Structured light enables biomimetic swimming and versatile locomotion of photoresponsive soft microrobots

Light or Thermally Powered Autonomous Rolling of an Elastomer Rod

Specially arranged external stimuli or carefully designed geometry are often essential for realizing continuous autonomous motion of active structures without self-carried power. As a consequence, it is usually very challenging to further integrate those structures as active building blocks into a system with a complex form and multiple functions. In this letter, we report an autonomous motion of a surprisingly simple setup: a cylindrical elastomer rod on a flat hot surface or under homogeneous illumination of visible light. We further show that the rod can roll continuously without any sign of a pause after 6 h, if an obstacle is put in front of it. We demonstrate that such nonintuitive autonomous rolling results from a combination of large thermal actuation of the elastomer and heat transfer between the rod and its surroundings. Quantitative predictions of the rolling speed from the developed thermomechanics model agree reasonably well with experimental measurements. Using the autonomous rolling rods as main building blocks, we further design and fabricate a light-powered vehicle and a thermally powered conveyor for mass transport in both air and water environments.

Flexible magnetic composites for light-controlled actuation and interfaces

The interaction between light and matter has been long explored, leading to insights based on the modulation and control of electrons and/or photons within a material. An opportunity exists in optomechanics, where the conversion of radiation into material strain and actuation is currently induced at the molecular level in liquid crystal systems, or at the microelectromechanical systems (MEMS) device scale, producing limited potential strain energy (or force) in light-driven systems. We present here flexible material composites that, when illuminated, are capable of macroscale motion, through the interplay of optically absorptive elements and low Curie temperature magnetic materials. These composites can be formed into films, sponges, monoliths, and hydrogels, and can be actuated with light at desired locations. Light-actuated elastomeric composites for gripping and releasing, heliotactic motion, light-driven propulsion, and rotation are demonstrated as examples of the versatility of this approach.

Reversible solvent-sensitive actuator with continuous bending/debending process from liquid crystal elastomer-colloidal material

A reversible solvent-sensitive actuator with a continuous bending/debending process is fabricated by over-infiltration of liquid crystal monomers into a colloidal template and subsequent photopolymerization. The fabricated actuator exhibits a maximum bending angle of 1080° in 1.58 s in dichloromethane, accompanied with successive debending in 0.32 s. The behavior of the actuator can be modulated by changing the solvent type, film thickness/length and molar ratio of A6OCB/C6M. This study will provide an important experimental and theoretical basis for the development of novel actuators.

Bending of Thin Liquid Crystal Elastomer under Irradiation of Visible Light: Finsler Geometry Modeling

In this paper, we show that the 3D Finsler geometry (FG) modeling technique successfully explains a reported experimental result: a thin liquid crystal elastomer (LCE) disk floating on the water surface deforms under light irradiation. In the reported experiment, the upper surface is illuminated by a light spot, and the nematic ordering of directors is influenced, but the nematic ordering remains unchanged on the lower surface contacting the water. This inhomogeneity of the director orientation on/inside the LCE is considered as the origin of the shape change that drives the disk on the water in the direction opposite the movement of the light spot. However, the mechanism of the shape change is still insufficiently understood because to date, the positional variable for the polymer has not been directly included in the interaction energy of the models for this system. We find that this shape change of the disk can be reproduced using the FG model. In this FG model, the interaction between σ, which represents the director field corresponding to the directional degrees of LC, and the polymer position is introduced via the Finsler metric. This interaction, which is a direct consequence of the geometry deformation, provides a good description of the shape deformation of the LCE disk under light irradiation.

Self-Sensing Paper Actuators Based on Graphite-Carbon Nanotube Hybrid Films

Soft actuators have demonstrated potential in a range of applications, including soft robotics, artificial muscles, and biomimetic devices. However, the majority of current soft actuators suffer from the lack of real-time sensory feedback, prohibiting their effective sensing and multitask function. Here, a promising strategy is reported to design bilayer electrothermal actuators capable of simultaneous actuation and sensation (i.e., self-sensing actuators), merely through two input electric terminals. Decoupled electrothermal stimulation and strain sensation is achieved by the optimal combination of graphite microparticles and carbon nanotubes (CNTs) in the form of hybrid films. By finely tuning the charge transport properties of hybrid films, the signal-to-noise ratio (SNR) of self-sensing actuators is remarkably enhanced to over 66. As a result, self-sensing actuators can actively track their displacement and distinguish the touch of soft and hard objects.

Self-sustained actuation from heat dissipation in liquid crystal polymer networks

Liquid crystal polymer networks (LCNs) lead the research geared toward macroscopic motion of materials. These actuators are molecularly programed to adapt their shape in response to external stimuli. Non-photo-responsive thin films of LCNs covered with heat absorbers (e.g., graphene or ink) are shown to continuously oscillate when exposed to light. The motion is governed by the heat dissipated at the film surface and the anisotropic thermal deformation of the network. The influence of the LC molecular alignment, the film thickness, and the LC matrix on the macroscopic motion is analyzed to probe the limits of the system. The insights gained from these experiments provide not only guidelines to create actuators by photo-thermal or pure photo-effects but also a simple method to generate mechanical oscillators for soft robotics and automated systems. © 2018 The Authors. Journal of Polymer Science Part A: Polymer Chemistry Published by Wiley Periodicals, Inc. J. Polym. Sci., Part A: Polym. Chem. 2018, 56, 1331-1336.

Active cargo transport with Janus colloidal shuttles using electric and magnetic fields

Active colloids show non-equilibrium behavior that departs from classical Brownian motion, thus providing a platform for novel fundamental phenomena and for enticing possible applications ranging from water treatment to medicine and microrobotics. Although the physics, motion mechanisms and guidance have been extensively investigated, active colloids are rarely exploited to simultaneously guide and transport micron-sized objects in a controllable and reversible manner. Here, we use autonomous active Janus particles as colloidal shuttles to controllably transport cargo at the microscale using external electric and magnetic fields. The active motion arises from the metallodielectric characteristics of the Janus particles, which allows them to also trap, transport and release cargo particles through dielectrophoretic interactions induced by an AC electric field. The ferromagnetic nature of the nickel layer that forms the metallic hemisphere of the Janus colloids provides an additional mechanism to direct the motion of the shuttle using an external magnetic field. With this highly programmable colloidal system, we are able to harness active colloid motion and use it to transport cargo particles to specific destinations through a pre-defined route. A simple analytical model is derived to successfully describe the motion of the shuttle-cargo assembly in response to the applied electrical field. The high level of control on cargo pick-up, transport and release leads to a powerful delivery tool, which could eventually be used in microactuators, microfluidics or for controlled delivery within organ-on-a-chip devices.

Light Robots: Bridging the Gap between Microrobotics and Photomechanics in Soft Materials

For decades, roboticists have focused their efforts on rigid systems that enable programmable, automated action, and sophisticated control with maximal movement precision and speed. Meanwhile, material scientists have sought compounds and fabrication strategies to devise polymeric actuators that are small, soft, adaptive, and stimuli-responsive. Merging these two fields has given birth to a new class of devices-soft microrobots that, by combining concepts from microrobotics and stimuli-responsive materials research, provide several advantages in a miniature form: external, remotely controllable power supply, adaptive motion, and human-friendly interaction, with device design and action often inspired by biological systems. Herein, recent progress in soft microrobotics is highlighted based on light-responsive liquid-crystal elastomers and polymer networks, focusing on photomobile devices such as walkers, swimmers, and mechanical oscillators, which may ultimately lead to flying microrobots. Finally, self-regulated actuation is proposed as a new pathway toward fully autonomous, intelligent light robots of the future.

Motorizing fibres with geometric zero-energy modes

Responsive materials^1-3 have been used to generate structures with built-in complex geometries^4-6, linear actuators^7-9 and microswimmers^10-12. These results suggest that complex, fully functional machines composed solely from shape-changing materials might be possible ¹³ . Nonetheless, to accomplish rotary motion in these materials still relies on the classical wheel and axle motifs. Here we explore geometric zero-energy modes to elicit rotary motion in elastic materials in the absence of a rigid wheel travelling around an axle. We show that prestrained polymer fibres closed into rings exhibit self-actuation and continuous motion when placed between two heat baths due to elastic deformations that arise from rotational-symmetry breaking around the rod's axis. Our findings illustrate a simple but robust model to create active motion in mechanically prestrained objects.

Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots

Stimuli-responsive materials offer a distinguished platform to build tether-free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light-controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming.

Microfluidic Preparation of Liquid Crystalline Elastomer Actuators

This paper focuses on the microfluidic process (and its parameters) to prepare actuating particles from liquid crystalline elastomers. The preparation usually consists in the formation of droplets containing low molar mass liquid crystals at elevated temperatures. Subsequently, these particle precursors are oriented in the flow field of the capillary and solidified by a crosslinking polymerization, which produces the final actuating particles. The optimization of the process is necessary to obtain the actuating particles and the proper variation of the process parameters (temperature and flow rate) and allows variations of size and shape (from oblate to strongly prolate morphologies) as well as the magnitude of actuation. In addition, it is possible to vary the type of actuation from elongation to contraction depending on the director profile induced to the droplets during the flow in the capillary, which again depends on the microfluidic process and its parameters. Furthermore, particles of more complex shapes, like core-shell structures or Janus particles, can be prepared by adjusting the setup. By the variation of the chemical structure and the mode of crosslinking (solidification) of the liquid crystalline elastomer, it is also possible to prepare actuating particles triggered by heat or UV-vis irradiation.

Harnessing bistability for directional propulsion of soft, untethered robots

In most macroscale robotic systems, propulsion and controls are enabled through a physical tether or complex onboard electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while onboard controls and power supplies are heavy and complicate the design process. Here, we present a simple design principle for an untethered, soft swimming robot with preprogrammed, directional propulsion without a battery or onboard electronics. Locomotion is achieved by using actuators that harness the large displacements of bistable elements triggered by surrounding temperature changes. Powered by shape memory polymer (SMP) muscles, the bistable elements in turn actuate the robot's fins. Our robots are fabricated using a commercially available 3D printer in a single print. As a proof of concept, we show the ability to program a vessel, which can autonomously deliver a cargo and navigate back to the deployment point.

Dynamics of topological solitons, knotted streamlines, and transport of cargo in liquid crystals

Active colloids and liquid crystals are capable of locally converting the macroscopically supplied energy into directional motion and promise a host of new applications, ranging from drug delivery to cargo transport at the mesoscale. Here we uncover how topological solitons in liquid crystals can locally transform electric energy to translational motion and allow for the transport of cargo along directions dependent on frequency of the applied electric field. By combining polarized optical video microscopy and numerical modeling that reproduces both the equilibrium structures of solitons and their temporal evolution in applied fields, we uncover the physical underpinnings behind this reconfigurable motion and study how it depends on the structure and topology of solitons. We show that, unexpectedly, the directional motion of solitons with and without the cargo arises mainly from the asymmetry in rotational dynamics of molecular ordering in liquid crystal rather than from the asymmetry of fluid flows, as in conventional active soft matter systems.

Artificial molecular and nanostructures for advanced nanomachinery

Artificial nanomachines can be broadly defined as manmade molecular and nanosystems that are capable of performing useful tasks, very often, by means of doing mechanical work at the nanoscale. Recent advances in nanoscience allow these tiny machines to be designed and made with unprecedented sophistication and complexity, showing promise in novel applications, including molecular assemblers, self-propelling nanocarriers and in vivo molecular computation. This Feature Article overviews and compares major types of nanoscale machines, including molecular machines, self-assembled nanomachines and hybrid inorganic nanomachines, to reveal common structural features and operating principles across different length scales and material systems. We will focus on systems with feature size between 1 and 100 nm, where classical laws of physics meet those of quantum mechanics, giving rise to a spectrum of exotic physiochemical properties. Concepts of nanomachines will be illustrated by selected seminal work along with state-of-the-art progress, including our own contribution, across the fields. The Article will conclude with a brief outlook of this exciting research area.

Light-induced propulsion of a giant liposome driven by peptide nanofibre growth

Light-driven nano/micromotors are attracting much attention, not only as molecular devices but also as components of bioinspired robots. In nature, several pathogens such as Listeria use actin polymerisation machinery for their propulsion. Despite the development of various motors, it remains challenging to mimic natural systems to create artificial motors propelled by fibre formation. Herein, we report the propulsion of giant liposomes driven by light-induced peptide nanofibre growth on their surface. Peptide-DNA conjugates connected by a photocleavage unit were asymmetrically introduced onto phase-separated giant liposomes. Ultraviolet (UV) light irradiation cleaved the conjugates and released peptide units, which self-assembled into nanofibres, driving the translational movement of the liposomes. The velocity of the liposomes reflected the rates of the photocleavage reaction and subsequent fibre formation of the peptide-DNA conjugates. These results showed that chemical design of the light-induced peptide nanofibre formation is a useful approach to fabricating bioinspired motors with controllable motility.

Silicones for Stretchable and Durable Soft Devices: Beyond Sylgard-184

This paper identifies and characterizes silicone elastomers that are well-suited for fabricating highly stretchable and tear-resistant devices that require interfacial bonding by plasma or UV ozone treatment. The ability to bond two or more pieces of molded silicone is important for creating microfluidic channels, chambers for pneumatically driven soft robotics, and other soft and stretchable devices. Sylgard-184 is a popular silicone, particularly for microfluidic applications. However, its low elongation at break (∼100% strain) and moderate tear strength (∼3 N/mm) make it unsuitable for emerging, mechanically demanding applications of silicone. In contrast, commercial silicones, such as Dragon Skin, have excellent mechanical properties yet are difficult to plasma-bond, likely because of the presence of silicone oils that soften the network yet migrate to the surface and interfere with plasma bonding. We found that extracting silicone oligomers from these soft networks allows these materials to bond but only when the Shore hardness exceeds a value of 15 A. It is also possible to mix highly stretchable silicones (Dragon Skin and Ecoflex) with Sylgard-184 to create silicones with intermediate mechanical properties; interestingly, these blends also only bond when the hardness exceeds 15 A. Eight different Pt-cured silicones were also screened; again, only those with Shore hardness above 15 A plasma-bond. The most promising silicones from this study are Sylgard-186 and Elastosil-M4130 and M4630, which exhibit a large deformation (>200% elongation at break), high tear strength (>12 N/mm), and strong plasma bonding. To illustrate the utility of these silicones, we created stretchable electrodes by injecting a liquid metal into microchannels created using such silicones, which may find use in soft robotics, electronic skin, and stretchable energy storage devices.

Small-Scale Machines Driven by External Power Sources

Micro- and nanorobots have shown great potential for applications in various fields, including minimally invasive surgery, targeted therapy, cell manipulation, environmental monitoring, and water remediation. Recent progress in the design, fabrication, and operation of these miniaturized devices has greatly enhanced their versatility. In this report, the most recent progress on the manipulation of small-scale robots based on power sources, such as magnetic fields, light, acoustic waves, electric fields, thermal energy, or combinations of these, is surveyed. The design and propulsion mechanism of micro- and nanorobots are the focus of this article. Their fabrication and applications are also briefly discussed.

Liquid-Crystalline Dynamic Networks Doped with Gold Nanorods Showing Enhanced Photocontrol of Actuation

A near-infrared-light (NIR)- and UV-light-responsive polymer nanocomposite is synthesized by doping polymer-grafted gold nanorods into azobenzene liquid-crystalline dynamic networks (AuNR-ALCNs). The effects of the two different photoresponsive mechanisms, i.e., the photochemical reaction of azobenzene and the photothermal effect from the surface plasmon resonance of the AuNRs, are investigated by monitoring both the NIR- and UV-light-induced contraction forces of the oriented AuNR-ALCNs. By taking advantage of the material's easy processability, bilayer-structured actuators can be fabricated to display photocontrollable bending/unbending directions, as well as localized actuations through programmed alignment of azobenzene mesogens in selected regions. Versatile and complex motions enabled by the enhanced photocontrol of actuation are demonstrated, including plastic "athletes" that can execute light-controlled push-ups or sit-ups, and a light-driven caterpillar-inspired walker that can crawl forward on a ratcheted substrate at a speed of about 13 mm min^-1 . Moreover, the photomechanical effects arising from the two types of light-triggered molecular motion, i.e., the trans-cis photoisomerization and a liquid-crystalline-isotropic phase transition of the azobenzene mesogens, are added up to design a polymer "crane" that is capable of performing light-controlled, robot-like, concerted macroscopic motions including grasping, lifting up, lowering down, and releasing an object.

Photochromic Crystalline Systems Mimicking Bio-Functions

Photoresponsive crystalline systems mimicking bio-functions are prepared using photochromic diarylethenes. Upon UV irradiation of the diarylethene crystal, the photogenerated closed-ring isomers self-aggregate to form needle-shaped crystals on the surface. The rough surface shows the superhydrophobic lotus effect. In addition, the rose-petal effects of wetting, the anti-reflective moth-eye effect, and a double-roughness structure mimicking the surface of a lotus leaf are observed by controlling the heating procedures, UV irradiation processes, and molecular structural modification. By changing the molecular structure, a superhydrophilic surface mimicking a snail shell can be generated. We also find the crystal of a diarylethene derivative that shows a photosalient effect. The effect is observed partly due to the hollow structure of the crystal. It is demonstrated that a photo-response similar to the response of impatiens plant to stimulation is observed by packing small beads in the hollow. These photoresponsive functions are unique, and they demonstrate a macroscopic response by means of microscopic molecular movement induced by light. In the future, such a molecular assembly system will be a promising candidate for fabricating photoresponsive architectures and soft robots.

Topographical changes in photo-responsive liquid crystal films: a computational analysis

Switchable materials in response to external stimuli serve as building blocks to construct microscale functionalized actuators and sensors. Azobenzene-modified liquid crystal (LC) polymeric networks, that combine liquid crystalline orientational order and elasticity, reversibly undergo conformational changes powered by light. We present a computational framework to describe photo-induced topographical transformations of azobenzene-modified LC glassy polymer coatings. A nonlinear light penetration model is combined with an opto-mechanical constitutive relation to simulate various ordered and corrugated topographical textures resulting from aligned or randomly distributed LC molecule orientations. Our results shed light on the fundamental physical mechanisms of light-triggered surface undulations and can be used as guidelines to optimize surface modulation and roughness in emerging fields that involve haptics interfacing, friction control and wetting manipulation.

A bio-inspired homogeneous graphene oxide actuator driven by moisture gradients

An actuator driven by moisture gradients has been developed from a homogeneous graphene oxide film, relying on the in situ formation of a bilayer structure induced by water adsorption. This actuator shows efficient and controllable bending motions, coupled with the capability of lifting objects 8 times heavier than itself.

Light-driven micro/nanomotors: from fundamentals to applications

Light, as an external stimulus, is capable of driving the motion of micro/nanomotors (MNMs) with the advantages of reversible, wireless and remote manoeuvre on demand with excellent spatial and temporal resolution. This review focuses on the state-of-the-art light-driven MNMs, which are able to move in liquids or on a substrate surface by converting light energy into mechanical work. The general design strategies for constructing asymmetric fields around light-driven MNMs to propel themselves are introduced as well as the photoactive materials for light-driven MNMs, including photocatalytic materials, photothermal materials and photochromic materials. Then, the propulsion mechanisms and motion behaviors of the so far developed light-driven MNMs are illustrated in detail involving light-induced phoretic propulsion, bubble recoil and interfacial tension gradient, followed by recent progress in the light-driven movement of liquid crystalline elastomers based on light-induced deformation. An outlook is further presented on the future development of light-driven MNMs towards overcoming key challenges after summarizing the potential applications in biomedical, environmental and micro/nanoengineering fields.

Electrospun Composite Liquid Crystal Elastomer Fibers

We present a robust method to prepare thin oriented nematic liquid crystalline elastomer-polymer (LCE-polymer) core-sheath fibers. An electrospinning setup is utilized to spin a single solution of photo-crosslinkable low molecular weight reactive mesogens and a support polymer to form the coaxial LCE-polymer fibers, where the support polymer forms the sheath via in situ phase separation as the solvent evaporates. We discuss the effect of phase separation and compare two different sheath polymers (polyvinylpyrrolidone and polylactic acid), investigating optical and morphological properties of obtained fibers, as well as the shape changes upon heating. The current fibers show only irreversible contraction, the relaxation most likely being hindered by the presence of the passive sheath polymer, increasing in stiffness on cooling. If the sheath polymer can be removed while keeping the LCE core intact, we expect LCE fibers produced in this way to have potential to be used as actuators, for instance in soft robotics and responsive textiles.

Polydopamine-Coated Main-Chain Liquid Crystal Elastomer as Optically Driven Artificial Muscle

Optically driven active materials have received much attention because their deformation and motion can be controlled remotely, instantly, and precisely in a contactless way. In this study, we investigated an optically actuated elastomer with rapid response: polydopamine (PDA)-coated liquid crystal elastomer (LCE). Because of the photothermal effect of PDA coating and thermal responsiveness of LCE, the elastomer film contracted significantly with near-infrared (NIR) irradiation. With a fixed strain, light-induced actuating stress in the film could be as large as 1.5 MPa, significantly higher than the maximum stress generated by most mammalian skeletal muscle (0.35 MPa). The PDA-coated LCE films could also bend or roll up by surface scanning of an NIR laser. The response time of the film to light exposure could be as short as 1/10 of a second, comparable to or even faster than that of mammalian skeletal muscle. Using the PDA-coated LCE film, we designed and fabricated a prototype of robotic swimmer that was able to swim near the water-air interface by performing "swimming strokes" through reversible bending and unbending motions induced and controlled by an NIR laser. The results presented in this study clearly demonstrated that PDA-coated LCE is a promising optically driven artificial muscle, which may have great potential for applications of soft robotics and optomechanical coupling devices.

3D Printing of Liquid Crystal Elastomeric Actuators with Spatially Programed Nematic Order

Liquid crystal elastomers (LCEs) are soft materials capable of large, reversible shape changes, which may find potential application as artificial muscles, soft robots, and dynamic functional architectures. Here, the design and additive manufacturing of LCE actuators (LCEAs) with spatially programed nematic order that exhibit large, reversible, and repeatable contraction with high specific work capacity are reported. First, a photopolymerizable, solvent-free, main-chain LCE ink is created via aza-Michael addition with the appropriate viscoelastic properties for 3D printing. Next, high operating temperature direct ink writing of LCE inks is used to align their mesogen domains along the direction of the print path. To demonstrate the power of this additive manufacturing approach, shape-morphing LCEA architectures are fabricated, which undergo reversible planar-to-3D and 3D-to-3D' transformations on demand, that can lift significantly more weight than other LCEAs reported to date.

Electric-Field-Guided Precision Manipulation of Catalytic Nanomotors for Cargo Delivery and Powering Nanoelectromechanical Devices

We report a controllable and precision approach in manipulating catalytic nanomotors by strategically applied electric (E-) fields in three dimensions (3-D). With the high controllability, the catalytic nanomotors have demonstrated versatility in capturing, delivering, and releasing of cargos to designated locations as well as in situ integration with nanomechanical devices (NEMS) to chemically power the actuation. With combined AC and DC E-fields, catalytic nanomotors can be accurately aligned by the AC E-fields and effectively change their speeds instantly by the DC E-fields. Within the 3-D orthogonal microelectrode sets, the in-plane transport of catalytic nanomotors can be swiftly turned on and off, and these catalytic nanomotors can also move in the vertical direction. The interplaying nanoforces that govern the propulsion and alignment are investigated. The modeling of catalytic nanomotors proposed in previous works has been confirmed quantitatively here. Finally, the prowess of the precision manipulation of catalytic nanomotors by E-fields is demonstrated in two applications: the capture, transport, and release of cargos to prepatterned microdocks, and the assembly of catalytic nanomotors on NEMS to power the continuous rotation. The concepts and approaches reported in this work could further advance applications of catalytic nanomotors, e.g., for assembling and powering nanomachines, nanorobots, and complex NEMS devices.

Light-responsive polymers for microfluidic applications

While the microfluidic device itself may be small, often the equipment required to control fluidics in the chip unit is large e.g. pumps, valves and mixing units, which can severely limit practical use and functional scalability. In addition, components associated with fluidic control of the device, more specifically the valves and pumps, contribute significantly to the overall unit cost. Here we sketch the problem of a gap between high end accurate, but expensive sensor platforms, versus less accurate, but widely employable hand-held low-cost devices. Recent research has shown that the integration of light-responsive materials within microfluidic devices can provide the function of expensive fluidic components, and potentially enable sophisticated measurements to be made using much less expensive equipment. An overview of the most recent developments will be presented for valves, mixers, transport and sample handling inside microfluidic devices.

Different Response Kinetics to Temperature and Water Vapor of Acrylamide Polymers Obtained by Initiated Chemical Vapor Deposition

Thermoresponsive polymers undergo a reversible phase transition at their lower critical solution temperature (LCST) from a hydrated hydrophilic state at temperatures below the LCST to a collapsed hydrophobic state at higher temperatures. This results in a strong response to temperature when in aqueous environment. This study shows that hydrogel thin films synthesized by initiated chemical vapor deposition show fast and strong response to temperature also in water vapor environment. Thin films of cross-linked poly(N-isopropylacrylamide), p(NIPAAm), were found to have a sharp change in thickness by 200% in water vapor at temperatures above and below the LCST. Additionally, the stimuli-responsive poly(N,N-diethylacrylamide) was investigated and compared to results found for p(NIPAAm). Analysis of the swelling kinetics performed with in situ spectroscopic ellipsometry with variable stage temperature shows differences for swelling and deswelling processes, and a hysteresis in the thickness profile was found as a function of temperature and of temperature change rate.

Geometry Design, Principles and Assembly of Micromotors

Discovery of bio-inspired, self-propelled and externally-powered nano-/micro-motors, rotors and engines (micromachines) is considered a potentially revolutionary paradigm in nanoscience. Nature knows how to combine different elements together in a fluidic state for intelligent design of nano-/micro-machines, which operate by pumping, stirring, and diffusion of their internal components. Taking inspirations from nature, scientists endeavor to develop the best materials, geometries, and conditions for self-propelled motion, and to better understand their mechanisms of motion and interactions. Today, microfluidic technology offers considerable advantages for the next generation of biomimetic particles, droplets and capsules. This review summarizes recent achievements in the field of nano-/micromotors, and methods of their external control and collective behaviors, which may stimulate new ideas for a broad range of applications.

Photocatalytic Iron Oxide Micro-Swimmers for Environmental Remediation

Harvesting energy from photochemical reactions has long been studied as an efficient means of renewable energy, a topic that is increasingly gaining importance also for motion at the microscale. Iron oxide has been a material of interest in recent studies. Thus, in this work different synthesis methods and encapsulation techniques were used to try and optimize the photo-catalytic properties of iron oxide colloids. Photodegradation experiments were carried out following the encapsulation of the nanoparticles and the Fenton effect was also verified. The end goal would be to use the photochemical degradation of peroxide to propel an array of swimmers in a controlled manner while utilizing the Fenton effect for the degradation of dyes or waste in wastewater remediation.

Swimming Back and Forth Using Planar Flagellar Propulsion at Low Reynolds Numbers

Peritrichously flagellated Escherichia coli swim back and forth by wrapping their flagella together in a helical bundle. However, other monotrichous bacteria cannot swim back and forth with a single flagellum and planar wave propagation. Quantifying this observation, a magnetically driven soft two-tailed microrobot capable of reversing its swimming direction without making a U-turn trajectory or actively modifying the direction of wave propagation is designed and developed. The microrobot contains magnetic microparticles within the polymer matrix of its head and consists of two collinear, unequal, and opposite ultrathin tails. It is driven and steered using a uniform magnetic field along the direction of motion with a sinusoidally varying orthogonal component. Distinct reversal frequencies that enable selective and independent excitation of the first or the second tail of the microrobot based on their tail length ratio are found. While the first tail provides a propulsive force below one of the reversal frequencies, the second is almost passive, and the net propulsive force achieves flagellated motion along one direction. On the other hand, the second tail achieves flagellated propulsion along the opposite direction above the reversal frequency.

Light-Powered Micro/Nanomotors

Designed micro/nanomotors are micro/nanoscale machines capable of autonomous motion in fluids, which have been emerging in recent decades owing to their great potential for biomedical and environmental applications. Among them, light-powered micro/nanomotors, in which motion is driven by light, exhibit various advantages in their precise motion manipulation and thereby a superior scope for application. This review summarizes recent advances in the design, manufacture and motion manipulation of different types of light-powered micro/nanomotors. Their structural features and motion performance are reviewed and compared. The challenges and opportunities of light-powered micro/nanomotors are also discussed. With rapidly increasing innovation, advanced, intelligent and multifunctional light-powered micro/nanomachines will certainly bring profound impacts and changes for human life in the future.

Biomimetic Platelet-Camouflaged Nanorobots for Binding and Isolation of Biological Threats

One emerging and exciting topic in robotics research is the design of micro-/nanoscale robots for biomedical operations. Unlike industrial robots that are developed primarily to automate routine and dangerous tasks, biomedical nanorobots are designed for complex, physiologically relevant environments, and tasks that involve unanticipated biological events. Here, a biologically interfaced nanorobot is reported, made of magnetic helical nanomotors cloaked with the plasma membrane of human platelets. The resulting biomimetic nanorobots possess a biological membrane coating consisting of diverse functional proteins associated with human platelets. Compared to uncoated nanomotors which experience severe biofouling effects and hence hindered propulsion in whole blood, the platelet-membrane-cloaked nanomotors disguise as human platelets and display efficient propulsion in blood over long time periods. The biointerfaced nanorobots display platelet-mimicking properties, including adhesion and binding to toxins and platelet-adhering pathogens, such as Shiga toxin and Staphylococcus aureus bacteria. The locomotion capacity and platelet-mimicking biological function of the biomimetic nanomotors offer efficient binding and isolation of these biological threats. The dynamic biointerfacing platform enabled by platelet-membrane cloaked nanorobots thus holds considerable promise for diverse biomedical and biodefense applications.

Chemical micromotors self-assemble and self-propel by spontaneous symmetry breaking

Propelling chemical dimer motors can spontaneously self-assemble from isotropic non-propelling colloids.

Controllable Swarming and Assembly of Micro/Nanomachines

Motion is a common phenomenon in biological processes. Major advances have been made in designing various self-propelled micromachines that harvest different types of energies into mechanical movement to achieve biomedicine and biological applications. Inspired by fascinating self-organization motion of natural creatures, the swarming or assembly of synthetic micro/nanomachines (often referred to micro/nanoswimmers, micro/nanorobots, micro/nanomachines, or micro/nanomotors), are able to mimic these amazing natural systems to help humanity accomplishing complex biological tasks. This review described the fuel induced methods (enzyme, hydrogen peroxide, hydrazine, et al.) and fuel-free induced approaches (electric, ultrasound, light, and magnetic) that led to control the assembly and swarming of synthetic micro/nanomachines. Such behavior is of fundamental importance in improving our understanding of self-assembly processes that are occurring on molecular to macroscopic length scales.

Twists and Turns of Orbiting and Spinning Metallic Microparticles Powered by Megahertz Ultrasound

Micromotors powered by megahertz ultrasound, first reported about 5 years ago, have lately been considered a promising platform for a wide range of microscale applications, yet we are only at the early stage of understanding their operating mechanisms. Through carefully designed experiments, and by comparing the results to acoustic theories, we present here an in-depth study of the behaviors of particles activated by ultrasound, especially their in-plane orbiting and spinning dynamics. Experiments suggest that metallic microrods orbit in tight circles near the resonance ultrasound frequency, likely driven by localized acoustic streaming due to slightly bent particle shapes. On the other hand, particle spins around their long axes on nodal lines, where phase-mismatched orthogonal sound waves possibly produce a viscous torque. Intriguingly, such a torque spins metal-dielectric Janus microspheres back and forth in an unusual "rocking chair" fashion. Overall, our observations and analysis provide fresh and much needed insights on the interesting particle dynamics in resonating ultrasound and could help with developing more powerful and controllable micromachines with biocompatible energy sources.

Wireless Acoustic-Surface Actuators for Miniaturized Endoscopes

Endoscopy enables minimally invasive procedures in many medical fields, such as urology. However, current endoscopes are normally cable-driven, which limits their dexterity and makes them hard to miniaturize. Indeed, current urological endoscopes have an outer diameter of about 3 mm and still only possess one bending degree-of-freedom. In this article, we report a novel wireless actuation mechanism that increases the dexterity and that permits the miniaturization of a urological endoscope. The novel actuator consists of thin active surfaces that can be readily attached to any device and are wirelessly powered by ultrasound. The surfaces consist of two-dimensional arrays of microbubbles, which oscillate under ultrasound excitation and thereby generate an acoustic streaming force. Bubbles of different sizes are addressed by their unique resonance frequency, thus multiple degrees-of-freedom can readily be incorporated. Two active miniaturized devices (with a side length of around 1 mm) are demonstrated: a miniaturized mechanical arm that realizes two degrees-of-freedom, and a flexible endoscope prototype equipped with a camera at the tip. With the flexible endoscope, an active endoscopic examination is successfully performed in a rabbit bladder. The results show the potential medical applicability of surface actuators wirelessly powered by ultrasound penetrating through biological tissues.

Liquid Crystalline Networks toward Regenerative Medicine and Tissue Repair

The communication reports the use of liquid crystalline networks (LCNs) for engineering tissue cultures with human cells. Their ability as cell scaffolds for different cell lines is demonstrated. Preliminary assessments of the material biocompatibility are performed on human dermal fibroblasts and murine muscle cells (C2C12), demonstrating that coatings or other treatments are not needed to use the acrylate-based materials as support. Moreover, it is found that adherent C2C12 cells undergo differentiation, forming multinucleated myotubes, which show the typical elongated shape, and contain bundles of stress fibers. Once biocompatibility is demonstrated, the same LCN films are used as a substrate for culturing human induced pluripotent stem cell-derived cardiomyocites (hiPSC-CMs) proving that LCNs are capable to develop adult-like dimensions and a more mature cell function in a short period of culture in respect to standard supports. The demonstrated biocompatibility together with the extraordinary features of LCNs opens to preparation of complex cell scaffolds, both patterned and stimulated, for dynamic cell culturing. The ability of these materials to improve cell maturation and differentiation will be developed toward engineered heart and skeletal muscular tissues exploring regenerative medicine toward bioartificial muscles for injured sites replacement.

Ultrasound-propelled nanowire motors enhance asparaginase enzymatic activity against cancer cells

Ultrasound-(US) propelled nanowires consisting of Au/Ni/Au/PEDOT-PPy-COOH segments are modified with asparaginase enzyme and applied as an effective anti-cancer agent. After immobilization of asparaginase onto the surface of the nanowire motors, the enzyme displays enhanced thermal and pH stabilities, improved resistance towards protease, and higher affinity for the substrate. The fast motion of the motor-carrying asparaginase leads to greatly accelerated biocatalytic depletion of asparagine and hence to a significantly enhanced inhibition efficacy against El4 lymphoma cancer cells (92%) as compared to free enzyme counterpart (17%) and other control groups. Such enhanced enzymatic activity against cancer cells is attributed to the fast motion of the motors which facilitates the interaction between the enzyme and the cancer cells. While asparaginase and EL4 tumor cells are used as a model system in the present study for cancer cell inhibition, the same mechanism can be expanded to other types of enzymes and biomolecules for the corresponding biofunctions.

Biohybrid actuators for robotics: A review of devices actuated by living cells

Actuation is essential for artificial machines to interact with their surrounding environment and to accomplish the functions for which they are designed. Over the past few decades, there has been considerable progress in developing new actuation technologies. However, controlled motion still represents a considerable bottleneck for many applications and hampers the development of advanced robots, especially at small length scales. Nature has solved this problem using molecular motors that, through living cells, are assembled into multiscale ensembles with integrated control systems. These systems can scale force production from piconewtons up to kilonewtons. By leveraging the performance of living cells and tissues and directly interfacing them with artificial components, it should be possible to exploit the intricacy and metabolic efficiency of biological actuation within artificial machines. We provide a survey of important advances in this biohybrid actuation paradigm.

Beam steering by liquid crystal elastomer fibres

The problem of utilizing a laser beam as an information vehicle and dividing it into different channels is an open problem in the telecommunication field. The switching of a signal into different ports has been demonstrated, to date, by employing complex devices and mechanisms such as the electro optic effect, microelectromechanical system (MEMS) mirrors, or liquid crystal-based spatial light modulators (SLMs). We present here a simple device, namely a mirror held by a liquid crystal elastomer (LCE) fibre, as an optically and remotely driven beam steerer. In fact, a considered signal (laser beam) can be addressed in every in-plane direction by controlling the fibre and mirror rotation, i.e., the deflected probe beam angle. Such movement is possible due to the preparation of LCE fibres able to rotate and contract under a selective light stimulus. By adjusting the irradiation stimulus power, elastic fibres are able to rotate with a specific angle, performing more than one complete revolution around their axis. The described movement is perfectly reversible as soon as the stimulus is removed.

Energy efficiency of mobile soft robots

The performance of mobile soft robots is usually characterized by their locomotion/velocity efficiency, whereas the energy efficiency is a more intrinsic and fundamental criterion for the performance evaluation of independent or integrated soft robots. In this work, a general framework is established to evaluate the energy efficiency of mobile soft robots by considering the efficiency of the energy source, actuator and locomotion, and some insights for improving the efficiency of soft robotic systems are presented. Proposed as the ratio of the desired locomotion kinetic energy to the input mechanical energy, the energy efficiency of locomotion is found to play a critical role in determining the overall energy efficiency of soft robots. Four key factors related to the locomotion energy efficiency are identified, that is, the locomotion modes, material properties, geometric sizes, and actuation states. It is found that the energy efficiency of most mobile soft robots reported in the literature is surprisingly low (mostly below 0.1%), due to the inefficient mechanical energy that essentially does not contribute to the desired locomotion. A comparison of the locomotion energy efficiency for several representative locomotion modes in the literature is presented, showing a descending ranking as: jumping ≫ fish-like swimming > snake-like slithering > rolling > rising/turning over > inchworm-like inching > quadruped gait > earthworm-like squirming. Besides, considering the same locomotion mode, soft robots with lower stiffness, higher density and larger size tend to have higher locomotion energy efficiency. Moreover, a periodic pulse actuation instead of a continuous actuation mode may significantly reduce the input mechanical energy, thus improving the locomotion energy efficiency, especially when the pulse actuation matches the resonant states of the soft robots. The results presented herein indicate a large and necessary space for improving the locomotion energy efficiency, which is of practical significance for the future development and application of soft robots.

Smart biomimetic micro/nanostructures based on liquid crystal elastomers and networks

A plethora of living organisms are equipped with smart functionalities that are usually rooted in their surface micro/nanostructures or underlying muscle tissues. Inspired by nature, extensive research efforts have been devoted to the development of novel biomimetic functional micro/nanostructured systems. Despite all the accomplishments, the emulation of biological adaptation and stimuli responsive actuation has been a longstanding challenge. The use of liquid crystal elastomers (LCEs) and networks (LCNs) for the fabrication of smart biomimetic micro/nanostructures has recently drawn extensive scientific attention and has become a growing field of research with promising prospects for emerging technologies. In this study, we review the recent progress in this field and portray the current challenges as well as the outlook of this field of research.

Assembly Modulated by Particle Position and Shape: A New Concept in Self-Assembly

In this communication we outline how the bespoke arrangements and design of micron-sized superparamagnetic shapes provide levers to modulate their assembly under homogeneous magnetic fields. We label this new approach, 'assembly modulated by particle position and shape' (APPS). Specifically, using rectangular lattices of superparamagnetic micron-sized cuboids, we construct distinct microstructures by adjusting lattice pitch and angle of array with respect to a magnetic field. Broadly, we find two modes of assembly: (1) immediate 2D jamming of the cuboids as they rotate to align with the applied field (rotation-induced jamming) and (2) aggregation via translation after their full alignment (dipole-dipole assembly). The boundary between these two assembly pathways is independent on field strength being solely a function of the cuboid's dimensions, lattice pitch, and array angle with respect to field-a relationship which we capture, along with other features of the assembly process, in a 'phase diagram'. In doing so, we set out initial design rules to build custom made assemblies. Moreover, these assemblies can be made flexible thanks to the hinged contacts of their particle building blocks. This flexibility, combined with the superparamagnetic nature of the architectures, renders our assembly method particularly appropriate for the construction of complex actuators at a scale hitherto not possible.