mesostructures. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2109416. [PMID: 35067974 DOI: 10.1002/adma.202109416] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/19/2021] [Revised: 01/01/2022] [Indexed: 06/14/2023]
Abstract
3D, hierarchical micro/nanostructures formed with advanced functional materials are of growing interest due to their broad potential utility in electronics, robotics, battery technology, and biomedical engineering. Among various strategies in 3D micro/nanofabrication, a set of methods based on compressive buckling offers wide-ranging material compatibility, fabrication scalability, and precise process control. Previously reports on this type of approach rely on a single, planar prestretched elastomeric platform to transform thin-film precursors with 2D layouts into 3D architectures. The simple planar configuration of bonding sites between these precursors and their assembly substrates prevents the realization of certain types of complex 3D geometries. In this paper, a set of hierarchical assembly concepts is reported that leverage multiple layers of prestretched elastomeric substrates to induce not only compressive buckling of 2D precursors bonded to them but also of themselves, thereby creating 3D mesostructures mounted at multiple levels of 3D frameworks with complex, elaborate configurations. Control over strains used in these processes provides reversible access to multiple different 3D layouts in a given structure. Examples to demonstrate these ideas through both experimental and computational results span vertically aligned helices to closed 3D cages, selected for their relevance to 3D conformal bio-interfaces and multifunctional microsystems.
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Affiliation(s)
- Hangbo Zhao
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, 90089, USA
| | - Xu Cheng
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, China
| | - Changsheng Wu
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
| | - Tzu-Li Liu
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
| | - Qinai Zhao
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, 90089, USA
| | - Shuo Li
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
| | - Xinchen Ni
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
| | - Shenglian Yao
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
- Beijing Advanced Innovation Center for Materials Genome Engineering, School of Materials Science and Engineering, University of Science and Technology Beijing, Beijing, 100083, China
| | - Mengdi Han
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
- Department of Biomedical Engineering, College of Future Technology, Peking University, Beijing, 100871, China
| | - Yonggang Huang
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
- Department of Materials Science and Engineering, Northwestern University, Evanston, IL, 60208, USA
- Department of Civil and Environmental Engineering, Northwestern University, Evanston, IL, 60208, USA
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, China
| | - John A Rogers
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL, 60208, USA
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
- Department of Materials Science and Engineering, Northwestern University, Evanston, IL, 60208, USA
- Department of Civil and Environmental Engineering, Northwestern University, Evanston, IL, 60208, USA
- Department of Biomedical Engineering, Northwestern University, Evanston, IL, 60208, USA
- Department of Chemistry, Northwestern University, Evanston, IL, 60208, USA
- Department of Neurological Surgery, Northwestern University, Evanston, IL, 60208, USA
- Department of Electrical and Computer Engineering, Northwestern University, Evanston, IL, 60208, USA
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79
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Fang J, Zhuang Y, Liu K, Chen Z, Liu Z, Kong T, Xu J, Qi C. A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2104347. [PMID: 35072360 PMCID: PMC8922102 DOI: 10.1002/advs.202104347] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/29/2021] [Revised: 11/30/2021] [Indexed: 05/07/2023]
Abstract
Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.
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Affiliation(s)
- Jielun Fang
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Yanfeng Zhuang
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Kailang Liu
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Zhuo Chen
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Zhou Liu
- College of Chemistry and Environmental EngineeringShenzhen UniversityShenzhenGuangdong518000China
| | - Tiantian Kong
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Jianhong Xu
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Cheng Qi
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
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80
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Wang M, Zhou L, Deng W, Hou Y, He W, Yu L, Sun H, Ren L, Hou X. Ultrafast Response and Programmable Locomotion of Liquid/Vapor/Light-Driven Soft Multifunctional Actuators. ACS NANO 2022; 16:2672-2681. [PMID: 35040625 DOI: 10.1021/acsnano.1c09477] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
External-stimuli-driven soft actuators overcome several limitations inherent in traditional mechanical-driven technology considering the coming age of flexible robots, which might face harsh working conditions and rigorous multifunctional requirements. However, how to achieve multi-external-stimuli response, fast speed, and precise control of the position and angle of the actuator, especially working in a toxic liquid or vapor environment, still requires long-term efforts. Here, we report a multi-external-stimuli-driven sandwich actuator with aligned carbon nanotubes as the constructive subject, which can respond to various types of liquids (organic solvents), vapor, and solar light. The actuator has an ultrafast response speed (<10 ms) and can accurately adjust the bending angle range from 0° to 180°. Through manipulating the stimuli positions, actuators can be wound into varied turns when simulating a flexible robotic arm. Hence, liquid/vapor/light-driven actuators are able to support diverse programmable motions, such as periodic blooming, gesture variations, caterpillar crawling, toxic surface evading, and bionic phototaxis. We believe that this multifunctional actuator is promising in supporting a complex scenario to complete a variety of tasks in the fields of healthcare, bioengineering, chip technology, and mobile sensors.
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Affiliation(s)
- Miao Wang
- The Higher Educational Key Laboratory for Biomedical Engineering of Fujian Province, Research Center of Biomedical Engineering of Xiamen, Department of Biomaterials, College of Materials, Xiamen University, 422 Siming Nan Road, Xiamen 361005, China
| | - Lei Zhou
- Research Institute for Soft Matter and Biomimetics, College of Physical Science and Technology, Xiamen University, Xiamen 361005, China
| | - Wenyan Deng
- Research Institute for Soft Matter and Biomimetics, College of Physical Science and Technology, Xiamen University, Xiamen 361005, China
| | - Yaqi Hou
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
| | - Wen He
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
| | - Lejian Yu
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
| | - Hao Sun
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China
| | - Lei Ren
- The Higher Educational Key Laboratory for Biomedical Engineering of Fujian Province, Research Center of Biomedical Engineering of Xiamen, Department of Biomaterials, College of Materials, Xiamen University, 422 Siming Nan Road, Xiamen 361005, China
| | - Xu Hou
- Research Institute for Soft Matter and Biomimetics, College of Physical Science and Technology, Xiamen University, Xiamen 361005, China
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
- Collaborative Innovation Centre of Chemistry for Energy Materials, Xiamen University, Xiamen 361005, China
- Innovation Laboratory for Sciences and Technologies of Energy Materials of Fujian Province (IKKEM), Xiamen 361102, China
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81
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Tactile Sensing Using Magnetic Foam. Polymers (Basel) 2022; 14:polym14040834. [PMID: 35215750 PMCID: PMC8963008 DOI: 10.3390/polym14040834] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/11/2022] [Revised: 02/16/2022] [Accepted: 02/18/2022] [Indexed: 11/24/2022] Open
Abstract
For biomedical applications, smart materials that are used as sensors or actuators have to match some criteria, especially bio-compatibility and softness. Smart polymers are candidates that fulfill these two criteria. A sensitivity to compression is created by adding magnetic particles to a compressible foam polymer. A foam-based composite is fabricated for its small Poisson’s ratio, which enables significant compression, up to 50%. This large compression induces a change in its magnetic properties, which can be detected using coils. By setting the sensing coils as a compact array of 3 × 3, the sensor successfully detected and localized an applied deformation.
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82
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Wang R, Han L, Wu C, Dong Y, Zhao X. Localizable, Identifiable, and Perceptive Untethered Light-Driven Soft Crawling Robot. ACS APPLIED MATERIALS & INTERFACES 2022; 14:6138-6147. [PMID: 35050581 DOI: 10.1021/acsami.1c20539] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Soft robots based on bionics have attracted extensive attention in recent years. However, most of previous works focused on the motion of robots that were incapable of communication and perception. In this work, an untethered crawling robot is proposed with integration of motion, communication, and location based entirely on a flexible material, which is capable of being utilized as a sensing platform. The hydrophilic graphene oxide film, capable of photothermal conversion, allows the robot to undergo a large deformation stimulated by near-infrared light. Conductive fabric with low resistivity and high mechanical strength, replacing the traditional rigid circuit, is utilized to complete the communication of the robot. The designed communication module allows an electrical signal to be inductively coupled to the soft robot instead of being generated by batteries or through transmission lines. The perception of the robot is demonstrated by covering sensitive materials. Furthermore, the positioning and identification of the robot are verified by an external coil array. The proposed soft crawling robot provides an innovative strategy for the integration of multifunctional robots and shows great potential in bionic devices, intelligent robots, and advanced sensors.
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Affiliation(s)
- Rui Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Lei Han
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Chenggen Wu
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Yupeng Dong
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Xiaoguang Zhao
- Department of Precision Instruments, Tsinghua University, Beijing 100084, China
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83
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Youssef SM, Soliman M, Saleh MA, Mousa MA, Elsamanty M, Radwan AG. Underwater Soft Robotics: A Review of Bioinspiration in Design, Actuation, Modeling, and Control. MICROMACHINES 2022; 13:mi13010110. [PMID: 35056275 PMCID: PMC8778375 DOI: 10.3390/mi13010110] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/04/2021] [Revised: 12/31/2021] [Accepted: 01/02/2022] [Indexed: 12/27/2022]
Abstract
Nature and biological creatures are some of the main sources of inspiration for humans. Engineers have aspired to emulate these natural systems. As rigid systems become increasingly limited in their capabilities to perform complex tasks and adapt to their environment like living creatures, the need for soft systems has become more prominent due to the similar complex, compliant, and flexible characteristics they share with intelligent natural systems. This review provides an overview of the recent developments in the soft robotics field, with a focus on the underwater application frontier.
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Affiliation(s)
- Samuel M. Youssef
- Smart Engineering Systems Research Center (SESC), Nile University, Sheikh Zayed City 12588, Egypt;
- Correspondence:
| | - MennaAllah Soliman
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City 12588, Egypt; (M.S.); (M.A.S.); (A.G.R.)
| | - Mahmood A. Saleh
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City 12588, Egypt; (M.S.); (M.A.S.); (A.G.R.)
| | - Mostafa A. Mousa
- Nile University’s Innovation Hub, Nile University, Sheikh Zayed City 12588, Egypt;
| | - Mahmoud Elsamanty
- Smart Engineering Systems Research Center (SESC), Nile University, Sheikh Zayed City 12588, Egypt;
- Mechanical Department, Faculty of Engineering at Shoubra, Benha University, Cairo 11672, Egypt
| | - Ahmed G. Radwan
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City 12588, Egypt; (M.S.); (M.A.S.); (A.G.R.)
- Department of Engineering Mathematics and Physics, Cairo University, Giza 12613, Egypt
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84
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Huang C, Lai Z, Wu X, Xu T. Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots. CYBORG AND BIONIC SYSTEMS 2022; 2022:0004. [PMID: 36924475 PMCID: PMC10010670 DOI: 10.34133/cbsystems.0004] [Citation(s) in RCA: 19] [Impact Index Per Article: 9.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2022] [Accepted: 11/06/2022] [Indexed: 01/02/2023] Open
Abstract
Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small scale. Soft microrobots are of great research importance because of their highly deformable ability to achieve not only multiple locomotion mechanisms but also minimal invasion to the environment. However, the existing microrobots are still limited in their ability to locomote and cross obstacles in unstructured environments compared to conventional legged robots. Nature provides much inspiration for developing miniature robots. Here, we propose a bionic quadruped soft thin-film microrobot with a nonmagnetic soft body and 4 magnetic flexible legs. The quadruped soft microrobot can achieve multiple controllable locomotion modes in the external magnetic field. The experiment demonstrated the robot's excellent obstacle-crossing ability by walking on the surface with steps and moving in the bottom of a stomach model with gullies. In particular, by controlling the conical angle of the external conical magnetic field, microbeads gripping, transportation, and release of the microrobot were demonstrated. In the future, the quadruped microrobot with excellent obstacle-crossing and gripping capabilities will be relevant for biomedical applications and micromanipulation.
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Affiliation(s)
- Chenyang Huang
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China.,University of Chinese Academy of Sciences, Beijing 100049, China
| | - Zhengyu Lai
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China.,University of Chinese Academy of Sciences, Beijing 100049, China
| | - Xinyu Wu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China
| | - Tiantian Xu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.,SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China
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85
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Cheng M, Zeng H, Li Y, Liu J, Luo D, Priimagi A, Liu YJ. Light-Fueled Polymer Film Capable of Directional Crawling, Friction-Controlled Climbing, and Self-Sustained Motion on a Human Hair. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2103090. [PMID: 34713627 PMCID: PMC8728837 DOI: 10.1002/advs.202103090] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/18/2021] [Revised: 08/11/2021] [Indexed: 05/21/2023]
Abstract
Recent efforts in stimuli-responsive soft materials have enabled wirelessly controlled actuation with increasing degrees of freedom, yielding miniature robots capable of various locomotion in open environments such as on a plane or inside fluids. However, grand challenges remain in harnessing photomechanical deformation to induce locomotion and control of friction during the movement, especially for robotic actuations within constrained spaces. Here, the authors report a centimeter-long polymer strip made of a liquid crystal network that is capable of versatile light-fueled motions along a human hair. The soft polymer robot can translocate directionally upon temporally modulated excitation and climb vertically through friction control with light. A self-oscillating strip is demonstrated to continuously translocate along the hair upon a constant light stimulus, and its gaiting is associated to the smoothness of the hair surface. The results offer new insights to small-scale photo-actuator, mechanical control, and automation in soft micro robotics.
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Affiliation(s)
- Ming Cheng
- Department of Electrical and Electronic EngineeringSouthern University of Science and TechnologyShenzhen518055China
| | - Hao Zeng
- Smart Photonic MaterialsFaculty of Engineering and Natural SciencesTampere UniversityP.O. Box 541TampereFI‐33101Finland
| | - Yifei Li
- Department of Electrical and Electronic EngineeringSouthern University of Science and TechnologyShenzhen518055China
| | - Jianxun Liu
- Department of Electrical and Electronic EngineeringSouthern University of Science and TechnologyShenzhen518055China
| | - Dan Luo
- Department of Electrical and Electronic EngineeringSouthern University of Science and TechnologyShenzhen518055China
| | - Arri Priimagi
- Smart Photonic MaterialsFaculty of Engineering and Natural SciencesTampere UniversityP.O. Box 541TampereFI‐33101Finland
| | - Yan Jun Liu
- Department of Electrical and Electronic EngineeringSouthern University of Science and TechnologyShenzhen518055China
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86
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Qi J, Chen Z, Jiang P, Hu W, Wang Y, Zhao Z, Cao X, Zhang S, Tao R, Li Y, Fang D. Recent Progress in Active Mechanical Metamaterials and Construction Principles. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2102662. [PMID: 34716676 PMCID: PMC8728820 DOI: 10.1002/advs.202102662] [Citation(s) in RCA: 32] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2021] [Revised: 08/31/2021] [Indexed: 05/03/2023]
Abstract
Active mechanical metamaterials (AMMs) (or smart mechanical metamaterials) that combine the configurations of mechanical metamaterials and the active control of stimuli-responsive materials have been widely investigated in recent decades. The elaborate artificial microstructures of mechanical metamaterials and the stimulus response characteristics of smart materials both contribute to AMMs, making them achieve excellent properties beyond the conventional metamaterials. The micro and macro structures of the AMMs are designed based on structural construction principles such as, phase transition, strain mismatch, and mechanical instability. Considering the controllability and efficiency of the stimuli-responsive materials, physical fields such as, the temperature, chemicals, light, electric current, magnetic field, and pressure have been adopted as the external stimuli in practice. In this paper, the frontier works and the latest progress in AMMs from the aspects of the mechanics and materials are reviewed. The functions and engineering applications of the AMMs are also discussed. Finally, existing issues and future perspectives in this field are briefly described. This review is expected to provide the basis and inspiration for the follow-up research on AMMs.
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Affiliation(s)
- Jixiang Qi
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zihao Chen
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Peng Jiang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Wenxia Hu
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Yonghuan Wang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zeang Zhao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Xiaofei Cao
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Shushan Zhang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ran Tao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ying Li
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Daining Fang
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
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87
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Abstract
In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.
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Affiliation(s)
- Indra Apsite
- Faculty of Engineering Science, Department of Biofabrication, University of Bayreuth, Ludwig Thoma Str. 36A, 95447 Bayreuth, Germany
| | - Sahar Salehi
- Department of Biomaterials, Center of Energy Technology und Materials Science, University of Bayreuth, Prof.-Rüdiger-Bormann-Straße 1, 95447 Bayreuth, Germany
| | - Leonid Ionov
- Faculty of Engineering Science, Department of Biofabrication, University of Bayreuth, Ludwig Thoma Str. 36A, 95447 Bayreuth, Germany.,Bavarian Polymer Institute, University of Bayreuth, Universitätsstr. 30, 95440 Bayreuth, Germany
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88
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Dynamic tracking of a magnetic micro-roller using ultrasound phase analysis. Sci Rep 2021; 11:23239. [PMID: 34853369 PMCID: PMC8636564 DOI: 10.1038/s41598-021-02553-z] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/26/2021] [Accepted: 11/18/2021] [Indexed: 12/30/2022] Open
Abstract
Microrobots (MRs) have attracted significant interest for their potentialities in diagnosis and non-invasive intervention in hard-to-reach body areas. Fine control of biomedical MRs requires real-time feedback on their position and configuration. Ultrasound (US) imaging stands as a mature and advantageous technology for MRs tracking, but it suffers from disturbances due to low contrast resolution. To overcome these limitations and make US imaging suitable for monitoring and tracking MRs, we propose a US contrast enhancement mechanism for MR visualization in echogenic backgrounds (e.g., tissue). Our technique exploits the specific acoustic phase modulation produced by the MR characteristic motions. By applying this principle, we performed real-time visualization and position tracking of a magnetic MR rolling on a lumen boundary, both in static flow and opposing flow conditions, with an average error of 0.25 body-lengths. Overall, the reported results unveil countless possibilities to exploit the proposed approach as a robust feedback strategy for monitoring and tracking biomedical MRs in-vivo.
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89
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Demir SO, Culha U, Karacakol AC, Pena-Francesch A, Trimpe S, Sitti M. Task space adaptation via the learning of gait controllers of magnetic soft millirobots. Int J Rob Res 2021; 40:1331-1351. [PMID: 35481277 PMCID: PMC7612667 DOI: 10.1177/02783649211021869] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/30/2024]
Abstract
Untethered small-scale soft robots have promising applications in minimally invasive surgery, targeted drug delivery, and bioengineering applications as they can directly and non-invasively access confined and hard-to-reach spaces in the human body. For such potential biomedical applications, the adaptivity of the robot control is essential to ensure the continuity of the operations, as task environment conditions show dynamic variations that can alter the robot's motion and task performance. The applicability of the conventional modeling and control methods is further limited for soft robots at the small-scale owing to their kinematics with virtually infinite degrees of freedom, inherent stochastic variability during fabrication, and changing dynamics during real-world interactions. To address the controller adaptation challenge to dynamically changing task environments, we propose using a probabilistic learning approach for a millimeter-scale magnetic walking soft robot using Bayesian optimization (BO) and Gaussian processes (GPs). Our approach provides a data-efficient learning scheme by finding the gait controller parameters while optimizing the stride length of the walking soft millirobot using a small number of physical experiments. To demonstrate the controller adaptation, we test the walking gait of the robot in task environments with different surface adhesion and roughness, and medium viscosity, which aims to represent the possible conditions for future robotic tasks inside the human body. We further utilize the transfer of the learned GP parameters among different task spaces and robots and compare their efficacy on the improvement of data-efficient controller learning.
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Affiliation(s)
- Sinan O. Demir
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Stuttgart Center for Simulation Science (SC SimTech), University of Stuttgart, Stuttgart, Germany
| | - Utku Culha
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Alp C. Karacakol
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Department of Materials Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Sebastian Trimpe
- Institute for Data Science in Mechanical Engineering, RWTH Aachen University, Aachen, Germany
- Intelligent Control Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
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90
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Shi M, Yeatman EM. A comparative review of artificial muscles for microsystem applications. MICROSYSTEMS & NANOENGINEERING 2021; 7:95. [PMID: 34858630 PMCID: PMC8611050 DOI: 10.1038/s41378-021-00323-5] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/02/2021] [Revised: 09/26/2021] [Accepted: 10/05/2021] [Indexed: 05/28/2023]
Abstract
Artificial muscles are capable of generating actuation in microsystems with outstanding compliance. Recent years have witnessed a growing academic interest in artificial muscles and their application in many areas, such as soft robotics and biomedical devices. This paper aims to provide a comparative review of recent advances in artificial muscle based on various operating mechanisms. The advantages and limitations of each operating mechanism are analyzed and compared. According to the unique application requirements and electrical and mechanical properties of the muscle types, we suggest suitable artificial muscle mechanisms for specific microsystem applications. Finally, we discuss potential strategies for energy delivery, conversion, and storage to promote the energy autonomy of microrobotic systems at a system level.
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Affiliation(s)
- Mayue Shi
- Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, London, SW7 2AZ UK
| | - Eric M. Yeatman
- Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, London, SW7 2AZ UK
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91
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Yan W, Mehta A. A Cut-and-Fold Self-Sustained Compliant Oscillator for Autonomous Actuation of Origami-Inspired Robots. Soft Robot 2021; 9:871-881. [PMID: 34813378 DOI: 10.1089/soro.2021.0018] [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: 11/13/2022] Open
Abstract
Origami-inspired robots are of particular interest due to their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible two-dimensional sheets or even strings, that is, printable manufacturing. Yet, origami robots still require bulky rigid components or electronics for actuation and control to accomplish tasks with reliability, programmability, ability to output substantial force, and durability, restricting their full potential. In this study, we present a printable self-sustained compliant oscillator that generates periodic actuation using only constant electrical power, without discrete components or electronic control hardware. This oscillator is robust (9 out of 10 prototypes worked successfully on the first try), configurable (with tunable periods from 3 to 12 s), powerful (can overcome hydrodynamic resistance to consistently propel a swimmer at ∼1.6 body lengths/min or 3.66 mm/s), and long lasting (∼103 cycles); it enables driving macroscale devices with prescribed autonomous behaviors, for example, locomotion and sequencing. This oscillator is also fully functional underwater and in high magnetic fields. Our analytical model characterizes essential parameters of the oscillation period, enabling programmable design of the oscillator. The printable oscillator can be integrated into origami-inspired systems seamlessly and monolithically, allowing rapid design and prototyping; the resulting integrated devices are lightweight, low cost, compliant, electronic free, and nonmagnetic, enabling practical applications in extreme areas. We demonstrate the functionalities of the oscillator with: (1) autonomous gliding of a printable swimmer, (2) LED flashing, and (3) fluid stirring. This work paves the way for realizing fully printable autonomous robots with high integration of actuation and control.
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Affiliation(s)
- Wenzhong Yan
- Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, California, USA
| | - Ankur Mehta
- Department of Electrical and Computer Engineering, University of California, Los Angeles, California, USA
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92
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Exploring the sensitivity in jellyfish locomotion under variations in scale, frequency, and duty cycle. J Math Biol 2021; 83:56. [PMID: 34731319 DOI: 10.1007/s00285-021-01678-z] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2020] [Revised: 08/04/2021] [Accepted: 10/13/2021] [Indexed: 10/19/2022]
Abstract
Jellyfish have been called one of the most energy-efficient animals in the world due to the ease in which they move through their fluid environment, by product of their bell kinematics coupled with their morphological, muscular, material properties. We investigated jellyfish locomotion by conducting in silico comparative studies and explored swimming performance across different fluid scales (i.e., Reynolds Number), bell contraction frequencies, and contraction phase kinematics (duty cycle) for a jellyfish with a fineness ratio of 1 (ratio of bell height to bell diameter). To study these relationships, an open source implementation of the immersed boundary method was used (IB2d) to solve the fully coupled fluid-structure interaction problem of a flexible jellyfish bell in a viscous fluid. Thorough 2D parameter subspace explorations illustrated optimal parameter combinations in which give rise to enhanced swimming performance. All performance metrics indicated a higher sensitivity to bell actuation frequency than fluid scale or duty cycle, via Sobol sensitivity analysis, on a higher performance parameter subspace. Moreover, Pareto-like fronts were identified in the overall performance space involving the cost of transport and forward swimming speed. Patterns emerged within these performance spaces when highlighting different parameter regions, which complemented the global sensitivity results. Lastly, an open source computational model for jellyfish locomotion is offered to the science community that can be used as a starting place for future numerical experimentation.
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93
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Baldwin T, Battista NA. Hopscotching jellyfish: combining different duty cycle kinematics can lead to enhanced swimming performance. BIOINSPIRATION & BIOMIMETICS 2021; 16:066021. [PMID: 34584025 DOI: 10.1088/1748-3190/ac2afe] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/17/2021] [Accepted: 09/28/2021] [Indexed: 06/13/2023]
Abstract
Jellyfish (Medusozoa) have been deemed the most energy-efficient animals in the world. Their bell morphology and relatively simple nervous systems make them attractive to robotocists. Although, the science community has devoted much attention to understanding their swimming performance, there is still much to be learned about the jet propulsive locomotive gait displayed by prolate jellyfish. Traditionally, computational scientists have assumed uniform duty cycle kinematics when computationally modeling jellyfish locomotion. In this study we used fluid-structure interaction modeling to determine possible enhancements in performance from shuffling different duty cycles together across multiple Reynolds numbers and contraction frequencies. Increases in speed and reductions in cost of transport were observed as high as 80% and 50%, respectively. Generally, the net effects were greater for cases involving lower contraction frequencies. Overall, robust duty cycle combinations were determined that led to enhanced or impeded performance.
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Affiliation(s)
- Tierney Baldwin
- Department of Mathematics and Statistics, The College of New Jersey, 2000 Pennington Road, Ewing Township, NJ 08628, United States of America
| | - Nicholas A Battista
- Department of Mathematics and Statistics, The College of New Jersey, 2000 Pennington Road, Ewing Township, NJ 08628, United States of America
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94
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Zhang J. Evolving from Laboratory Toys towards Life-Savers: Small-Scale Magnetic Robotic Systems with Medical Imaging Modalities. MICROMACHINES 2021; 12:1310. [PMID: 34832722 PMCID: PMC8620623 DOI: 10.3390/mi12111310] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/23/2021] [Revised: 10/15/2021] [Accepted: 10/20/2021] [Indexed: 12/23/2022]
Abstract
Small-scale magnetic robots are remotely actuated and controlled by an externally applied magnetic field. These robots have a characteristic size ranging from several millimetres down to a few nanometres. They are often untethered in order to access constrained and hard-to-reach space buried deep in human body. Thus, they promise to bring revolutionary improvement to minimally invasive diagnostics and therapeutics. However, existing research is still mostly limited to scenarios in over-simplified laboratory environment with unrealistic working conditions. Further advancement of this field demands researchers to consider complex unstructured biological workspace. In order to deliver its promised potentials, next-generation small-scale magnetic robotic systems need to address the constraints and meet the demands of real-world clinical tasks. In particular, integrating medical imaging modalities into the robotic systems is a critical step in their evolution from laboratory toys towards potential life-savers. This review discusses the recent efforts made in this direction to push small-scale magnetic robots towards genuine biomedical applications. This review examines the accomplishment achieved so far and sheds light on the open challenges. It is hoped that this review can offer a perspective on how next-generation robotic systems can not only effectively integrate medical imaging methods, but also take full advantage of the imaging equipments to enable additional functionalities.
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Affiliation(s)
- Jiachen Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China
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95
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Guo Y, Zhang J, Hu W, Khan MTA, Sitti M. Shape-programmable liquid crystal elastomer structures with arbitrary three-dimensional director fields and geometries. Nat Commun 2021; 12:5936. [PMID: 34642352 PMCID: PMC8511085 DOI: 10.1038/s41467-021-26136-8] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/17/2021] [Accepted: 09/08/2021] [Indexed: 11/09/2022] Open
Abstract
Liquid crystal elastomers exhibit large reversible strain and programmable shape transformations, enabling various applications in soft robotics, dynamic optics, and programmable origami and kirigami. The morphing modes of these materials depend on both their geometries and director fields. In two dimensions, a pixel-by-pixel design has been accomplished to attain more flexibility over the spatial resolution of the liquid crystal response. Here we generalize this idea in two steps. First, we create independent, cubic light-responsive voxels, each with a predefined director field orientation. Second, these voxels are in turn assembled to form lines, grids, or skeletal structures that would be rather difficult to obtain from an initially connected material sample. In this way, the orientation of the director fields can be made to vary at voxel resolution to allow for programmable optically- or thermally-triggered anisotropic or heterogeneous material responses and morphology changes in three dimensions that would be impossible or hard to implement otherwise.
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Affiliation(s)
- Yubing Guo
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute of Engineering Medicine, Beijing Institute of Technology, 100081, Beijing, China
| | - Jiachen Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Muhammad Turab Ali Khan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zurich, 8092, Zurich, Switzerland.
- School of Medicine and College of Engineering, Koç University, 34450, Istanbul, Turkey.
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96
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Yin C, Wei F, Fu S, Zhai Z, Ge Z, Yao L, Jiang M, Liu M. Visible Light-Driven Jellyfish-like Miniature Swimming Soft Robot. ACS APPLIED MATERIALS & INTERFACES 2021; 13:47147-47154. [PMID: 34436851 DOI: 10.1021/acsami.1c13975] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Soft actuators that exhibit large deformation and can move at a fast speed in response to external stimuli have been in high demand for biomimetic applications. In this paper, we propose a convenient approach to fabricate a reversible and thermal-responsive composite hydrogel. Under the irradiation of visible light, the striped hydrogel can bend at a speed of up to 65.72°/s with carbon nanotubes loaded at a concentration of 3 mg/mL. A jellyfish-like miniature soft robot is made using this hydrogel. When driven by visible light, the robot can move at a maximum speed of 3.37 mm/s. Besides swimming, other motion modes, including walking and jumping, are also achieved by the robot. In addition, the robot can perform directional transportation of tiny objects. As a new actuation approach for the research of jellyfish-like miniature soft robots, this work is of great significance to the development of flexible bionic robots. Moreover, this work also offers some important insights into the research of biomimetic robots driven by visible light.
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Affiliation(s)
- Chao Yin
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Shihan Fu
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Zhushan Zhai
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Zhixing Ge
- Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114, Nanta Street, Shenyang, Liaoning 110016, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
| | - Minlin Jiang
- Institute for Advanced Study, Nanchang University, Nanchang, Jiangxi 330031, China
| | - Ming Liu
- School of Mechanical Engineering and Automation, Fuzhou University, Minhou County, Fuzhou, Fujian 350108, China
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97
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Chen L, Sasatani T, Or K, Nishikawa S, Kawahara Y, Niiyama R, Kuniyoshi Y. Wireless Powered Dielectric Elastomer Actuator. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3097271] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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98
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Gao Y, Wei F, Chao Y, Yao L. Bioinspired soft microrobots actuated by magnetic field. Biomed Microdevices 2021; 23:52. [PMID: 34599405 DOI: 10.1007/s10544-021-00590-z] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 09/20/2021] [Indexed: 12/16/2022]
Abstract
In contrast to traditional large-scale robots, which require complicated mechanical joints and material rigidity, microrobots made of soft materials have exhibited amazing features and great potential for extensive applications, such as minimally invasive surgery. However, microrobots are faced with energy supply and control issues due to the miniaturization. Magnetic field actuation emerges as an appropriate approach to tackle with these issues. This review summarizes the latest progress of biomimetic soft microrobots actuated by magnetic field. Starting with an overview of the soft material and magnetic material adopted in the magnetic field actuated soft microrobots, the various fabrication methods and design structures of soft microrobots are summarized. Subsequently, practical and potential applications, such as targeted therapy, surgical operation, and the transportation of microscopic objects, in the fields of biomedicine and environmental remediation are presented. In the end, some current challenges, and the future development trends of magnetic soft microrobots are briefly discussed. This review is expected to offer a helpful guidance for the new researchers of biomimetic soft microrobots actuated by magnetic field.
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Affiliation(s)
- Yuwen Gao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
| | - Yin Chao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
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99
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Huang C, Lai Z, Zhang L, Wu X, Xu T. A magnetically controlled soft miniature robotic fish with a flexible skeleton inspired by zebrafish. BIOINSPIRATION & BIOMIMETICS 2021; 16:065004. [PMID: 34479217 DOI: 10.1088/1748-3190/ac23a9] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/30/2021] [Accepted: 09/03/2021] [Indexed: 06/13/2023]
Abstract
The untethered miniature swimming robot actuation and control is difficult as the robot size becomes smaller, due to limitations of feasible miniaturized on-board components. Nature provides much inspiration for developing miniature robot. Here, a new artificial untethered miniature robotic fish with a flexible magnetic skeleton and soft body that achieve controlled locomotion under the water through an external magnetic field is presented. The soft body of the shuttle-shaped structure microrobot was manufactured from pure Ecoflex, while the skeleton for magnetic actuation was manufactured from Ecoflex and NdFeB composites in a certain ratio and was endowed with a special magnetization profile. Microrobots that experience external magnetic fields are able to swim underwater and have environmental adaptations that include the flexibility to traverse aquatic plants area and crushed stone terrain. The robot also exhibits friendly interactivity and camouflage ability to get close to the zebrafish without scaring them. Moreover, the soft miniature robotic fish could be used to study the impacts of the morphology and kinematics changing in zebrafish populations.
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Affiliation(s)
- Chenyang Huang
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
- SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, People's Republic of China
- University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
| | - Zhengyu Lai
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
- SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, People's Republic of China
- University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
| | - Li Zhang
- SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems, Shenzhen Institutes of Advanced Technology, Shenzhen 518055, People's Republic of China
- Department of Mechanical and Automation Engineering of The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, People's Republic of China
| | - Xinyu Wu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
- SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, People's Republic of China
- SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems, Shenzhen Institutes of Advanced Technology, Shenzhen 518055, People's Republic of China
- Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen 518055, People's Republic of China
| | - Tiantian Xu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
- SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, People's Republic of China
- SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems, Shenzhen Institutes of Advanced Technology, Shenzhen 518055, People's Republic of China
- Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen 518055, People's Republic of China
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100
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Hou K, Guan D, Li H, Sun Y, Long Y, Song K. Programmable light-driven swimming actuators via wavelength signal switching. SCIENCE ADVANCES 2021; 7:eabh3051. [PMID: 34516762 PMCID: PMC8442936 DOI: 10.1126/sciadv.abh3051] [Citation(s) in RCA: 12] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/01/2021] [Accepted: 07/22/2021] [Indexed: 06/13/2023]
Abstract
Light-driven swimming actuators with different motion modes could lead to many previously unachievable applications. However, controllable navigation often requires focusing light precisely on certain positions of the actuator, which is unfavorable for accurate dynamical operation or in microscale applications. Here, we present a type of programmable swimming actuators that can execute wavelength-dependent multidirectional motions via the Marangoni effect. Several multi–degree of freedom swimming motions have been realized: Forward-and-backward and zigzag actuators can execute one-dimensional (1D) and 2D linear motion, respectively; bidirectional gear rotation as angular motion can be regulated to obtain tunable speeds; and the turning actuator as a “freighter” is able to turn left, right, and go straight for precise maze navigation. A mechanical measurement system is established to quantitatively measure the driving force of the motion directly. The accessible wavelength-selective strategy presented here can inspire further explorations of simple and practical light-driven materials and systems.
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Affiliation(s)
- Kai Hou
- Key Laboratory of Bio-inspired Materials and Interfacial Science, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Dongshi Guan
- The State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Sciences, Beijing 100190, P. R. China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Hangyu Li
- The State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Sciences, Beijing 100190, P. R. China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
| | - Yongqi Sun
- Key Laboratory of Bio-inspired Materials and Interfacial Science, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
- Institute of Chemical Materials, China Academy of Engineering Physics, Mianyang 621900, P. R. China
| | - Yue Long
- Key Laboratory of Bio-inspired Materials and Interfacial Science, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
| | - Kai Song
- Key Laboratory of Bio-inspired Materials and Interfacial Science, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, P. R. China
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