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Zeng H, Wang Y, Jiang T, Xia H, Gu X, Chen H. Recent progress of biomimetic motions-from microscopic micro/nanomotors to macroscopic actuators and soft robotics. RSC Adv 2021; 11:27406-27419. [PMID: 35480677 PMCID: PMC9037800 DOI: 10.1039/d1ra05021d] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/29/2021] [Accepted: 08/05/2021] [Indexed: 12/24/2022] Open
Abstract
Motion is a basic behavioral attribute of organisms, and it is a behavioral response of organisms to the external environment and internal state changes. Materials with switchable mechanical properties are widespread in living organisms and play crucial roles in the motion of organisms. Therefore, significant efforts have been made toward mimicking such architectures and motion behaviors by making full use of the properties of stimulus-responsive materials to design smart materials/machines with specific functions. In recent years, the biomimetic motions based on micro/nanomotors, actuators and soft robots constructed from smart response materials have been developed gradually. However, a comprehensive discussion on various categories of biomimetic motions in this field is still missing. This review aims to provide such a panoramic overview. From nano-to macroscales, we summarize various biomimetic motions based on micro/nanomotors, actuators and soft robotics. For each biomimetic motion, we discuss the driving modes and the key functions. The challenges and opportunities of biomimetic motions are also discussed. With rapidly increasing innovation, advanced, intelligent and multifunctional biomimetic motions based on micro/nanomotors, actuators and soft robotics will certainly bring profound impacts and changes for human life in the near future. Biomimetic motions are derived from the many different functional materials and/or intricate and highly organized structure of the biological material from the molecular to the nanoscale, microscale and macroscale.![]()
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Affiliation(s)
- Hongbo Zeng
- Key Laboratory of Yarn Materials Forming and Composite Processing Technology of Zhejiang Province, Jiaxing University Jiaxing 314001 China
| | - Yu Wang
- Key Laboratory of Yarn Materials Forming and Composite Processing Technology of Zhejiang Province, Jiaxing University Jiaxing 314001 China
| | - Tao Jiang
- Key Laboratory of Yarn Materials Forming and Composite Processing Technology of Zhejiang Province, Jiaxing University Jiaxing 314001 China
| | - Hongqin Xia
- Key Laboratory of Yarn Materials Forming and Composite Processing Technology of Zhejiang Province, Jiaxing University Jiaxing 314001 China
| | - Xue Gu
- Key Laboratory of Yarn Materials Forming and Composite Processing Technology of Zhejiang Province, Jiaxing University Jiaxing 314001 China
| | - Hongxu Chen
- Key Laboratory of Yarn Materials Forming and Composite Processing Technology of Zhejiang Province, Jiaxing University Jiaxing 314001 China .,Nanotechnology Research Institute (NRI), Jiaxing University Jiaxing 314001 China
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102
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Liu Y, Sun A, Sridhar S, Li Z, Qin Z, Liu J, Chen X, Lu H, Tang BZ, Xu BB. Spatially and Reversibly Actuating Soft Gel Structure by Harnessing Multimode Elastic Instabilities. ACS APPLIED MATERIALS & INTERFACES 2021; 13:36361-36369. [PMID: 34291634 DOI: 10.1021/acsami.1c10431] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Autonomous shape transformation is key in developing high-performance soft robotics technology; the search for pronounced actuation mechanisms is an ongoing mission. Here, we present the programmable shape morphing of a three-dimensional (3D) curved gel structure by harnessing multimode mechanical instabilities during free swelling. First of all, the coupling of buckling and creasing occurs at the dedicated region of the gel structure, which is attributed to the edge and surface instabilities resulted from structure-defined spatial nonuniformity of swelling. The subsequent developments of post-buckling morphologies and crease patterns collaboratively drive the structural transformation of the gel part from the "open" state to the "closed" state, thus realizing the function of gripping. By utilizing the multi-stimuli-responsive nature of the hydrogel, we recover the swollen gel structure to its initial state, enabling reproducible and cyclic shape evolution. The described soft gel structure capable of shape transformation brings a variety of advantages, such as easy to fabricate, large strain transformation, efficient actuation, and high strength-to-weight ratio, and is anticipated to provide guidance for future applications in soft robotics, flexible electronics, offshore engineering, and healthcare products.
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Affiliation(s)
- Yingzhi Liu
- Science and Technology on Advanced Composites in Special Environments Laboratory, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
| | - Ansu Sun
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
| | - Sreepathy Sridhar
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
| | - Zhenghong Li
- Science and Technology on Advanced Composites in Special Environments Laboratory, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
| | - Zhuofan Qin
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
| | - Ji Liu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Xue Chen
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
| | - Haibao Lu
- Science and Technology on Advanced Composites in Special Environments Laboratory, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
| | - Ben Zhong Tang
- Department of Chemistry, The Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration and Reconstruction and Institute for Advanced Study, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong 999077, China
| | - Ben Bin Xu
- Smart Materials and Surfaces Laboratory, Faculty of Engineering and Environment, Northumbria University, Newcastle upon Tyne NE1 8ST, U.K
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103
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Abstract
Intelligence of physical agents, such as human-made (e.g., robots, autonomous cars) and biological (e.g., animals, plants) ones, is not only enabled by their computational intelligence (CI) in their brain, but also by their physical intelligence (PI) encoded in their body. Therefore, it is essential to advance the PI of human-made agents as much as possible, in addition to their CI, to operate them in unstructured and complex real-world environments like the biological agents. This article gives a perspective on what PI paradigm is, when PI can be more significant and dominant in physical and biological agents at different length scales and how bioinspired and abstract PI methods can be created in agent bodies. PI paradigm aims to synergize and merge many research fields, such as mechanics, materials science, robotics, mechanical design, fluidics, active matter, biology, self-assembly and collective systems, to enable advanced PI capabilities in human-made agent bodies, comparable to the ones observed in biological organisms. Such capabilities would progress the future robots and other machines beyond what can be realized using the current frameworks.
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Affiliation(s)
- Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
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104
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Lin D, Yang F, Gong D, Lin Z, Li R, Qian W, Li C, Jia S, Chen H. Magnetoactive Soft Drivers with Radial-Chain Iron Microparticles. ACS APPLIED MATERIALS & INTERFACES 2021; 13:34935-34941. [PMID: 34279894 DOI: 10.1021/acsami.1c08525] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Magnetoactive elastomers (MAEs), one kind of typical novel magnetoactive driver applied in the soft robotic area, have become one of the research hotspots as they can provide biologically friendly driving methods with safe, preprogrammed, and easy-to-implement properties. In this study, novel MAEs embedding soft magnetic iron microparticles with radial chains, which can be molded in one piece, achieve 3D deformation, and co-work between multiple MAEs under single homogeneous stimuli, are proposed. Then, two kinds of novel magnetoactive drivers are established based on the proposed MAEs, which can achieve the synchronous pumping behavior of heart and the extension behavior of muscle under applied homogeneous magnetic fields. The experimental data show that (1) for the pumping behavior, the maximum instantaneous flow rate and total pumping volume can reach 200.1 and 52.3 mL/min, respectively, under 120 BPM applied harmonic magnetic field with 0-300 mT amplitude; (2) the muscle extension behavior can achieve a strain of 0.925 without a loading mass and carry a load of 40 times its own weight with a pronounced dynamic movement. It should be emphasized that the behavior of the proposed magnetoactive drivers can be excited by remote homogeneous magnetic fields, and it has great application potential in biomimetic or bioinspired soft driving systems.
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Affiliation(s)
- Dezhao Lin
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Fan Yang
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Di Gong
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Zhihong Lin
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Ruihong Li
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Wenbo Qian
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Chenghong Li
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Sheng Jia
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
| | - Hongwei Chen
- Research Center for Intelligent Materials and Structures (CIMS), College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, Fujian, P. R. China
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105
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Zhang J, Guo Y, Hu W, Sitti M. Wirelessly Actuated Thermo- and Magneto-Responsive Soft Bimorph Materials with Programmable Shape-Morphing. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2100336. [PMID: 34048125 PMCID: PMC7612658 DOI: 10.1002/adma.202100336] [Citation(s) in RCA: 32] [Impact Index Per Article: 10.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/14/2021] [Revised: 03/14/2021] [Indexed: 05/06/2023]
Abstract
Soft materials that respond to wireless external stimuli are referred to as "smart" materials due to their promising potential in real-world actuation and sensing applications in robotics, microfluidics, and bioengineering. Recent years have witnessed a burst of these stimuli-responsive materials and their preliminary applications. However, their further advancement demands more versatility, configurability, and adaptability to deliver their promised benefits. Here, a dual-stimuli-responsive soft bimorph material with three configurations that enable complex programmable 3D shape-morphing is presented. The material consists of liquid crystal elastomers (LCEs) and magnetic-responsive elastomers (MREs) via facile fabrication that orthogonally integrates their respective stimuli-responsiveness without detrimentally altering their properties. The material offers an unprecedented wide design space and abundant degree-of-freedoms (DoFs) due to the LCE's programmable director field, the MRE's programmable magnetization profile, and diverse geometric configurations. It responds to wireless stimuli of the controlled magnetic field and environmental temperature. Its dual-responsiveness allows the independent control of different DoFs for complex shape-morphing behaviors with anisotropic material properties. A diverse set of in situ reconfigurable shape-morphing and an environment-aware untethered miniature 12-legged robot capable of locomotion and self-gripping are demonstrated. Such material can provide solutions for the development of future soft robotic and other functional devices.
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Affiliation(s)
- Jiachen Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Yubing Guo
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - 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 Zürich, Zürich, 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, 34450, Turkey
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106
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Lin X, Xu B, Zhao Z, Yang X, Xing Y, You C, Kong Y, Cui J, Zhu L, Lin S, Mei Y. Flying Squirrel-Inspired Motion Control of a Light-Deformed Pt-PAzoMA Micromotor through Drag Force Manipulation. ACS APPLIED MATERIALS & INTERFACES 2021; 13:30106-30117. [PMID: 34143593 DOI: 10.1021/acsami.1c07569] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Micromotors require stable and precise motion control for complex tasks such as microsurgery, drug delivery in vivo, or environmental monitoring ex vivo. However, a continuous control signal is needed for micromotors to achieve motion control during their whole journey, which hinders their application in areas where external control stimuli are limited or unavailable. Fortunately, nature suggests an excellent solution that flying squirrel exhibits motion tuning capability by deforming itself when jumping off a tall tree. Inspired by this, we propose a Pt-PAzoMA Janus micromotor that precisely changes its shape (from a spherical shape to an elliptical shape) under a brief light signal (450 nm) and maintains this deformation until next signal reception. The deformed elliptical micromotor performs relatively low-speed motion compared to the spherical one, which is further confirmed by massive simulation results. In addition, by investigating motion behavior experimentally and theoretically, it is proved that the motion modulation is caused by the drag force changing brought from the deformation. This method represents a different route to regulate the motion of micromotors without a continuous signal, which is useful in application scenarios where the environmental control signal is inaccessible/limited or long-time operation with minimum energy input is required to maintain motion manipulation. With further function modification, this kind of shape-changing micromotor has potential in optimizing drug diffusion efficiency by speed altering and long-term monitoring at the diseased area by confining the active range of the micromotor in the targeted area through deformation.
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Affiliation(s)
- Xinyi Lin
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
| | - Borui Xu
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
| | - Zhe Zhao
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
| | - Xiaoyan Yang
- Shanghai Key Laboratory of Advanced Polymeric Materials, Key Laboratory for Ultrafine Materials of Ministry of Education, School of Materials Science and Engineering, East China University of Science and Technology, Shanghai 200237, China
| | - Yi Xing
- State Key Laboratory of Molecular Engineering of Polymers, Department of Macromolecular Science, Fudan University, Shanghai 200433, China
| | - Chunyu You
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
| | - Ye Kong
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
| | - Jizhai Cui
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
| | - Liangliang Zhu
- State Key Laboratory of Molecular Engineering of Polymers, Department of Macromolecular Science, Fudan University, Shanghai 200433, China
| | - Shaoliang Lin
- Shanghai Key Laboratory of Advanced Polymeric Materials, Key Laboratory for Ultrafine Materials of Ministry of Education, School of Materials Science and Engineering, East China University of Science and Technology, Shanghai 200237, China
| | - Yongfeng Mei
- Department of Materials Science, Fudan University, Shanghai 200433, P. R. China
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107
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Wei S, Qiu H, Shi H, Lu W, Liu H, Yan H, Zhang D, Zhang J, Theato P, Wei Y, Chen T. Promotion of Color-Changing Luminescent Hydrogels from Thermo to Electrical Responsiveness toward Biomimetic Skin Applications. ACS NANO 2021; 15:10415-10427. [PMID: 34061509 DOI: 10.1021/acsnano.1c02720] [Citation(s) in RCA: 31] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/26/2023]
Abstract
The active color-changing ability of many living species has inspired scientists to replicate the optical property into soft wet and tissue-like hydrogel materials. However, the color-changing processes of most reported examples are controlled by the traditional stimuli (e.g., pH, temperature, and ions), which may suffer from the residual chemical product accumulation, and have difficulty in achieving local control and integration into the commercial robots, especially when applied as biomimetic skins. Herein, inspired by the nervous (bioelectricity) control of skin color change in cephalopods, we present an electrically powered multicolor fluorescent hydrogel system with asymmetric configuration that couples thermoresponsive fluorescent hydrogel with stacked graphene assembly (SGA)-based conductive paper through luminous paint as the middle layer. Owing to the highly controllable electrical stimulus in terms of amplitude and duration, the Joule heat supplied by SGA film can be regulated locally and in real time, leading to precise and local emission color control at low voltage. It also avoids the addition of any chemicals. Furthermore, the electrically powered color-changing hydrogel system can be conveniently integrated into the commercial robots as biomimetic skins that help them achieve desirable camouflage, display, or alarming functions.
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Affiliation(s)
- Shuxin Wei
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing 100049, China
| | - Huiyu Qiu
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
| | - Huihui Shi
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing 100049, China
| | - Wei Lu
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing 100049, China
| | - Hao Liu
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing 100049, China
| | - Huizhen Yan
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
| | - Dachuan Zhang
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
| | - Jiawei Zhang
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing 100049, China
| | - Patrick Theato
- Soft Matter Synthesis Laboratory, Institute for Biological Interfaces III, Karlsruhe Institute of Technology (KIT), Hermann-von-Helmholtz-Platz 1, D-76344 Eggenstein-Leopoldshafen, Germany
- Institute for Chemical Technology and Polymer Chemistry, Karlsruhe Institute of Technology (KIT), Engesser Str. 18, D-76131 Karlsruhe, Germany
| | - Yen Wei
- The Key Laboratory of Bioorganic Phosphorus Chemistry and Chemical Biology, Department of Chemistry, Tsinghua University, Beijing 100084, China
| | - Tao Chen
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing 100049, China
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108
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Bhovad P, Li S. Physical reservoir computing with origami and its application to robotic crawling. Sci Rep 2021; 11:13002. [PMID: 34155251 PMCID: PMC8217268 DOI: 10.1038/s41598-021-92257-1] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2021] [Accepted: 06/04/2021] [Indexed: 12/17/2022] Open
Abstract
A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive simulations based on a dynamic truss-frame model, this study shows that an origami structure can perform as a dynamic reservoir with sufficient computing power to emulate high-order nonlinear systems, generate stable limit cycles, and modulate outputs according to dynamic inputs. This study also uncovers the linkages between the origami reservoir's physical designs and its computing power, offering a guideline to optimize the computing performance. Comprehensive parametric studies show that selecting optimal feedback crease distribution and fine-tuning the underlying origami folding designs are the most effective approach to improve computing performance. Furthermore, this study shows how origami's physical reservoir computing power can apply to soft robotic control problems by a case study of earthworm-like peristaltic crawling without traditional controllers. These results can pave the way for origami-based robots with embodied mechanical intelligence.
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Affiliation(s)
- Priyanka Bhovad
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA.
| | - Suyi Li
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA
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109
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Hu X, Yasa IC, Ren Z, Goudu SR, Ceylan H, Hu W, Sitti M. Magnetic soft micromachines made of linked microactuator networks. SCIENCE ADVANCES 2021; 7:7/23/eabe8436. [PMID: 34088661 PMCID: PMC8177716 DOI: 10.1126/sciadv.abe8436] [Citation(s) in RCA: 34] [Impact Index Per Article: 11.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/17/2020] [Accepted: 04/20/2021] [Indexed: 05/03/2023]
Abstract
Soft untethered micromachines with overall sizes less than 100 μm enable diverse programmed shape transformations and functions for future biomedical and organ-on-a-chip applications. However, fabrication of such machines has been hampered by the lack of control of microactuator's programmability. To address such challenge, we use two-photon polymerization to selectively link Janus microparticle-based magnetic microactuators by three-dimensional (3D) printing of soft or rigid polymer microstructures or links. Sequentially, we position each microactuator at a desired location by surface rolling and rotation to a desired position and orientation by applying magnetic field-based torques, and then 3D printing soft or rigid links to connect with other temporarily fixed microactuators. The linked 2D microactuator networks exhibit programmed 2D and 3D shape transformations, and untethered limbless and limbed micromachine prototypes exhibit various robotic gaits for surface locomotion. The fabrication strategy presented here can enable soft micromachine designs and applications at the cellular scales.
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Affiliation(s)
- Xinghao Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Immihan C Yasa
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Sandhya R Goudu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Hakan Ceylan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.
| | - 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 Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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110
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Xu C, Yang Z, Lum GZ. Small-Scale Magnetic Actuators with Optimal Six Degrees-of-Freedom. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2100170. [PMID: 33938046 DOI: 10.1002/adma.202100170] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/08/2021] [Revised: 02/08/2021] [Indexed: 06/12/2023]
Abstract
Magnetic miniature robots (MMRs) are small-scale, untethered actuators which can be controlled by magnetic fields. As these actuators can non-invasively access highly confined and enclosed spaces; they have great potential to revolutionize numerous applications in robotics, materials science, and biomedicine. While the creation of MMRs with six-degrees-of-freedom (six-DOF) represents a major advancement for this class of actuators, these robots are not widely adopted due to two critical limitations: i) under precise orientation control, these MMRs have slow sixth-DOF angular velocities (4 degree s-1 ) and it is difficult to apply desired magnetic forces on them; ii) such MMRs cannot perform soft-bodied functionalities. Here a fabrication method that can magnetize optimal MMRs to produce 51-297-fold larger sixth-DOF torque than existing small-scale, magnetic actuators is introduced. A universal actuation method that is applicable for rigid and soft MMRs with six-DOF is also proposed. Under precise orientation control, the optimal MMRs can execute full six-DOF motions reliably and achieve sixth-DOF angular velocities of 173 degree s-1 . The soft MMRs can display unprecedented functionalities; the six-DOF jellyfish-like robot can swim across barriers impassable by existing similar devices and the six-DOF gripper is 20-folds quicker than its five-DOF predecessor in completing a complicated, small-scale assembly.
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Affiliation(s)
- Changyu Xu
- Nanyang Technological University, School of Mechanical and Aerospace Engineering, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Zilin Yang
- Nanyang Technological University, School of Mechanical and Aerospace Engineering, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Guo Zhan Lum
- Nanyang Technological University, School of Mechanical and Aerospace Engineering, 50 Nanyang Avenue, Singapore, 639798, Singapore
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111
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Ren Z, Zhang R, Soon RH, Liu Z, Hu W, Onck PR, Sitti M. Soft-bodied adaptive multimodal locomotion strategies in fluid-filled confined spaces. SCIENCE ADVANCES 2021; 7:eabh2022. [PMID: 34193416 PMCID: PMC8245043 DOI: 10.1126/sciadv.abh2022] [Citation(s) in RCA: 56] [Impact Index Per Article: 18.7] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/22/2021] [Accepted: 05/17/2021] [Indexed: 05/06/2023]
Abstract
Soft-bodied locomotion in fluid-filled confined spaces is critical for future wireless medical robots operating inside vessels, tubes, channels, and cavities of the human body, which are filled with stagnant or flowing biological fluids. However, the active soft-bodied locomotion is challenging to achieve when the robot size is comparable with the cross-sectional dimension of these confined spaces. Here, we propose various control and performance enhancement strategies to let the sheet-shaped soft millirobots achieve multimodal locomotion, including rolling, undulatory crawling, undulatory swimming, and helical surface crawling depending on different fluid-filled confined environments. With these locomotion modes, the sheet-shaped soft robot can navigate through straight or bent gaps with varying sizes, tortuous channels, and tubes with a flowing fluid inside. Such soft robot design along with its control and performance enhancement strategies are promising to be applied in future wireless soft medical robots inside various fluid-filled tight regions of the human body.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
| | - Rongjing Zhang
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG Groningen, Netherlands
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.
| | - Patrick R Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG Groningen, Netherlands.
| | - 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
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112
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Mujtaba J, Liu J, Dey KK, Li T, Chakraborty R, Xu K, Makarov D, Barmin RA, Gorin DA, Tolstoy VP, Huang G, Solovev AA, Mei Y. Micro-Bio-Chemo-Mechanical-Systems: Micromotors, Microfluidics, and Nanozymes for Biomedical Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2007465. [PMID: 33893682 DOI: 10.1002/adma.202007465] [Citation(s) in RCA: 44] [Impact Index Per Article: 14.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/01/2020] [Revised: 12/27/2020] [Indexed: 06/12/2023]
Abstract
Wireless nano-/micromotors powered by chemical reactions and/or external fields generate motive forces, perform tasks, and significantly extend short-range dynamic responses of passive biomedical microcarriers. However, before micromotors can be translated into clinical use, several major problems, including the biocompatibility of materials, the toxicity of chemical fuels, and deep tissue imaging methods, must be solved. Nanomaterials with enzyme-like characteristics (e.g., catalase, oxidase, peroxidase, superoxide dismutase), that is, nanozymes, can significantly expand the scope of micromotors' chemical fuels. A convergence of nanozymes, micromotors, and microfluidics can lead to a paradigm shift in the fabrication of multifunctional micromotors in reasonable quantities, encapsulation of desired subsystems, and engineering of FDA-approved core-shell structures with tuneable biological, physical, chemical, and mechanical properties. Microfluidic methods are used to prepare stable bubbles/microbubbles and capsules integrating ultrasound, optoacoustic, fluorescent, and magnetic resonance imaging modalities. The aim here is to discuss an interdisciplinary approach of three independent emerging topics: micromotors, nanozymes, and microfluidics to creatively: 1) embrace new ideas, 2) think across boundaries, and 3) solve problems whose solutions are beyond the scope of a single discipline toward the development of micro-bio-chemo-mechanical-systems for diverse bioapplications.
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Affiliation(s)
- Jawayria Mujtaba
- Department of Materials Science, Fudan University, Shanghai, 200433, P. R. China
| | - Jinrun Liu
- Department of Materials Science, Fudan University, Shanghai, 200433, P. R. China
| | - Krishna K Dey
- Discipline of Physics, Indian Institute of Technology Gandhinagar, Gandhinagar, Gujarat, 382355, India
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, 150001, P. R. China
| | - Rik Chakraborty
- Discipline of Physics, Indian Institute of Technology Gandhinagar, Gandhinagar, Gujarat, 382355, India
| | - Kailiang Xu
- Department of Materials Science, Fudan University, Shanghai, 200433, P. R. China
- School of Information Science and Technology, Fudan University, Shanghai, 200433, P. R. China
| | - Denys Makarov
- Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Bautzner Landstraße 400, 01328, Dresden, Germany
| | - Roman A Barmin
- Center of Photonics and Quantum Materials, Skolkovo Institute of Science and Technology, 3 Nobelya Str, Moscow, 121205, Russia
| | - Dmitry A Gorin
- Center of Photonics and Quantum Materials, Skolkovo Institute of Science and Technology, 3 Nobelya Str, Moscow, 121205, Russia
| | - Valeri P Tolstoy
- Institute of Chemistry, Saint Petersburg State University, 26 Universitetskii Prospect, Petergof, St. Petersburg, 198504, Russia
| | - Gaoshan Huang
- Department of Materials Science, Fudan University, Shanghai, 200433, P. R. China
| | - Alexander A Solovev
- Department of Materials Science, Fudan University, Shanghai, 200433, P. R. China
| | - Yongfeng Mei
- Department of Materials Science, Fudan University, Shanghai, 200433, P. R. China
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113
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Yurugi M, Shimanokami M, Nagai T, Shintake J, Ikemoto Y. Cartilage structure increases swimming efficiency of underwater robots. Sci Rep 2021; 11:11288. [PMID: 34050230 PMCID: PMC8163796 DOI: 10.1038/s41598-021-90926-9] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2021] [Accepted: 05/17/2021] [Indexed: 12/03/2022] Open
Abstract
Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilage structures encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilage structure in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.
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Affiliation(s)
- Masaki Yurugi
- Faculty of Science and Technology, Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, 468-8502, Japan
| | - Makoto Shimanokami
- Faculty of Science and Technology, Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, 468-8502, Japan
| | - Toshiaki Nagai
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Jun Shintake
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Yusuke Ikemoto
- Faculty of Science and Technology, Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, 468-8502, Japan.
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114
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Vallem V, Sargolzaeiaval Y, Ozturk M, Lai YC, Dickey MD. Energy Harvesting and Storage with Soft and Stretchable Materials. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2004832. [PMID: 33502808 DOI: 10.1002/adma.202004832] [Citation(s) in RCA: 36] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/15/2020] [Revised: 09/04/2020] [Indexed: 06/12/2023]
Abstract
This review highlights various modes of converting ambient sources of energy into electricity using soft and stretchable materials. These mechanical properties are useful for emerging classes of stretchable electronics, e-skins, bio-integrated wearables, and soft robotics. The ability to harness energy from the environment allows these types of devices to be tetherless, thereby leading to a greater range of motion (in the case of robotics), better compliance (in the case of wearables and e-skins), and increased application space (in the case of electronics). A variety of energy sources are available including mechanical (vibrations, human motion, wind/fluid motion), electromagnetic (radio frequency (RF), solar), and thermodynamic (chemical or thermal energy). This review briefly summarizes harvesting mechanisms and focuses on the materials' strategies to render such devices into soft or stretchable embodiments.
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Affiliation(s)
- Veenasri Vallem
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yasaman Sargolzaeiaval
- Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Mehmet Ozturk
- Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Ying-Chih Lai
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 402, Taiwan
- Innovation and Development Center of Sustainable Agriculture, Research Center for Sustainable Energy and Nanotechnology, National Chung Hsing University, Taichung, 402, Taiwan
| | - Michael D Dickey
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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115
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Ng CSX, Tan MWM, Xu C, Yang Z, Lee PS, Lum GZ. Locomotion of Miniature Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2003558. [PMID: 33338296 DOI: 10.1002/adma.202003558] [Citation(s) in RCA: 43] [Impact Index Per Article: 14.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/25/2020] [Revised: 08/16/2020] [Indexed: 06/12/2023]
Abstract
Miniature soft robots are mobile devices, which are made of smart materials that can be actuated by external stimuli to realize their desired functionalities. Here, the key advancements and challenges of the locomotion producible by miniature soft robots in micro- to centimeter length scales are highlighted. It is highly desirable to endow these small machines with dexterous locomotive gaits as it enables them to easily access highly confined and enclosed spaces via a noninvasive manner. If miniature soft robots are able to capitalize this unique ability, they will have the potential to transform a vast range of applications, including but not limited to, minimally invasive medical treatments, lab-on-chip applications, and search-and-rescue missions. The gaits of miniature soft robots are categorized into terrestrial, aquatic, and aerial locomotion. Except for the centimeter-scale robots that can perform aerial locomotion, the discussions in this report are centered around soft robots that are in the micro- to millimeter length scales. Under each category of locomotion, prospective methods and strategies that can improve their gait performances are also discussed. This report provides critical analyses and discussions that can inspire future strategies to make miniature soft robots significantly more agile.
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Affiliation(s)
- Chelsea Shan Xian Ng
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Matthew Wei Ming Tan
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Changyu Xu
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Zilin Yang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Guo Zhan Lum
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
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116
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Tan YJ, Susanto GJ, Anwar Ali HP, Tee BCK. Progress and Roadmap for Intelligent Self-Healing Materials in Autonomous Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2002800. [PMID: 33346389 DOI: 10.1002/adma.202002800] [Citation(s) in RCA: 36] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/25/2020] [Revised: 08/05/2020] [Indexed: 06/12/2023]
Abstract
Robots are increasingly assisting humans in performing various tasks. Like special agents with elite skills, they can venture to distant locations and adverse environments, such as the deep sea and outer space. Micro/nanobots can also act as intrabody agents for healthcare applications. Self-healing materials that can autonomously perform repair functions are useful to address the unpredictability of the environment and the increasing drive toward the autonomous operation. Having self-healable robotic materials can potentially reduce costs, electronic wastes, and improve a robot endowed with such materials longevity. This review aims to serve as a roadmap driven by past advances and inspire future cross-disciplinary research in robotic materials and electronics. By first charting the history of self-healing materials, new avenues are provided to classify the various self-healing materials proposed over several decades. The materials and strategies for self-healing in robotics and stretchable electronics are also reviewed and discussed. It is believed that this article encourages further innovation in this exciting and emerging branch in robotics interfacing with material science and electronics.
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Affiliation(s)
- Yu Jun Tan
- Department of Materials Science and Engineering, National University of Singapore, Singapore, 117575, Singapore
- Institute of Innovation in Health Technology (iHealthtech), National University of Singapore, Singapore, 117599, Singapore
| | - Glenys Jocelin Susanto
- Department of Materials Science and Engineering, National University of Singapore, Singapore, 117575, Singapore
| | - Hashina Parveen Anwar Ali
- Department of Materials Science and Engineering, National University of Singapore, Singapore, 117575, Singapore
| | - Benjamin C K Tee
- Department of Materials Science and Engineering, National University of Singapore, Singapore, 117575, Singapore
- Institute of Innovation in Health Technology (iHealthtech), National University of Singapore, Singapore, 117599, Singapore
- Electrical and Computer Engineering, National University of Singapore, Singapore, 117583, Singapore
- N.1 Institute of Health, National University of Singapore, Singapore
- Institute of Materials Research and Engineering, Agency for Science Technology and Research, Singapore, 138634, Singapore
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117
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Pal A, Restrepo V, Goswami D, Martinez RV. Exploiting Mechanical Instabilities in Soft Robotics: Control, Sensing, and Actuation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2006939. [PMID: 33792085 DOI: 10.1002/adma.202006939] [Citation(s) in RCA: 42] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/12/2020] [Revised: 12/13/2020] [Indexed: 06/12/2023]
Abstract
The rapidly expanding field of soft robotics has provided multiple examples of how entirely soft machines and actuators can outperform conventional rigid robots in terms of adaptability, maneuverability, and safety. Unfortunately, the soft and flexible materials used in their construction impose intrinsic limitations on soft robots, such as low actuation speeds and low output forces. Nature offers multiple examples where highly flexible organisms exploit mechanical instabilities to store and rapidly release energy. Guided by these examples, researchers have recently developed a variety of strategies to overcome speed and power limitations in soft robotics using mechanical instabilities. These mechanical instabilities provide, through rapid transitions from structurally stable states, a new route to achieve high output power amplification and attain impressive actuation speeds. Here, an overview of the literature related to the development of soft robots and actuators that exploit mechanical instabilities to expand their actuation speed, output power, and functionality is presented. Additionally, strategies using structural phase transitions to address current challenges in the area of soft robotic control, sensing, and actuation are discussed. Approaches using instabilities to create entirely soft logic modules to imbue soft robots with material intelligence and distributed computational capabilities are also reviewed.
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Affiliation(s)
- Aniket Pal
- School of Industrial Engineering, Purdue University, 315 N. Grant Street, West Lafayette, IN, 47907, USA
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
| | - Vanessa Restrepo
- School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette, IN, 47907, USA
| | - Debkalpa Goswami
- School of Industrial Engineering, Purdue University, 315 N. Grant Street, West Lafayette, IN, 47907, USA
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, 45 Carleton Street, Cambridge, MA, 02142, USA
| | - Ramses V Martinez
- School of Industrial Engineering, Purdue University, 315 N. Grant Street, West Lafayette, IN, 47907, USA
- Weldon School of Biomedical Engineering, Purdue University, 206 S. Martin Jischke Drive, West Lafayette, IN, 47907, USA
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118
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Zhang J, Ren Z, Hu W, Soon RH, Yasa IC, Liu Z, Sitti M. Voxelated three-dimensional miniature magnetic soft machines via multimaterial heterogeneous assembly. Sci Robot 2021; 6:6/53/eabf0112. [PMID: 34043568 DOI: 10.1126/scirobotics.abf0112] [Citation(s) in RCA: 78] [Impact Index Per Article: 26.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/28/2020] [Accepted: 03/29/2021] [Indexed: 12/20/2022]
Abstract
Small-scale soft-bodied machines that respond to externally applied magnetic field have attracted wide research interest because of their unique capabilities and promising potential in a variety of fields, especially for biomedical applications. When the size of such machines approach the sub-millimeter scale, their designs and functionalities are severely constrained by the available fabrication methods, which only work with limited materials, geometries, and magnetization profiles. To free such constraints, here, we propose a bottom-up assembly-based 3D microfabrication approach to create complex 3D miniature wireless magnetic soft machines at the milli- and sub-millimeter scale with arbitrary multimaterial compositions, arbitrary 3D geometries, and arbitrary programmable 3D magnetization profiles at high spatial resolution. This approach helps us concurrently realize diverse characteristics on the machines, including programmable shape morphing, negative Poisson's ratio, complex stiffness distribution, directional joint bending, and remagnetization for shape reconfiguration. It enlarges the design space and enables biomedical device-related functionalities that are previously difficult to achieve, including peristaltic pumping of biological fluids and transport of solid objects, active targeted cargo transport and delivery, liquid biopsy, and reversible surface anchoring in tortuous tubular environments withstanding fluid flows, all at the sub-millimeter scale. This work improves the achievable complexity of 3D magnetic soft machines and boosts their future capabilities for applications in robotics and biomedical engineering.
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Affiliation(s)
- Jiachen Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - Immihan Ceren Yasa
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
| | - 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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119
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Byun J, Park M, Baek SM, Yoon J, Kim W, Lee B, Hong Y, Cho KJ. Underwater maneuvering of robotic sheets through buoyancy-mediated active flutter. Sci Robot 2021; 6:6/53/eabe0637. [PMID: 34043564 DOI: 10.1126/scirobotics.abe0637] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/29/2020] [Accepted: 03/30/2021] [Indexed: 01/09/2023]
Abstract
Falling leaves flutter from side to side due to passive and intrinsic fluid-body coupling. Exploiting the dynamics of passive fluttering could lead to fresh perspectives for the locomotion and manipulation of thin, planar objects in fluid environments. Here, we show that the time-varying density distribution within a thin, planar body effectively elicits minimal momentum control to reorient the principal flutter axis and propel itself via directional fluttery motions. We validated the principle by developing a swimming leaf with a soft skin that can modulate local buoyancy distributions for active flutter dynamics. To show generality and field applicability, we demonstrated underwater maneuvering and manipulation of adhesive and oil-skimming sheets for environmental remediation. These findings could inspire future intelligent underwater robots and manipulation schemes.
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Affiliation(s)
- Junghwan Byun
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea.,Biorobotics Lab, Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea.,Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Minjo Park
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea.,Biorobotics Lab, Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
| | - Sang-Min Baek
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea.,Biorobotics Lab, Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
| | - Jaeyoung Yoon
- Department of Electrical and Computer Engineering, Inter-university Semiconductor Research Center, Seoul National University, Seoul, Republic of Korea
| | - Woongbae Kim
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea.,Biorobotics Lab, Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
| | - Byeongmoon Lee
- Department of Electrical and Computer Engineering, Inter-university Semiconductor Research Center, Seoul National University, Seoul, Republic of Korea
| | - Yongtaek Hong
- Department of Electrical and Computer Engineering, Inter-university Semiconductor Research Center, Seoul National University, Seoul, Republic of Korea
| | - Kyu-Jin Cho
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea. .,Biorobotics Lab, Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
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120
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Tang W, Zhang C, Zhong Y, Zhu P, Hu Y, Jiao Z, Wei X, Lu G, Wang J, Liang Y, Lin Y, Wang W, Yang H, Zou J. Customizing a self-healing soft pump for robot. Nat Commun 2021; 12:2247. [PMID: 33854071 PMCID: PMC8046788 DOI: 10.1038/s41467-021-22391-x] [Citation(s) in RCA: 31] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/11/2020] [Accepted: 03/02/2021] [Indexed: 01/18/2023] Open
Abstract
Recent advances in soft materials enable robots to possess safer human-machine interaction ways and adaptive motions, yet there remain substantial challenges to develop universal driving power sources that can achieve performance trade-offs between actuation, speed, portability, and reliability in untethered applications. Here, we introduce a class of fully soft electronic pumps that utilize electrical energy to pump liquid through electrons and ions migration mechanism. Soft pumps combine good portability with excellent actuation performances. We develop special functional liquids that merge unique properties of electrically actuation and self-healing function, providing a direction for self-healing fluid power systems. Appearances and pumpabilities of soft pumps could be customized to meet personalized needs of diverse robots. Combined with a homemade miniature high-voltage power converter, two different soft pumps are implanted into robotic fish and vehicle to achieve their untethered motions, illustrating broad potential of soft pumps as universal power sources in untethered soft robotics. Utilizing soft pumps in soft robotics is an attractive approach to endow untethered soft robots with muscle-like actuation. Here, the authors report bio-inspired soft electronic pumps as driving power sources to drive actuation and self-healing in untethered soft robotics.
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Affiliation(s)
- Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Chao Zhang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China.
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Pingan Zhu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yu Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Xiaofeng Wei
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Gang Lu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Jinrong Wang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yuwen Liang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yangqiao Lin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Wei Wang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China.
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121
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Magdanz V, Vivaldi J, Mohanty S, Klingner A, Vendittelli M, Simmchen J, Misra S, Khalil ISM. Impact of Segmented Magnetization on the Flagellar Propulsion of Sperm-Templated Microrobots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:2004037. [PMID: 33898186 PMCID: PMC8061355 DOI: 10.1002/advs.202004037] [Citation(s) in RCA: 21] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/21/2020] [Revised: 12/17/2020] [Indexed: 05/22/2023]
Abstract
Technical design features for improving the way a passive elastic filament produces propulsive thrust can be understood by analyzing the deformation of sperm-templated microrobots with segmented magnetization. Magnetic nanoparticles are electrostatically self-assembled on bovine sperm cells with nonuniform surface charge, producing different categories of sperm-templated microrobots. Depending on the amount and location of the nanoparticles on each cellular segment, magnetoelastic and viscous forces determine the wave pattern of each category during flagellar motion. Passively propagating waves are induced along the length of these microrobots using external rotating magnetic fields and the resultant wave patterns are measured. The response of the microrobots to the external field reveals distinct flow fields, propulsive thrust, and frequency responses during flagellar propulsion. This work allows predictions for optimizing the design and propulsion of flexible magnetic microrobots with segmented magnetization.
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Affiliation(s)
- Veronika Magdanz
- Applied ZoologyTechnical University of DresdenDresden01069Germany
- Smart Nano‐Bio‐Devices GroupInstitute for Bioengineering of CataloniaBarcelona08028Spain
| | - Jacopo Vivaldi
- Department of Computer Control and Management EngineeringSapienza University of RomeRome00185Italy
| | - Sumit Mohanty
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteEnschede7522 NBThe Netherlands
| | - Anke Klingner
- Department of PhysicsThe German University in CairoNew Cairo13411Egypt
| | - Marilena Vendittelli
- Department of Computer Control and Management EngineeringSapienza University of RomeRome00185Italy
| | - Juliane Simmchen
- Physical ChemistryTechnical University of DresdenDresden01069Germany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteEnschede7522 NBThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and University Medical Center GroningenGroningen9713 GZThe Netherlands
| | - Islam S. M. Khalil
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteEnschede7522 NBThe Netherlands
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122
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Ma C, Wu S, Ze Q, Kuang X, Zhang R, Qi HJ, Zhao R. Magnetic Multimaterial Printing for Multimodal Shape Transformation with Tunable Properties and Shiftable Mechanical Behaviors. ACS APPLIED MATERIALS & INTERFACES 2021; 13:12639-12648. [PMID: 32897697 DOI: 10.1021/acsami.0c13863] [Citation(s) in RCA: 46] [Impact Index Per Article: 15.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/19/2023]
Abstract
Magnetic soft materials (MSMs) have shown potential in soft robotics, actuators, metamaterials, and biomedical devices because they are capable of untethered, fast, and reversible shape reconfigurations as well as controllable dynamic motions under applied magnetic fields. Recently, magnetic shape memory polymers (M-SMPs) that incorporate hard magnetic particles in shape memory polymers demonstrated superior shape manipulation performance by realizing reprogrammable, untethered, fast, and reversible shape transformation and shape locking in one material system. In this work, we develop a multimaterial printing technology for the complex structural integration of MSMs and M-SMPs to explore their enhanced multimodal shape transformation and tunable properties. By cooperative thermal and magnetic actuation, we demonstrate multiple deformation modes with distinct shape configurations, which further enable active metamaterials with tunable physical properties such as sign-change Poisson's ratio. Because of the multiphysics response of the M-MSP/MSM metamaterials, one distinct feature is their capability of shifting between various global mechanical behaviors such as expansion, contraction, shear, and bending. We anticipate that the multimaterial printing technique opens new avenues for the fabrication of multifunctional magnetic materials.
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Affiliation(s)
- Chunping Ma
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Shuai Wu
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Qiji Ze
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Xiao Kuang
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
| | - Rundong Zhang
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
| | - Ruike Zhao
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
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123
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Ni K, Peng Q, Gao E, Wang K, Shao Q, Huang H, Xue L, Wang Z. Core-Shell Magnetic Micropillars for Reprogrammable Actuation. ACS NANO 2021; 15:4747-4758. [PMID: 33617237 DOI: 10.1021/acsnano.0c09298] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Stimuli-responsive micro/nanostructures that exhibit not only programmable but also reprogrammable actuation behaviors are highly desirable for various advanced engineering applications (e.g., anticounterfeiting, information encoding, dynamic imaging and display, microrobotics, etc.) but yet to be realized with state-of-the-art technologies. Here we report a concept and a corresponding experimental technique for core-shell magnetic micropillars enabling simultaneously programmable and reprogrammable actuations using a simple magnetic field. The micropillars are composed of elastomeric hollow shells for shaping encapsulated with liquid magnetic nanocomposite resin cores for actuating. The spatial distribution of the magnetic nanoparticles inside the resin channels can be dynamically modulated within individual micropillars, which consequently regulates the magnetomechanical responses of the pillars upon actuation (bending deformation varied near 1 order of magnitude under the same actuation field). We demonstrate that the micropillars with contrasting bending responses can be configured in an arbitrary spatial pattern by direct magnetic writing, and the written pattern can then be easily magnetically erased to facilitate next-round rewriting and reconfiguration. This reprogrammable actuation capability of the micropillars is further demonstrated by their potential applications for rewritable paper and recyclable displays, where various microscale characteristics can be controlled to dynamically appear and disappear at the same or different locations of one single micropillar array. The core-shell magnetic micropillars reported here provide a universal prototype for reprogrammable responsive micro/nanostructures through rational design and facile fabrication from conventional materials.
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Affiliation(s)
- Ke Ni
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Qi Peng
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Enlai Gao
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Kun Wang
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Qian Shao
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Houbing Huang
- Advanced Research Institute of Multidisciplinary Science, Beijing Institute of Technology, Beijing 100081, China
| | - Longjian Xue
- School of Power and Mechanical Engineering, The Institute of Technological Science, Wuhan University, Wuhan, Hubei 430072, China
| | - Zhengzhi Wang
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, Hubei 430072, China
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124
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Liang S, Miao Y, Zhu X, Wei J, Zhan QF, Huang X, Zhang L. Magnetic Actuation of Hollow Swarming Spheres for Dynamic Catalysis. ACS APPLIED MATERIALS & INTERFACES 2021; 13:11424-11432. [PMID: 33647201 DOI: 10.1021/acsami.0c21021] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Untethered robots with smart human-machine interactions can execute complex activities such as target cargo delivery or assembly of functional scaffolds. However, it remains challenging for fabricating microscale hollow hydrogel robots that can go with autonomous transformation of their geometric formations to adapt to unstructured environments. We herein report hydrogel-based microscopic hollow swarming spheres (HSSs) with anisotropic/isotropic alignments of Fe3O4 particles in the porous wall that can navigate under complex topography conditions by altering their geometric formation, including passing around or jumping over obstacles, assembling into various formation patterns, and swimming in a high-viscosity system. We introduce HSSs into a catalytic reaction model, in which HSSs as a catalyst can shift between water and oil phases to initiate or terminate the decomposition reaction of H2O2. This dynamic catalysis is expected to construct free-radical "living" polymerization for controlling the reaction rate and polymer dispersity index in the future.
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Affiliation(s)
- Shumin Liang
- School of Chemistry and Molecular Engineering, East China Normal University, Shanghai 200241, People's Republic of China
| | - Yan Miao
- School of Chemistry and Molecular Engineering, East China Normal University, Shanghai 200241, People's Republic of China
| | - Xiaoyan Zhu
- State Key Laboratory of Precision Spectroscopy, School of Physics and Materials Science, East China Normal University, Shanghai 200241, People's Republic of China
| | - Jiang Wei
- School of Chemistry and Molecular Engineering, East China Normal University, Shanghai 200241, People's Republic of China
| | - Qing-Feng Zhan
- State Key Laboratory of Precision Spectroscopy, School of Physics and Materials Science, East China Normal University, Shanghai 200241, People's Republic of China
| | - Xinhua Huang
- School of Materials Science and Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, People's Republic of China
| | - Lidong Zhang
- School of Chemistry and Molecular Engineering, East China Normal University, Shanghai 200241, People's Republic of China
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125
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Zhang J, Guo Y, Hu W, Soon RH, Davidson ZS, Sitti M. Liquid Crystal Elastomer-Based Magnetic Composite Films for Reconfigurable Shape-Morphing Soft Miniature Machines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2006191. [PMID: 33448077 PMCID: PMC7610459 DOI: 10.1002/adma.202006191] [Citation(s) in RCA: 60] [Impact Index Per Article: 20.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/10/2020] [Revised: 11/30/2020] [Indexed: 05/08/2023]
Abstract
Stimuli-responsive and active materials promise radical advances for many applications. In particular, soft magnetic materials offer precise, fast, and wireless actuation together with versatile functionality, while liquid crystal elastomers (LCEs) are capable of large reversible and programmable shape-morphing with high work densities in response to various environmental stimuli, e.g., temperature, light, and chemical solutions. Integrating the orthogonal stimuli-responsiveness of these two kinds of active materials could potentially enable new functionalities and future applications. Here, magnetic microparticles (MMPs) are embedded into an LCE film to take the respective advantages of both materials without compromising their independent stimuli-responsiveness. This composite material enables reconfigurable magnetic soft miniature machines that can self-adapt to a changing environment. In particular, a miniature soft robot that can autonomously alter its locomotion mode when it moves from air to hot liquid, a vine-like filament that can sense and twine around a support, and a light-switchable magnetic spring are demonstrated. The integration of LCEs and MMPs into monolithic structures introduces a new dimension in the design of soft machines and thus greatly enhances their use in applications in complex environments, especially for miniature soft robots, which are self-adaptable to environmental changes while being remotely controllable.
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Affiliation(s)
- Jiachen Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Yubing Guo
- 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
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Zoey S Davidson
- 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 Zürich, Zürich, 8092, Switzerland
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126
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Bujard T, Giorgio-Serchi F, Weymouth GD. A resonant squid-inspired robot unlocks biological propulsive efficiency. Sci Robot 2021; 6:6/50/eabd2971. [PMID: 34043579 DOI: 10.1126/scirobotics.abd2971] [Citation(s) in RCA: 18] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/12/2020] [Accepted: 12/23/2020] [Indexed: 11/03/2022]
Abstract
Elasticity has been linked to the remarkable propulsive efficiency of pulse-jet animals such as the squid and jellyfish, but reports that quantify the underlying dynamics or demonstrate its application in robotic systems are rare. This work identifies the pulse-jet propulsion mode used by these animals as a coupled mass-spring-mass oscillator, enabling the design of a flexible self-propelled robot. We use this system to experimentally demonstrate that resonance greatly benefits pulse-jet swimming speed and efficiency, and the robot's optimal cost of transport is found to match that of the most efficient biological swimmers in nature, such as the jellyfish Aurelia aurita The robot also exhibits a preferred Strouhal number for efficient swimming, thereby bridging the gap between pulse-jet propulsion and established findings in efficient fish swimming. Extensions of the current robotic framework to larger amplitude oscillations could combine resonance effects with optimal vortex formation to further increase propulsive performance and potentially outperform biological swimmers altogether.
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Affiliation(s)
- Thierry Bujard
- Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - Francesco Giorgio-Serchi
- Engineering and Physical Sciences, University of Southampton, Southampton, UK.,School of Engineering, University of Edinburgh, Edinburgh, UK
| | - Gabriel D Weymouth
- Engineering and Physical Sciences, University of Southampton, Southampton, UK. .,Data-Centric Engineering Programme, Alan Turing Institute, London, UK
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127
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Zheng Z, Wang H, Dong L, Shi Q, Li J, Sun T, Huang Q, Fukuda T. Ionic shape-morphing microrobotic end-effectors for environmentally adaptive targeting, releasing, and sampling. Nat Commun 2021; 12:411. [PMID: 33462214 PMCID: PMC7814140 DOI: 10.1038/s41467-020-20697-w] [Citation(s) in RCA: 57] [Impact Index Per Article: 19.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/17/2020] [Accepted: 12/10/2020] [Indexed: 01/29/2023] Open
Abstract
Shape-morphing uses a single actuation source for complex-task-oriented multiple patterns generation, showing a more promising way than reconfiguration, especially for microrobots, where multiple actuators are typically hardly available. Environmental stimuli can induce additional causes of shape transformation to compensate the insufficient space for actuators and sensors, which enriches the shape-morphing and thereby enhances the function and intelligence as well. Here, making use of the ionic sensitivity of alginate hydrogel microstructures, we present a shape-morphing strategy for microrobotic end-effectors made from them to adapt to different physiochemical environments. Pre-programmed hydrogel crosslinks were embedded in different patterns within the alginate microstructures in an electric field using different electrode configurations. These microstructures were designed for accomplishing tasks such as targeting, releasing and sampling under the control of a magnetic field and environmental ionic stimuli. In addition to structural flexibility and environmental ion sensitivity, these end-effectors are also characterized by their complete biodegradability and versatile actuation modes. The latter includes global locomotion of the whole end-effector by self-trapping magnetic microspheres as a hitch-hiker and the local opening and closing of the jaws using encapsulated nanoparticles based on local ionic density or pH values. The versatility was demonstrated experimentally in both in vitro environments and ex vivo in a gastrointestinal tract. Global locomotion was programmable and the local opening and closing was achieved by changing the ionic density or pH values. This 'structural intelligence' will enable strategies for shape-morphing and functionalization, which have attracted growing interest for applications in minimally invasive medicine, soft robotics, and smart materials.
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Affiliation(s)
- Zhiqiang Zheng
- grid.43555.320000 0000 8841 6246Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China
| | - Huaping Wang
- grid.43555.320000 0000 8841 6246Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China
| | - Lixin Dong
- grid.35030.350000 0004 1792 6846Department of Biomedical Engineering, City University of Hong Kong, 999077 Hong Kong, China
| | - Qing Shi
- grid.419897.a0000 0004 0369 313XKey Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, 100081 Beijing, China
| | - Jianing Li
- grid.43555.320000 0000 8841 6246Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, 100081 Beijing, China
| | - Tao Sun
- grid.43555.320000 0000 8841 6246Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China
| | - Qiang Huang
- grid.43555.320000 0000 8841 6246Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081 Beijing, China ,grid.419897.a0000 0004 0369 313XKey Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, 100081 Beijing, China
| | - Toshio Fukuda
- grid.419897.a0000 0004 0369 313XKey Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, 100081 Beijing, China
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128
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Aracri S, Giorgio-Serchi F, Suaria G, Sayed ME, Nemitz MP, Mahon S, Stokes AA. Soft Robots for Ocean Exploration and Offshore Operations: A Perspective. Soft Robot 2021; 8:625-639. [PMID: 33450174 PMCID: PMC8713554 DOI: 10.1089/soro.2020.0011] [Citation(s) in RCA: 23] [Impact Index Per Article: 7.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
The ocean and human activities related to the sea are under increasing pressure
due to climate change, widespread pollution, and growth of the offshore energy
sector. Data, in under-sampled regions of the ocean and in the offshore patches
where the industrial expansion is taking place, are fundamental to manage
successfully a sustainable development and to mitigate climate change. Existing
technology cannot cope with the vast and harsh environments that need monitoring
and sampling the most. The limiting factors are, among others, the spatial
scales of the physical domain, the high pressure, and the strong hydrodynamic
perturbations, which require vehicles with a combination of persistent autonomy,
augmented efficiency, extreme robustness, and advanced control. In light of the
most recent developments in soft robotics technologies, we propose that the use
of soft robots may aid in addressing the challenges posed by abyssal and
wave-dominated environments. Nevertheless, soft robots also allow for fast and
low-cost manufacturing, presenting a new potential problem: marine pollution
from ubiquitous soft sampling devices. In this study, the technological and
scientific gaps are widely discussed, as they represent the driving factors for
the development of soft robotics. Offshore industry supports increasing energy
demand and the employment of robots on marine assets is growing. Such expansion
needs to be sustained by the knowledge of the oceanic environment, where large
remote areas are yet to be explored and adequately sampled. We offer our
perspective on the development of sustainable soft systems, indicating the
characteristics of the existing soft robots that promote underwater
maneuverability, locomotion, and sampling. This perspective encourages an
interdisciplinary approach to the design of aquatic soft robots and invites a
discussion about the industrial and oceanographic needs that call for their
application.
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Affiliation(s)
- Simona Aracri
- Scottish Microelectronics Centre, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| | - Francesco Giorgio-Serchi
- Scottish Microelectronics Centre, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| | - Giuseppe Suaria
- Institute of Marine Sciences-National Research Council (ISMAR-CNR), La Spezia, Italy
| | - Mohammed E Sayed
- Scottish Microelectronics Centre, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| | - Markus P Nemitz
- Department of Chemistry and Chemical Biology, Harvard University, Cambridge, Massachusetts, USA.,Robotics Engineering Program, Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, Massachusetts, USA
| | - Stephen Mahon
- Scottish Microelectronics Centre, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| | - Adam A Stokes
- Scottish Microelectronics Centre, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
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129
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Fu S, Wei F, Yin C, Yao L, Wang Y. Biomimetic soft micro-swimmers: from actuation mechanisms to applications. Biomed Microdevices 2021; 23:6. [PMID: 33420838 DOI: 10.1007/s10544-021-00546-3] [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: 01/05/2021] [Indexed: 12/26/2022]
Abstract
Underwater robot designs inspired by the behavior and morphological characteristics of aquatic animals can provide reinforced mobility and energy efficiency. In the past two decades, the emerging materials science and integrated circuit technology have been combined and applied to various types of bionic soft underwater miniaturized robots by researchers around the world. Further, the potential applications of biomimetic soft micro-swimmers in the biological and medical fields have been explored. Here, this paper reviews the development of biomimetic soft tiny swimmers, which are designed based on a variety of intelligent materials and control strategies. This review focuses on the various actuation mechanisms of soft tiny swimmers reported in the past two decades and classifies these robots into four categories: fish-like, snake-like, jellyfish-like and microbial-inspired ones. Besides, this review considers the practical challenges faced by actuation mechanisms of each type of robot, and summarizes and prospects how these challenges affect the potential applications of robots in real environments.
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Affiliation(s)
- Shihan Fu
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China.
| | - Chao Yin
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
| | - Yaxiong Wang
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
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130
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Wang W, Zhou C. A Journey of Nanomotors for Targeted Cancer Therapy: Principles, Challenges, and a Critical Review of the State-of-the-Art. Adv Healthc Mater 2021; 10:e2001236. [PMID: 33111501 DOI: 10.1002/adhm.202001236] [Citation(s) in RCA: 33] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/15/2020] [Revised: 10/04/2020] [Indexed: 12/11/2022]
Abstract
A nanomotor is a miniaturized device that converts energy stored in the environment into mechanical motion. The last two decades have witnessed a surge of research interests in the biomedical applications of nanomotors, but little clinical translation. To accelerate this process, targeted cancer therapy is used as an example to describe a "survive, locate, operate, and terminate" (SLOT) mission of a nanomotor, where it must 1) survive in the unfriendly in vivo environment, 2) locate its target as well as be located by human operators, 3) carry out specific operations, and 4) terminate after the mission is completed. Along this journey, the challenges presented to a nanomotor, including to power, navigate, steer, target, release, control, image, and communicate are discussed, and how state-of-the-art nanomotors meet or fall short of these requirements is critically reviewed. These discussions are then condensed into a table for easy reference. In particular, it is argued that chemically powered nanomotors are intrinsically ill-positioned for targeted cancer therapy, while nanomotors powered by magnetic fields or ultrasound show more promises. Following this argument, a tentative nanomotor design is then presented in the end to conform to the SLOT guideline, and to inspire practical, functional nanorobots that are yet to come.
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Affiliation(s)
- Wei Wang
- School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China
| | - Chao Zhou
- School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China
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131
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Costello JH, Colin SP, Dabiri JO, Gemmell BJ, Lucas KN, Sutherland KR. The Hydrodynamics of Jellyfish Swimming. ANNUAL REVIEW OF MARINE SCIENCE 2021; 13:375-396. [PMID: 32600216 DOI: 10.1146/annurev-marine-031120-091442] [Citation(s) in RCA: 24] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Jellyfish have provided insight into important components of animal propulsion, such as suction thrust, passive energy recapture, vortex wall effects, and the rotational mechanics of turning. These traits are critically important to jellyfish because they must propel themselves despite severe limitations on force production imposed by rudimentary cnidarian muscular structures. Consequently, jellyfish swimming can occur only by careful orchestration of fluid interactions. Yet these mechanics may be more broadly instructive because they also characterize processes shared with other animal swimmers, whose structural and neurological complexity can obscure these interactions. In comparison with other animal models, the structural simplicity, comparative energetic efficiency, and ease of use in laboratory experimentation allow jellyfish to serve as favorable test subjects for exploration of the hydrodynamic bases of animal propulsion. These same attributes also make jellyfish valuable models for insight into biomimetic or bioinspired engineeringof swimming vehicles. Here, we review advances in understanding of propulsive mechanics derived from jellyfish models as a pathway toward the application of animal mechanics to vehicle designs.
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Affiliation(s)
- John H Costello
- Department of Biology, Providence College, Providence, Rhode Island 02918, USA;
| | - Sean P Colin
- Department of Marine Biology and Environmental Science, Roger Williams University, Bristol, Rhode Island 02809, USA;
| | - John O Dabiri
- Graduate Aerospace Laboratories and Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California 91125, USA;
| | - Brad J Gemmell
- Department of Integrative Biology, University of South Florida, Tampa, Florida 33620, USA;
| | - Kelsey N Lucas
- School for Environment and Sustainability, University of Michigan, Ann Arbor, Michigan 48109, USA;
| | - Kelly R Sutherland
- Oregon Institute of Marine Biology, University of Oregon, Eugene, Oregon 97403, USA;
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132
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Flow driven robotic navigation of microengineered endovascular probes. Nat Commun 2020; 11:6356. [PMID: 33353938 PMCID: PMC7755921 DOI: 10.1038/s41467-020-20195-z] [Citation(s) in RCA: 27] [Impact Index Per Article: 6.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/15/2020] [Accepted: 11/11/2020] [Indexed: 02/07/2023] Open
Abstract
Minimally invasive medical procedures, such as endovascular catheterization, have considerably reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain inaccessible due to the lack of appropriate guidance technologies. Here, experimentally and through numerical simulations, we show that tethered ultra-flexible endovascular microscopic probes can be transported through tortuous vascular networks with minimal external intervention by harnessing hydrokinetic energy. Dynamic steering at bifurcations is performed by deformation of the probe head using magnetic actuation. We developed an endovascular microrobotic toolkit with a cross-sectional area that is orders of magnitude smaller than the smallest catheter currently available. Our technology has the potential to improve state-of-the-art practices as it enhances the reachability, reduces the risk of iatrogenic damage, significantly increases the speed of robot-assisted interventions, and enables the deployment of multiple leads simultaneously through a standard needle injection and saline perfusion. The navigation of catheters through blood vessels requires flexible guiding wires that are pushable and tractable at the same time. Pancaldi et al. rely on hydrodynamic forces and magnetic torque in order to access even rather small capillaries with an ultraflexible magnetomechanical probe.
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133
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Abstract
Nanorobotics, which has long been a fantasy in the realm of science fiction, is now a reality due to the considerable developments in diverse fields including chemistry, materials, physics, information and nanotechnology in the past decades. Not only different prototypes of nanorobots whose sizes are nanoscale are invented for various biomedical applications, but also robotic nanomanipulators which are able to handle nano-objects obtain substantial achievements for applications in biomedicine. The outstanding achievements in nanorobotics have significantly expanded the field of medical robotics and yielded novel insights into the underlying mechanisms guiding life activities, remarkably showing an emerging and promising way for advancing the diagnosis & treatment level in the coming era of personalized precision medicine. In this review, the recent advances in nanorobotics (nanorobots, nanorobotic manipulations) for biomedical applications are summarized from several facets (including molecular machines, nanomotors, DNA nanorobotics, and robotic nanomanipulators), and the future perspectives are also presented.
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134
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Wu S, Hu W, Ze Q, Sitti M, Zhao R. Multifunctional magnetic soft composites: a review. MULTIFUNCTIONAL MATERIALS 2020; 3:042003. [PMID: 33834121 PMCID: PMC7610551 DOI: 10.1088/2399-7532/abcb0c] [Citation(s) in RCA: 65] [Impact Index Per Article: 16.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Magnetically responsive soft materials are soft composites where magnetic fillers are embedded into soft polymeric matrices. These active materials have attracted extensive research and industrial interest due to their ability to realize fast and programmable shape changes through remote and untethered control under the application of magnetic fields. They would have many high-impact potential applications in soft robotics/devices, metamaterials, and biomedical devices. With a broad range of functional magnetic fillers, polymeric matrices, and advanced fabrication techniques, the material properties can be programmed for integrated functions, including programmable shape morphing, dynamic shape deformation-based locomotion, object manipulation and assembly, remote heat generation, as well as reconfigurable electronics. In this review, an overview of state-of-the-art developments and future perspectives in the multifunctional magnetically responsive soft materials is presented.
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Affiliation(s)
- Shuai Wu
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Qiji Ze
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ruike Zhao
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
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135
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Yang X, Shang W, Lu H, Liu Y, Yang L, Tan R, Wu X, Shen Y. An agglutinate magnetic spray transforms inanimate objects into millirobots for biomedical applications. Sci Robot 2020; 5:5/48/eabc8191. [DOI: 10.1126/scirobotics.abc8191] [Citation(s) in RCA: 50] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/15/2020] [Accepted: 10/26/2020] [Indexed: 12/16/2022]
Affiliation(s)
- Xiong Yang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999017, China
| | - Wanfeng Shang
- CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Haojian Lu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999017, China
| | - Yanting Liu
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999017, China
| | - Liu Yang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999017, China
| | - Rong Tan
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999017, China
| | - Xinyu Wu
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
- SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518129, China
| | - Yajing Shen
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR 999017, China
- City University of Hong Kong Shenzhen Research Institute, Shenzhen 518057, China
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136
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Dong X, Lum GZ, Hu W, Zhang R, Ren Z, Onck PR, Sitti M. Bioinspired cilia arrays with programmable nonreciprocal motion and metachronal coordination. SCIENCE ADVANCES 2020; 6:6/45/eabc9323. [PMID: 33158868 PMCID: PMC7673722 DOI: 10.1126/sciadv.abc9323] [Citation(s) in RCA: 58] [Impact Index Per Article: 14.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/21/2020] [Accepted: 09/21/2020] [Indexed: 05/19/2023]
Abstract
Coordinated nonreciprocal dynamics in biological cilia is essential to many living systems, where the emergentmetachronal waves of cilia have been hypothesized to enhance net fluid flows at low Reynolds numbers (Re). Experimental investigation of this hypothesis is critical but remains challenging. Here, we report soft miniature devices with both ciliary nonreciprocal motion and metachronal coordination and use them to investigate the quantitative relationship between metachronal coordination and the induced fluid flow. We found that only antiplectic metachronal waves with specific wave vectors could enhance fluid flows compared with the synchronized case. These findings further enable various bioinspired cilia arrays with unique functionalities of pumping and mixing viscous synthetic and biological complex fluids at low Re Our design method and developed soft miniature devices provide unprecedented opportunities for studying ciliary biomechanics and creating cilia-inspired wireless microfluidic pumping, object manipulation and lab- and organ-on-a-chip devices, mobile microrobots, and bioengineering systems.
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Affiliation(s)
- Xiaoguang Dong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Guo Zhan Lum
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Rongjing Zhang
- Zernike Institute for Advanced Materials, University of Groningen, Groningen, Netherlands
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Patrick R Onck
- Zernike Institute for Advanced Materials, University of Groningen, Groningen, Netherlands
| | - 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 School of Engineering, Koç University, Istanbul, Turkey
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137
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Pena-Francesch A, Jung H, Demirel MC, Sitti M. Biosynthetic self-healing materials for soft machines. NATURE MATERIALS 2020; 19:1230-1235. [PMID: 32719508 PMCID: PMC7610468 DOI: 10.1038/s41563-020-0736-2] [Citation(s) in RCA: 117] [Impact Index Per Article: 29.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/03/2020] [Accepted: 06/12/2020] [Indexed: 05/18/2023]
Abstract
Self-healing materials are indispensable for soft actuators and robots that operate in dynamic and real-world environments, as these machines are vulnerable to mechanical damage. However, current self-healing materials have shortcomings that limit their practical application, such as low healing strength (below a megapascal) and long healing times (hours). Here, we introduce high-strength synthetic proteins that self-heal micro- and macro-scale mechanical damage within a second by local heating. These materials are optimized systematically to improve their hydrogen-bonded nanostructure and network morphology, with programmable healing properties (2-23 MPa strength after 1 s of healing) that surpass by several orders of magnitude those of other natural and synthetic soft materials. Such healing performance creates new opportunities for bioinspired materials design, and addresses current limitations in self-healing materials for soft robotics and personal protective equipment.
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Affiliation(s)
- Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Huihun Jung
- Center for Research on Advanced Fiber Technologies (CRAFT), Materials Research Institute, Huck Institutes of the Life Sciences, and Department of Engineering Science and Mechanics, The Pennsylvania State University, University Park, PA, USA
| | - Melik C Demirel
- Center for Research on Advanced Fiber Technologies (CRAFT), Materials Research Institute, Huck Institutes of the Life Sciences, and Department of Engineering Science and Mechanics, The Pennsylvania State University, University Park, PA, USA.
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- School of Medicine and School of Engineering, Koç University, Istanbul, Turkey.
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138
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Abstract
Untethered small-scale soft robots have been widely researched because they can be employed to perform wireless procedures via natural orifices in the human body, or other minimally invasive operations. Nevertheless, achieving untethered robotic motion remains challenging owing to the lack of an effective wireless actuation mechanism. To overcome this limitation, we propose a magnetically actuated walking soft robot based on paper and a chained magnetic-microparticle-embedded polymer actuator. The magnetic polymer actuator was prepared by combining Fe3O4 magnetic particles (MPs, diameter of ~50 nm) and silicon that are affected by a magnetic field; thereafter, the magnetic properties were quantified to achieve proper force and optimized according to the mass ratio, viscosity, and rotational speed of a spin coater. The fabricated polymer was utilized as a soft robot actuator that can be controlled using an external magnetic field, and paper was employed to construct the robot body with legs to achieve walking motion. To confirm the feasibility of the designed robot, the operating capability of the robot was analyzed through finite element simulation, and a walking experiment was conducted using electromagnetic actuation. The soft robot could be moved by varying the magnetic flux density and on–off state, and it demonstrated a maximum moving speed of 0.77 mm/s. Further studies on the proposed soft walking robot may advance the development of small-scale robots with diagnostic and therapeutic functionalities for application in biomedical fields.
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139
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Abstract
Magnetically actuated miniature soft robots are capable of programmable deformations for multimodal locomotion and manipulation functions, potentially enabling direct access to currently unreachable or difficult-to-access regions inside the human body for minimally invasive medical operations. However, magnetic miniature soft robots are so far mostly based on elastomers, where their limited deformability prevents them from navigating inside clustered and very constrained environments, such as squeezing through narrow crevices much smaller than the robot size. Moreover, their functionalities are currently restricted by their predesigned shapes, which is challenging to be reconfigured in situ in enclosed spaces. Here, we report a method to actuate and control ferrofluid droplets as shape-programmable magnetic miniature soft robots, which can navigate in two dimensions through narrow channels much smaller than their sizes thanks to their liquid properties. By controlling the external magnetic fields spatiotemporally, these droplet robots can also be reconfigured to exhibit multiple functionalities, including on-demand splitting and merging for delivering liquid cargos and morphing into different shapes for efficient and versatile manipulation of delicate objects. In addition, a single-droplet robot can be controlled to split into multiple subdroplets and complete cooperative tasks, such as working as a programmable fluidic-mixing device for addressable and sequential mixing of different liquids. Due to their extreme deformability, in situ reconfigurability and cooperative behavior, the proposed ferrofluid droplet robots could open up a wide range of unprecedented functionalities for lab/organ-on-a-chip, fluidics, bioengineering, and medical device applications.
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140
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Soft Underwater Robot Actuated by Shape-Memory Alloys “JellyRobcib” for Path Tracking through Fuzzy Visual Control. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10207160] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Recent developments in bioinspired technologies combined with the advance of intelligent and soft materials have allowed soft robots to replicate the behavior of different animal species. These devices can perform complicated tasks such as reaching or adapting in constrained and unstructured environments. This article proposes a methodology to develop a soft robot called “JellyRobcib” inspired in morphology and behavior by jellyfish, using shape-memory alloy springs as actuators (as bio-muscles). Such actuators can move the jellyfish both vertically and laterally by applying closed-loop fuzzy and visual controls. Additionally, Computer-Assisted Designs and Computational Fluid Dynamics simulations have been carried out to validate the soft robot model. The results show that the robot movements are very close to the morphological behavior of a real jellyfish regarding the curves of displacements, speeds and accelerations, after performing several experiments for autonomous movement: vertical ascent, lateral movements and trajectory tracking, obtaining an accuracy of ±1479 cm and repeatability of 0.944 for lateral movements for fuzzy visual control. Furthermore, thermal measurements were taken throughout a given path, allowing the generation of temperature gradients within the underwater environment for monitoring purposes.
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141
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Alapan Y, Karacakol AC, Guzelhan SN, Isik I, Sitti M. Reprogrammable shape morphing of magnetic soft machines. SCIENCE ADVANCES 2020; 6:eabc6414. [PMID: 32948594 PMCID: PMC7500935 DOI: 10.1126/sciadv.abc6414] [Citation(s) in RCA: 93] [Impact Index Per Article: 23.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/05/2020] [Accepted: 07/31/2020] [Indexed: 05/19/2023]
Abstract
Shape-morphing magnetic soft machines are highly desirable for diverse applications in minimally invasive medicine, wearable devices, and soft robotics. Despite recent progress, current magnetic programming approaches are inherently coupled to sequential fabrication processes, preventing reprogrammability and high-throughput programming. Here, we report a high-throughput magnetic programming strategy based on heating magnetic soft materials above the Curie temperature of the embedded ferromagnetic particles and reorienting their magnetic domains by applying magnetic fields during cooling. We demonstrate discrete, three-dimensional, and reprogrammable magnetization with high spatial resolution (~38 μm). Using the reprogrammable magnetization capability, reconfigurable mechanical behavior of an auxetic metamaterial structure, tunable locomotion of a surface-walking soft robot, and adaptive grasping of a soft gripper are shown. Our approach further enables high-throughput magnetic programming (up to 10 samples/min) via contact transfer. Heat-assisted magnetic programming strategy described here establishes a rich design space and mass-manufacturing capability for development of multiscale and reprogrammable soft machines.
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Affiliation(s)
- Yunus Alapan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Alp C Karacakol
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Seyda N Guzelhan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Irem Isik
- 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.
- School of Medicine and School of Engineering, Koç University, 34450 Istanbul, Turkey
- Institute for Biomedical Engineering, ETH Zurich, 8092 Zurich, Switzerland
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142
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Guo Y, Shahsavan H, Sitti M. 3D Microstructures of Liquid Crystal Networks with Programmed Voxelated Director Fields. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2020; 32:e2002753. [PMID: 32767434 PMCID: PMC7610484 DOI: 10.1002/adma.202002753] [Citation(s) in RCA: 27] [Impact Index Per Article: 6.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/23/2020] [Revised: 07/03/2020] [Indexed: 05/17/2023]
Abstract
The shape-shifting behavior of liquid crystal networks (LCNs) and elastomers (LCEs) is a result of an interplay between their initial geometrical shape and their molecular alignment. For years, reliance on either one-step in situ or two-step film processing techniques has limited the shape-change transformations from 2D to 3D geometries. The combination of various fabrication techniques, alignment methods, and chemical formulations developed in recent years has introduced new opportunities to achieve 3D-to-3D shape-transformations in large scales, albeit the precise control of local molecular alignment in microscale 3D constructs remains a challenge. Here, the voxel-by-voxel encoding of nematic alignment in 3D microstructures of LCNs produced by two-photon polymerization using high-resolution topographical features is demonstrated. 3D LCN microstructures (suspended films, coils, and rings) with designable 2D and 3D director fields with a resolution of 5 µm are achieved. Different shape transformations of LCN microstructures with the same geometry but dissimilar molecular alignments upon actuation are elicited. This strategy offers higher freedom in the shape-change programming of 3D LCN microstructures and expands their applicability in emerging technologies, such as small-scale soft robots and devices and responsive surfaces.
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Affiliation(s)
- Yubing Guo
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Hamed Shahsavan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany; Department of Chemical Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
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143
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Karakas F, Maas AE, Murphy DW. A novel cylindrical overlap-and-fling mechanism used by sea butterflies. J Exp Biol 2020; 223:jeb221499. [PMID: 32587067 DOI: 10.1242/jeb.221499] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/08/2020] [Accepted: 06/19/2020] [Indexed: 11/20/2022]
Abstract
The clap-and-fling mechanism is a well-studied, unsteady lift generation mechanism widely used by flying insects and is considered obligatory for tiny insects flying at low to intermediate Reynolds numbers, Re However, some aquatic zooplankters including some pteropod (i.e. sea butterfly) and heteropod species swimming at low to intermediate Re also use the clap-and-fling mechanism. These marine snails have extremely flexible, actively deformed, muscular wings which they flap reciprocally to create propulsive force, and these wings may enable novel lift generation mechanisms not available to insects, which have less flexible, passively deformed wings. Using high-speed stereophotogrammetry and micro-particle image velocimetry, we describe a novel cylindrical overlap-and-fling mechanism used by the pteropod species Cuvierina atlantica In this maneuver, the pteropod's wingtips overlap at the end of each half-stroke to sequentially form a downward-opening cone, a cylinder and an upward-opening cone. The transition from downward-opening cone to cylinder produces a downward-directed jet at the trailing edges. Similarly, the transition from cylinder to upward-opening cone produces downward flow into the gap between the wings, a leading edge vortex ring and a corresponding sharp increase in swimming speed. The ability of this pteropod species to perform the cylindrical overlap-and-fling maneuver twice during each stroke is enabled by its slender body and highly flexible wings. The cylindrical overlap-and-fling mechanism observed here may inspire the design of new soft robotic aquatic vehicles incorporating highly flexible propulsors to take advantage of this novel lift generation technique.
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Affiliation(s)
- Ferhat Karakas
- Department of Mechanical Engineering, University of South Florida, Tampa, FL 33620, USA
| | - Amy E Maas
- Bermuda Institute of Ocean Sciences, St George's GE01, Bermuda
| | - David W Murphy
- Department of Mechanical Engineering, University of South Florida, Tampa, FL 33620, USA
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144
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da Veiga T, Chandler JH, Lloyd P, Pittiglio G, Wilkinson NJ, Hoshiar AK, Harris RA, Valdastri P. Challenges of continuum robots in clinical context: a review. ACTA ACUST UNITED AC 2020. [DOI: 10.1088/2516-1091/ab9f41] [Citation(s) in RCA: 40] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
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145
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Han K, Shields CW, Bharti B, Arratia PE, Velev OD. Active Reversible Swimming of Magnetically Assembled "Microscallops" in Non-Newtonian Fluids. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2020; 36:7148-7154. [PMID: 32011137 DOI: 10.1021/acs.langmuir.9b03698] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/23/2023]
Abstract
Miniaturized devices capable of active swimming at low Reynolds numbers are of fundamental importance and possess potential biomedical utility. The design of colloidal microswimmers requires not only miniaturizing reconfigurable structures but also understanding their interactions with media at low Reynolds numbers. We investigate the dynamics of "microscallops" made of asymmetric magnetic cubes, which are assembled and actuated using magnetic fields. One approach to achieving directional propulsion is to break the symmetry of the viscous forces by coupling the reciprocal motions of such microswimmers with the nonlinear rheology inherent in non-Newtonian fluids. When placed in shear-thinning fluids, the local viscosity gradient resulting from nonuniform shear stresses exerted by time-asymmetric strokes of the microscallops generates propulsive thrust through an effect we term "self-viscophoresis". Surprisingly, we found that the direction of propulsion changes with the size and structure of these assemblies. We analyze the origins of their directional propulsion and explain the variable propulsion direction in terms of multiple counterbalancing domains of shear dissipation around the microscale structures. The principles governing the locomotion of these microswimmers may be extended to other reconfigurable microbots assembled from colloidal-scale units.
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Affiliation(s)
- Koohee Han
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Charles Wyatt Shields
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
- Department of Chemical and Biological Engineering, University of Colorado, Boulder, Colorado 80303, United States
| | - Bhuvnesh Bharti
- Cain Department of Chemical Engineering, Louisiana State University, Baton Rouge, Louisiana 70803, United States
| | - Paulo E Arratia
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania 19104, United States
| | - Orlin D Velev
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
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146
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Mao G, Drack M, Karami-Mosammam M, Wirthl D, Stockinger T, Schwödiauer R, Kaltenbrunner M. Soft electromagnetic actuators. SCIENCE ADVANCES 2020; 6:eabc0251. [PMID: 32637626 PMCID: PMC7319732 DOI: 10.1126/sciadv.abc0251] [Citation(s) in RCA: 55] [Impact Index Per Article: 13.8] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/02/2020] [Accepted: 04/26/2020] [Indexed: 05/19/2023]
Abstract
Rigid electromagnetic actuators serve our society in a myriad of ways for more than 200 years. However, their bulky nature restricts close collaboration with humans. Here, we introduce soft electromagnetic actuators (SEMAs) by replacing solid metal coils with liquid-metal channels embedded in elastomeric shells. We demonstrate human-friendly, simple, stretchable, fast, durable, and programmable centimeter-scale SEMAs that drive a soft shark, interact with everyday objects, or rapidly mix a dye with water. A multicoil flower SEMA with individually controlled petals blooms or closes within tens of milliseconds, and a cubic SEMA performs programmed, arbitrary motion sequences. We develop a numerical model supporting design and opening potential routes toward miniaturization, reduction of power consumption, and increase in mechanical efficiency. SEMAs are electrically controlled shape-morphing systems that are potentially empowering future applications from soft grippers to minimally invasive medicine.
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Affiliation(s)
- Guoyong Mao
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
| | - Michael Drack
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
| | - Mahya Karami-Mosammam
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
| | - Daniela Wirthl
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
| | - Thomas Stockinger
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
| | - Reinhard Schwödiauer
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
| | - Martin Kaltenbrunner
- Division of Soft Matter Physics, Institute for Experimental Physics, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
- Soft Materials Lab, Linz Institute of Technology, Johannes Kepler University Linz, Altenberger Strasse 69, 4040 Linz, Austria
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147
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Sitti M, Wiersma DS. Pros and Cons: Magnetic versus Optical Microrobots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2020; 32:e1906766. [PMID: 32053227 DOI: 10.1002/adma.201906766] [Citation(s) in RCA: 119] [Impact Index Per Article: 29.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/15/2019] [Revised: 11/21/2019] [Indexed: 05/21/2023]
Abstract
Mobile microrobotics has emerged as a new robotics field within the last decade to create untethered tiny robots that can access and operate in unprecedented, dangerous, or hard-to-reach small spaces noninvasively toward disruptive medical, biotechnology, desktop manufacturing, environmental remediation, and other potential applications. Magnetic and optical actuation methods are the most widely used actuation methods in mobile microrobotics currently, in addition to acoustic and biological (cell-driven) actuation approaches. The pros and cons of these actuation methods are reported here, depending on the given context. They can both enable long-range, fast, and precise actuation of single or a large number of microrobots in diverse environments. Magnetic actuation has unique potential for medical applications of microrobots inside nontransparent tissues at high penetration depths, while optical actuation is suitable for more biotechnology, lab-/organ-on-a-chip, and desktop manufacturing types of applications with much less surface penetration depth requirements or with transparent environments. Combining both methods in new robot designs can have a strong potential of combining the pros of both methods. There is still much progress needed in both actuation methods to realize the potential disruptive applications of mobile microrobots in real-world conditions.
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Affiliation(s)
- Metin Sitti
- Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
| | - Diederik S Wiersma
- LENS, University of Florence, Via Nello Carrara 1, 50019, Sesto Fiorentino, Italy
- INRIM, Strada delle Cacce 91, 10135, Torino, Italy
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148
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Liu Z, Liu J, Wang H, Yu X, Yang K, Liu W, Nie S, Sun W, Xie Z, Chen B, Liang S, Guan Y, Wen L. A 1 mm-Thick Miniatured Mobile Soft Robot With Mechanosensation and Multimodal Locomotion. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2976306] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/02/2023]
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149
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Su M, Xu T, Lai Z, Huang C, Liu J, Wu X. Double-Modal Locomotion and Application of Soft Cruciform Thin-Film Microrobot. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2965912] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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150
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Wan KY. Synchrony and symmetry-breaking in active flagellar coordination. Philos Trans R Soc Lond B Biol Sci 2020; 375:20190393. [PMID: 31884920 PMCID: PMC7017343 DOI: 10.1098/rstb.2019.0393] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 11/02/2019] [Indexed: 12/12/2022] Open
Abstract
Living creatures exhibit a remarkable diversity of locomotion mechanisms, evolving structures specialized for interacting with their environment. In the vast majority of cases, locomotor behaviours such as flying, crawling and running are orchestrated by nervous systems. Surprisingly, microorganisms can enact analogous movement gaits for swimming using multiple, fast-moving cellular protrusions called cilia and flagella. Here, I demonstrate intermittency, reversible rhythmogenesis and gait mechanosensitivity in algal flagella, to reveal the active nature of locomotor patterning. In addition to maintaining free-swimming gaits, I show that the algal flagellar apparatus functions as a central pattern generator that encodes the beating of each flagellum in a network in a distinguishable manner. The latter provides a novel symmetry-breaking mechanism for cell reorientation. These findings imply that the capacity to generate and coordinate complex locomotor patterns does not require neural circuitry but rather the minimal ingredients are present in simple unicellular organisms. This article is part of the Theo Murphy meeting issue 'Unity and diversity of cilia in locomotion and transport'.
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Affiliation(s)
- Kirsty Y. Wan
- Living Systems Institute, University of Exeter, Exeter EX4 4QD, UK
- College of Engineering, Mathematics, and Physical Sciences, University of Exeter, Exeter EX4 4QD, UK
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