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Park B, Jeong C, Ok J, Kim TI. Materials and Structural Designs toward Motion Artifact-Free Bioelectronics. Chem Rev 2024; 124:6148-6197. [PMID: 38690686 DOI: 10.1021/acs.chemrev.3c00374] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/02/2024]
Abstract
Bioelectronics encompassing electronic components and circuits for accessing human information play a vital role in real-time and continuous monitoring of biophysiological signals of electrophysiology, mechanical physiology, and electrochemical physiology. However, mechanical noise, particularly motion artifacts, poses a significant challenge in accurately detecting and analyzing target signals. While software-based "postprocessing" methods and signal filtering techniques have been widely employed, challenges such as signal distortion, major requirement of accurate models for classification, power consumption, and data delay inevitably persist. This review presents an overview of noise reduction strategies in bioelectronics, focusing on reducing motion artifacts and improving the signal-to-noise ratio through hardware-based approaches such as "preprocessing". One of the main stress-avoiding strategies is reducing elastic mechanical energies applied to bioelectronics to prevent stress-induced motion artifacts. Various approaches including strain-compliance, strain-resistance, and stress-damping techniques using unique materials and structures have been explored. Future research should optimize materials and structure designs, establish stable processes and measurement methods, and develop techniques for selectively separating and processing overlapping noises. Ultimately, these advancements will contribute to the development of more reliable and effective bioelectronics for healthcare monitoring and diagnostics.
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Affiliation(s)
- Byeonghak Park
- School of Chemical Engineering, Sungkyunkwan University (SKKU), Suwon 16419, Republic of Korea
| | - Chanho Jeong
- School of Chemical Engineering, Sungkyunkwan University (SKKU), Suwon 16419, Republic of Korea
| | - Jehyung Ok
- School of Chemical Engineering, Sungkyunkwan University (SKKU), Suwon 16419, Republic of Korea
| | - Tae-Il Kim
- School of Chemical Engineering, Sungkyunkwan University (SKKU), Suwon 16419, Republic of Korea
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2
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Tang Y, Ye W, Jia J, Chen Y. Learning Stiffness Tensors in Self-Activated Solids via a Local Rule. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2308584. [PMID: 38483019 PMCID: PMC11109665 DOI: 10.1002/advs.202308584] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/09/2023] [Revised: 02/18/2024] [Indexed: 05/23/2024]
Abstract
Mechanical metamaterials are often designed with particular properties for specific load-bearing functions. Alternatively, this study aims to create a class of active lattice metamaterials, dubbed self-activated solids, that can learn desired stiffness tensors from the elastic deformations they experienced, a crucial feature to improve the performance, efficiency, and functionality of materials. Artificial adaptive matters that combine sensory, control, and actuation elements can offer appealing solutions. However, challenges still remain: The designs will rely on accurate off-line and global computations, as well as intricate coordination among individual elements. Here, a simple online and local learning strategy is initiated based on contrastive Hebbian learning to gradually guide self-activated solids to possess sought-after stiffness tensors autonomously and reversibly. During learning, the bond stiffness of the active lattice varies depending only on its local strain. The numerical tests show that the self-activated solid can not only achieve the desired bulk, shear, and coupling moduli but also manifest uni-mode and bi-mode extremal materials by itself after experiencing the corresponding elastic deformations. Further, the self-activated solid can also achieve the desired time-varying moduli when exposed to temporally different loads. The design is applicable to any lattice geometries and is resistant to damage and instabilities. The material design approach and the physical learning strategy suggested can benefit the design of autonomous materials, physical learning machines, and adaptive robots.
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Affiliation(s)
- Yuxuan Tang
- Department of Mechanical and Aerospace EngineeringThe Hong Kong University of Science and TechnologyClear Water BayKowloonHong Kong
| | - Wenjing Ye
- Department of Mechanical and Aerospace EngineeringThe Hong Kong University of Science and TechnologyClear Water BayKowloonHong Kong
| | - Jingjing Jia
- Institute of Materials EngineeringBeijing Institute of Collaborative InnovationBeijing100094China
| | - Yangyang Chen
- Department of Mechanical and Aerospace EngineeringThe Hong Kong University of Science and TechnologyClear Water BayKowloonHong Kong
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3
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Yang G, Hu Y, Guo W, Lei W, Liu W, Guo G, Geng C, Liu Y, Wu H. Tunable Hydrogel Electronics for Diagnosis of Peripheral Neuropathy. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308831. [PMID: 37906182 DOI: 10.1002/adma.202308831] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 10/30/2023] [Indexed: 11/02/2023]
Abstract
Peripheral neuropathy characterized by rapidly increasing numbers of patients is commonly diagnosed via analyzing electromyography signals obtained from stimulation-recording devices. However, existing commercial electrodes have difficulty in implementing conformal contact with skin and gentle detachment, dramatically impairing stimulation/recording performances. Here, this work develops on-skin patches with polyaspartic acid-modified dopamine/ethyl-based ionic liquid hydrogel (PDEH) as stimulation/recording devices to capture electromyography signals for the diagnosis of peripheral neuropathy. Triggered by a one-step electric field treatment, the hydrogel achieves rapid and wide-range regulation of adhesion and substantially strengthened mechanical performances. Moreover, hydrogel patches assembled with a silver-liquid metal (SLM) layer exhibit superior charge injection and low contact impedance, capable of capturing high-fidelity electromyography. This work further verifies the feasibility of hydrogel devices for accurate diagnoses of peripheral neuropathy in sensory, motor, and mixed nerves. For various body parts, such as fingers, the elderly's loose skin, hairy skin, and children's fragile skin, this work regulates the adhesion of PDEH-SLM devices to establish intimate device/skin interfaces or ensure benign removal. Noticeably, hydrogel patches achieve precise diagnoses of nerve injuries in these clinical cases while providing extra advantages of more effective stimulation/recording performances. These patches offer a promising alternative for the diagnosis and rehabilitation of neuropathy in future.
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Affiliation(s)
- Ganguang Yang
- Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Yijia Hu
- Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Wei Guo
- Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Wei Lei
- Department of Hand Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, 430022, China
| | - Wei Liu
- Department of Geriatrics, Renmin Hospital of Wuhan University, 238 Jiefang Road, Wuhan, 430060, China
| | - Guojun Guo
- Department of Hand Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, 430022, China
| | - ChaoFan Geng
- Department of Hand Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, 430022, China
| | - Yutian Liu
- Department of Hand Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, 430022, China
| | - Hao Wu
- Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, China
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4
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Zhu M, Dai J, Feng Y. Robust Grasping of a Variable Stiffness Soft Gripper in High-Speed Motion Based on Reinforcement Learning. Soft Robot 2024; 11:95-104. [PMID: 37477655 DOI: 10.1089/soro.2022.0246] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/22/2023] Open
Abstract
Industrial robots are widely deployed to perform pick-and-place tasks at high speeds to minimize manufacturing time and boost productivity. When dealing with delicate or fragile goods, soft robotic grippers are better end effectors than rigid grippers due to their softness and safe interaction. However, high-speed motion causes the soft robotic gripper to vibrate, leading to damage of the objects or failed grasping. Soft grippers with variable stiffness are considered to be effective in suppressing vibrations by adding damping devices, but it is quite challenging to compromise between stiffness and compliance. In this article, a controller based on deep reinforcement learning is proposed to control the stiffness of the soft robotic gripper, which can accurately suppress the vibration with only a minor influence on its compliance and softness. The proposed controller is a real-time vibration control strategy, which estimates the output of the controller based on the current operating environment. To demonstrate the effectiveness of the proposed controller, experiments were done with a UR5 robotic arm. For different situations, experimental results show that the proposed controller responds quickly and reduces the amplitude of the oscillation substantially.
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Affiliation(s)
- Mingzhu Zhu
- School of Astronautics, Northwestern Polytechnical University, Xi'an, China
| | - Junyue Dai
- Information Engineering College, Zhejiang University of Technology, Hangzhou, China
| | - Yu Feng
- Information Engineering College, Zhejiang University of Technology, Hangzhou, China
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5
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Shan Y, Zhao Y, Wang H, Dong L, Pei C, Jin Z, Sun Y, Liu T. Variable stiffness soft robotic gripper: design, development, and prospects. BIOINSPIRATION & BIOMIMETICS 2023; 19:011001. [PMID: 37948756 DOI: 10.1088/1748-3190/ad0b8c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Accepted: 11/10/2023] [Indexed: 11/12/2023]
Abstract
The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules. To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact, lines contact, surfaces contact, and full-bodies contact, elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.
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Affiliation(s)
- Yu Shan
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yanzhi Zhao
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Haobo Wang
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Liming Dong
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Changlei Pei
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Zhaopeng Jin
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yue Sun
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Tao Liu
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
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6
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Levine DJ, Lee OA, Campbell GM, McBride MK, Kim HJ, Turner KT, Hayward RC, Pikul JH. A Low-Voltage, High-Force Capacity Electroadhesive Clutch Based on Ionoelastomer Heterojunctions. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2304455. [PMID: 37734086 DOI: 10.1002/adma.202304455] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/11/2023] [Revised: 09/18/2023] [Indexed: 09/23/2023]
Abstract
Electroadhesive devices with dielectric films can electrically program changes in stiffness and adhesion, but require hundreds of volts and are subject to failure by dielectric breakdown. Recent work on ionoelastomer heterojunctions has enabled reversible electroadhesion with low voltages, but these materials exhibit limited force capacities and high detachment forces. It is a grand challenge to engineer electroadhesives with large force capacities and programmable detachment at low voltages (<10 V). In this work, tough ionoelastomer/metal mesh composites with low surface energies are synthesized and surface roughness is controlled to realize sub-ten-volt clutches that are small, strong, and easily detachable. Models based on fracture and contact mechanics explain how clutch compliance and surface texture affect force capacity and contact area, which is validated over different geometries and voltages. These ionoelastomer clutches outperform the best existing electroadhesive clutches by fivefold in force capacity per unit area (102 N cm-2 ), with a 40-fold reduction in operating voltage (± 7.5 V). Finally, the ability of the ionoelastomer clutches to resist bending moments in a finger wearable and as a reversible adhesive in an adjustable phone mount is demonstrated.
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Affiliation(s)
- D J Levine
- Department of Mechanical Engineering & Applied Mechanics, University of Pennsylvania, Philadelphia, PA, 19104, USA
| | - O A Lee
- Materials Science and Engineering, University of Colorado, Boulder, CO, 80303, USA
| | - G M Campbell
- Department of Mechanical Engineering & Applied Mechanics, University of Pennsylvania, Philadelphia, PA, 19104, USA
| | - M K McBride
- Department of Chemical and Biological Engineering, University of Colorado, Boulder, CO, 80303, USA
| | - H J Kim
- Department of Chemical and Biomolecular Engineering, Sogang University, Seoul, 04107, South Korea
| | - K T Turner
- Department of Mechanical Engineering & Applied Mechanics, University of Pennsylvania, Philadelphia, PA, 19104, USA
| | - R C Hayward
- Materials Science and Engineering, University of Colorado, Boulder, CO, 80303, USA
- Department of Chemical and Biological Engineering, University of Colorado, Boulder, CO, 80303, USA
| | - J H Pikul
- Department of Mechanical Engineering & Applied Mechanics, University of Pennsylvania, Philadelphia, PA, 19104, USA
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, 53706, USA
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7
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Johnson BK, Naris M, Sundaram V, Volchko A, Ly K, Mitchell SK, Acome E, Kellaris N, Keplinger C, Correll N, Humbert JS, Rentschler ME. A multifunctional soft robotic shape display with high-speed actuation, sensing, and control. Nat Commun 2023; 14:4516. [PMID: 37524731 PMCID: PMC10390478 DOI: 10.1038/s41467-023-39842-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2023] [Accepted: 07/03/2023] [Indexed: 08/02/2023] Open
Abstract
Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.
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Affiliation(s)
- B K Johnson
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - M Naris
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - V Sundaram
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - A Volchko
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - K Ly
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - S K Mitchell
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
- Artimus Robotics, Boulder, CO, USA
| | - E Acome
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
- Artimus Robotics, Boulder, CO, USA
| | - N Kellaris
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
- Artimus Robotics, Boulder, CO, USA
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO, USA
| | - C Keplinger
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA.
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO, USA.
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
| | - N Correll
- Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA.
| | - J S Humbert
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA.
| | - M E Rentschler
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA.
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8
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Liu Y, Wang Y, Yang X, Huang W, Zhang Y, Zhang X, Wang X. Stiffness Variable Polymer for Soft Actuators with Sharp Stiffness Switch and Fast Response. ACS APPLIED MATERIALS & INTERFACES 2023. [PMID: 37201204 DOI: 10.1021/acsami.3c03880] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/20/2023]
Abstract
Stiffness variable polymers are an essential family of materials that have aroused considerable attention in soft actuators. Although lots of strategies have been proposed to achieve variable stiffness, it remains a formidable challenge to achieve a polymer with a wide stiffness range and fast stiffness change. Herein, a series of variable stiffness polymers with a fast stiffness change and wide stiffness range were successfully synthesized, and the formulas were optimized via Pearson correlation tests. The rigid/soft stiffness ratio of the designed polymer samples can reach up to 1376-folds. Impressively, owing to the phase-changing side chains, the narrow endothermic peak can be observed with full width at half-maximum within 5 °C. Moreover, the shape memory properties of the shape fixity (Rf) and shape recovery ratio (Rr) values of the shape memory properties could reach up to 99.3 and 99.2%, respectively. Then, the obtained polymer was introduced into a kind of designed 3D printing soft actuator. The soft actuator can achieve sharp heating-cooling cycle of 19 s under a 1.2 A current with 4 °C water as coolant and can lift a 200 g weight at the actuating state. Moreover, the stiffness of the soft actuator can reach up to 718 mN/mm. The soft actuator exhibits an outstanding actuate behavior and stiffness switchable capability. We expect our design strategy and obtained variable stiffness polymers to be potentially applied in soft actuators and other devices.
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Affiliation(s)
- Yahao Liu
- College of Naval Architecture and Ocean Engineering, Naval University of Engineering, Wuhan 430022, China
- Staff Room of Chemistry and Material, Department of Basic Course, Naval University of Engineering, Wuhan 430022, China
| | - Yuansheng Wang
- College of Naval Architecture and Ocean Engineering, Naval University of Engineering, Wuhan 430022, China
| | - Xue Yang
- National Key Laboratory on Ship Vibration & Noise, Wuhan 430022, China
| | - Wei Huang
- College of Naval Architecture and Ocean Engineering, Naval University of Engineering, Wuhan 430022, China
- Staff Room of Chemistry and Material, Department of Basic Course, Naval University of Engineering, Wuhan 430022, China
| | - Yu Zhang
- Army Engineering University, Shijiazhuang Campus, Shijiazhuang 050003, China
| | - Xiao Zhang
- Engineering University of PAP, Xi'an 710086, China
| | - Xuan Wang
- Staff Room of Chemistry and Material, Department of Basic Course, Naval University of Engineering, Wuhan 430022, China
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9
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Glaser NC, Langowski JKA. Stiff skin, soft core: soft backings enhance the conformability and friction of fibre-reinforced adhesives. ROYAL SOCIETY OPEN SCIENCE 2023; 10:221263. [PMID: 36908990 PMCID: PMC9993060 DOI: 10.1098/rsos.221263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/26/2022] [Accepted: 02/15/2023] [Indexed: 06/18/2023]
Abstract
Biomimetic adhesives with a stiff fibre-reinforced base layer generate strong attachment, even without bioinspired micropatterning of the contact surface. However, current fibre-reinforced adhesive designs are still less versatile with respect to substrate variability than their biological counterparts. In this study, we enhance the comformability of a fibre-reinforced adhesive on curved substrates by adding bioinspired soft backings. We designed and fabricated soft backing variations (polyurethane foams and silicone hydroskeletons) with varying compressive stiffnesses that mimic the soft viscoelastic structures in the adhesive appendages of tree frogs, geckos and other animals. The backings were mounted on a smooth silicone layer enforced with a polyester mesh, and we experimentally investigated the contact area and friction performance of these adhesives on a curved substrate. The results show that the contact area and friction created by a fibre-reinforced adhesive with a soft backing in contact with a non-flat substrate scale inversely with backing stiffness. The integration of stiff fibre-reinforcement with a compressible backing represents an important step in bringing bioinspired adhesives out of the laboratory and into the real world, for example in soft robotic grippers. Moreover, our findings stimulate further research into the role of soft tissues in biological adhesive systems.
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Affiliation(s)
- Niels C. Glaser
- Department of BioMechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands
| | - Julian K. A. Langowski
- Experimental Zoology Group, Department of Animal Sciences, Wageningen University and Research, De Elst 1, 6708 WD Wageningen, The Netherlands
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10
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Levine DJ, Iyer GM, Daelan Roosa R, Turner KT, Pikul JH. A mechanics-based approach to realize high–force capacity electroadhesives for robots. Sci Robot 2022; 7:eabo2179. [DOI: 10.1126/scirobotics.abo2179] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/03/2022]
Abstract
Materials with electroprogrammable stiffness and adhesion can enhance the performance of robotic systems, but achieving large changes in stiffness and adhesive forces in real time is an ongoing challenge. Electroadhesive clutches can rapidly adhere high stiffness elements, although their low force capacities and high activation voltages have limited their applications. A major challenge in realizing stronger electroadhesive clutches is that current parallel plate models poorly predict clutch force capacity and cannot be used to design better devices. Here, we use a fracture mechanics framework to understand the relationship between clutch design and force capacity. We demonstrate and verify a mechanics-based model that predicts clutch performance across multiple geometries and applied voltages. On the basis of this approach, we build a clutch with 63 times the force capacity per unit electrostatic force of state-of-the-art electroadhesive clutches. Last, we demonstrate the ability of our electroadhesives to increase the load capacity of a soft, pneumatic finger by a factor of 27 times compared with a finger without an electroadhesive.
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Affiliation(s)
- David J. Levine
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Gokulanand M. Iyer
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - R. Daelan Roosa
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Kevin T. Turner
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - James H. Pikul
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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11
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Liu H, Fan P, Jin F, Huang G, Guo X, Xu F. Dynamic and static biomechanical traits of cardiac fibrosis. Front Bioeng Biotechnol 2022; 10:1042030. [PMID: 36394025 PMCID: PMC9659743 DOI: 10.3389/fbioe.2022.1042030] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/12/2022] [Accepted: 10/20/2022] [Indexed: 11/29/2022] Open
Abstract
Cardiac fibrosis is a common pathology in cardiovascular diseases which are reported as the leading cause of death globally. In recent decades, accumulating evidence has shown that the biomechanical traits of fibrosis play important roles in cardiac fibrosis initiation, progression and treatment. In this review, we summarize the four main distinct biomechanical traits (i.e., stretch, fluid shear stress, ECM microarchitecture, and ECM stiffness) and categorize them into two different types (i.e., static and dynamic), mainly consulting the unique characteristic of the heart. Moreover, we also provide a comprehensive overview of the effect of different biomechanical traits on cardiac fibrosis, their transduction mechanisms, and in-vitro engineered models targeting biomechanical traits that will aid the identification and prediction of mechano-based therapeutic targets to ameliorate cardiac fibrosis.
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Affiliation(s)
- Han Liu
- Henan Key Laboratory of Chinese Medicine for Respiratory Disease, Academy of Chinese Medical Sciences, Henan University of Chinese Medicine, Zhengzhou, China
- Collaborative Innovation Center for Chinese Medicine and Respiratory Diseases Co-Constructed by Henan Province and Education Ministry of China, Zhengzhou, China
| | - Pengbei Fan
- Henan Key Laboratory of Chinese Medicine for Respiratory Disease, Academy of Chinese Medical Sciences, Henan University of Chinese Medicine, Zhengzhou, China
- Collaborative Innovation Center for Chinese Medicine and Respiratory Diseases Co-Constructed by Henan Province and Education Ministry of China, Zhengzhou, China
| | - Fanli Jin
- Henan Key Laboratory of Chinese Medicine for Respiratory Disease, Academy of Chinese Medical Sciences, Henan University of Chinese Medicine, Zhengzhou, China
- Collaborative Innovation Center for Chinese Medicine and Respiratory Diseases Co-Constructed by Henan Province and Education Ministry of China, Zhengzhou, China
| | - Guoyou Huang
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, China
| | - Xiaogang Guo
- The First Affiliated Hospital, College of Medicine, Zhejiang University, Hangzhou, China
| | - Feng Xu
- The Key Laboratory of Biomedical Information Engineering of Ministry of Education, School of Life Science and Technology, Xi’an Jiaotong University, Xi’an, China
- Bioinspired Engineering and Biomechanics Center (BEBC), Xi’an Jiaotong University, Xi’an, China
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12
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Ji S, Wu X, Jiang Y, Wang T, Liu Z, Cao C, Ji B, Chi L, Li D, Chen X. Self-Reporting Joule Heating Modulated Stiffness of Polymeric Nanocomposites for Shape Reconfiguration. ACS NANO 2022; 16:16833-16842. [PMID: 36194555 DOI: 10.1021/acsnano.2c06682] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Shape reconfigurable devices, e.g., foldable phones, have emerged with the development of flexible electronics. But their rigid frames limit the feasible shapes for the devices. To achieve freely changeable shapes yet keep the rigidity of devices for user-friendly operations, stiffness-tunable materials are desired, especially under electrical control. However, current such systems are multilayer with at least a heater layer and a structural layer, leading to complex fabrication, high cost, and loss of reprocessability. Herein, we fabricate covalent adaptable networks-carbon nanotubes (CAN-CNT) composites to realize Joule heating controlled stiffness. The nanocomposites function as stiffness-tunable matrices, electric heaters, and softening sensors all by themselves. The self-reporting of softening is used to regulate the power control, and the sensing mechanism is investigated by simulating the CNT-polymer chain interactions at the nanoscale during the softening process. The nanocomposites not only have adjustable mechanical and thermodynamic properties but also are easy to fabricate at low cost and exhibit reprocessability and recyclability benefiting from the dynamic exchange reactions of CANs. Shape and stiffness control of flexible display systems are demonstrated with the nanocomposites as framing material, where freely reconfigurable shapes are realized to achieve convenient operation, wearing, or storage, fully exploiting their flexible potential.
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Affiliation(s)
- Shaobo Ji
- Innovative Centre for Flexible Devices (iFLEX), Max Planck-NTU Joint Lab for Artificial Senses, School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798Singapore
- Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Institute of Functional Nano & Soft Materials, Soochow University, Suzhou, 215123China
| | - Xuwei Wu
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027China
| | - Ying Jiang
- Innovative Centre for Flexible Devices (iFLEX), Max Planck-NTU Joint Lab for Artificial Senses, School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798Singapore
| | - Ting Wang
- Innovative Centre for Flexible Devices (iFLEX), Max Planck-NTU Joint Lab for Artificial Senses, School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798Singapore
- State Key Laboratory of Organic Electronics and Information Displays & Jiangsu Key Laboratory for Biosensors, Institute of Advanced Materials (IAM), Jiangsu National Synergetic Innovation Center for Advanced Materials (SICAM), Nanjing University of Posts and Telecommunications, Nanjing, 210023China
| | - Zhihua Liu
- Innovative Centre for Flexible Devices (iFLEX), Max Planck-NTU Joint Lab for Artificial Senses, School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798Singapore
- Agency for Science Technology and Research, Institute of Materials Research and Engineering (IMRE), Singapore, 138634, Singapore
| | - Can Cao
- Innovative Centre for Flexible Devices (iFLEX), Max Planck-NTU Joint Lab for Artificial Senses, School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798Singapore
| | - Baohua Ji
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027China
- Oujiang Lab, Wenzhou Institute, Chinese Academy of Sciences, Wenzhou, 325001China
| | - Lifeng Chi
- Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Institute of Functional Nano & Soft Materials, Soochow University, Suzhou, 215123China
| | - Dechang Li
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027China
| | - Xiaodong Chen
- Innovative Centre for Flexible Devices (iFLEX), Max Planck-NTU Joint Lab for Artificial Senses, School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798Singapore
- Agency for Science Technology and Research, Institute of Materials Research and Engineering (IMRE), Singapore, 138634, Singapore
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13
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Sun WJ, Sun H, Jia LC, Lei J, Lin H, Tang JH, Wang YY, Yan DX. Segregated Conductive Carbon Nanotube/Poly(ethylene- co-vinyl acetate) Composites for Low-Voltage Reversible Actuators. Ind Eng Chem Res 2022. [DOI: 10.1021/acs.iecr.2c02540] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Affiliation(s)
- Wen-Jin Sun
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - He Sun
- College of Polymer Science and Engineering, State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu 610065, China
| | - Li-Chuan Jia
- College of Polymer Science and Engineering, State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu 610065, China
| | - Jun Lei
- College of Polymer Science and Engineering, State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu 610065, China
| | - Hao Lin
- College of Polymer Science and Engineering, State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu 610065, China
| | - Jian-Hua Tang
- College of Chemical Engineering, Sichuan University, Chengdu 610065, China
| | - Yue-Yi Wang
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Ding-Xiang Yan
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
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14
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Wu J, Wu B, Xiong J, Sun S, Wu P. Entropy‐Mediated Polymer–Cluster Interactions Enable Dramatic Thermal Stiffening Hydrogels for Mechanoadaptive Smart Fabrics. Angew Chem Int Ed Engl 2022; 61:e202204960. [DOI: 10.1002/anie.202204960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/04/2022] [Indexed: 11/12/2022]
Affiliation(s)
- Jia Wu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Chemistry Chemical Engineering and Biotechnology & Center for Advanced Low-dimension Materials Donghua University Shanghai 201620 China
| | - Baohu Wu
- Jülich Centre for Neutron Science (JCNS) at Heinz Maier-Leibnitz Zentrum (MLZ) Forschungszentrum Jülich Lichtenbergstr. 1 85748 Garching Germany
| | - Jiaqing Xiong
- Innovation Center for Textile Science and Technology Donghua University Shanghai 201620 China
| | - Shengtong Sun
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Chemistry Chemical Engineering and Biotechnology & Center for Advanced Low-dimension Materials Donghua University Shanghai 201620 China
| | - Peiyi Wu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Chemistry Chemical Engineering and Biotechnology & Center for Advanced Low-dimension Materials Donghua University Shanghai 201620 China
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15
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Fang X, Wen J, Cheng L, Yu D, Zhang H, Gumbsch P. Programmable gear-based mechanical metamaterials. NATURE MATERIALS 2022; 21:869-876. [PMID: 35681063 PMCID: PMC9345786 DOI: 10.1038/s41563-022-01269-3] [Citation(s) in RCA: 19] [Impact Index Per Article: 9.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/12/2021] [Accepted: 04/26/2022] [Indexed: 05/02/2023]
Abstract
Elastic properties of classical bulk materials can hardly be changed or adjusted in operando, while such tunable elasticity is highly desired for robots and smart machinery. Although possible in reconfigurable metamaterials, continuous tunability in existing designs is plagued by issues such as structural instability, weak robustness, plastic failure and slow response. Here we report a metamaterial design paradigm using gears with encoded stiffness gradients as the constituent elements and organizing gear clusters for versatile functionalities. The design enables continuously tunable elastic properties while preserving stability and robust manoeuvrability, even under a heavy load. Such gear-based metamaterials enable excellent properties such as continuous modulation of Young's modulus by two orders of magnitude, shape morphing between ultrasoft and solid states, and fast response. This allows for metamaterial customization and brings fully programmable materials and adaptive robots within reach.
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Affiliation(s)
- Xin Fang
- Laboratory of Science and Technology on Integrated Logistics Support, College of Intelligent Science and Technology, National University of Defense Technology, Changsha, China.
- Institute for Applied Materials, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany.
- Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China.
| | - Jihong Wen
- Laboratory of Science and Technology on Integrated Logistics Support, College of Intelligent Science and Technology, National University of Defense Technology, Changsha, China.
| | - Li Cheng
- Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China
| | - Dianlong Yu
- Laboratory of Science and Technology on Integrated Logistics Support, College of Intelligent Science and Technology, National University of Defense Technology, Changsha, China
| | - Hongjia Zhang
- Laboratory of Science and Technology on Integrated Logistics Support, College of Intelligent Science and Technology, National University of Defense Technology, Changsha, China
| | - Peter Gumbsch
- Institute for Applied Materials, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany.
- Fraunhofer Institute for Mechanics of Materials IWM, Freiburg, Germany.
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16
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Wu J, Wu B, Xiong J, Sun S, Wu P. Entropy‐Mediated Polymer‐Cluster Interactions Enable Dramatic Thermal Stiffening Hydrogels for Mechanoadaptive Smart Fabrics. Angew Chem Int Ed Engl 2022. [DOI: 10.1002/ange.202204960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Jia Wu
- Donghua University Chemistry CHINA
| | - Baohu Wu
- Forschungszentrum Julich ICG: Forschungszentrum Julich GmbH JCNS GERMANY
| | - Jiaqing Xiong
- Donghua University Innovation Center for Textile Science and Technology CHINA
| | | | - Peiyi Wu
- Fudan University Department of Macromolecular Science Handan Road 220 200433 Shanghai CHINA
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17
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Stabile CJ, Levine DJ, Iyer GM, Majidi C, Turner KT. The Role of Stiffness in Versatile Robotic Grasping. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3149036] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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18
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Cao D, Martinez JG, Hara ES, Jager EWH. Biohybrid Variable-Stiffness Soft Actuators that Self-Create Bone. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2107345. [PMID: 34877728 DOI: 10.1002/adma.202107345] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Revised: 11/12/2021] [Indexed: 06/13/2023]
Abstract
Inspired by the dynamic process of initial bone development, in which a soft tissue turns into a solid load-bearing structure, the fabrication, optimization, and characterization of bioinduced variable-stiffness actuators that can morph in various shapes and change their properties from soft to rigid are hereby presented. Bilayer devices are prepared by combining the electromechanically active properties of polypyrrole with the compliant behavior of alginate gels that are uniquely functionalized with cell-derived plasma membrane nanofragments (PMNFs), previously shown to mineralize within 2 days, which promotes the mineralization in the gel layer to achieve the soft to stiff change by growing their own bone. The mineralized actuator shows an evident frozen state compared to the movement before mineralization. Next, patterned devices show programmed directional and fixated morphing. These variable-stiffness devices can wrap around and, after the PMNF-induced mineralization in and on the gel layer, adhere and integrate onto bone tissue. The developed biohybrid variable-stiffness actuators can be used in soft (micro-)robotics and as potential tools for bone repair or bone tissue engineering.
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Affiliation(s)
- Danfeng Cao
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
| | - Jose G Martinez
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
| | - Emilio Satoshi Hara
- Department of Biomaterials, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, 700-8558, Japan
| | - Edwin W H Jager
- Sensor and Actuator Systems, Department of Physics, Chemistry and Biology (IFM), Linköping University, Linköping, 58183, Sweden
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19
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Qi J, Chen Z, Jiang P, Hu W, Wang Y, Zhao Z, Cao X, Zhang S, Tao R, Li Y, Fang D. Recent Progress in Active Mechanical Metamaterials and Construction Principles. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2102662. [PMID: 34716676 PMCID: PMC8728820 DOI: 10.1002/advs.202102662] [Citation(s) in RCA: 32] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2021] [Revised: 08/31/2021] [Indexed: 05/03/2023]
Abstract
Active mechanical metamaterials (AMMs) (or smart mechanical metamaterials) that combine the configurations of mechanical metamaterials and the active control of stimuli-responsive materials have been widely investigated in recent decades. The elaborate artificial microstructures of mechanical metamaterials and the stimulus response characteristics of smart materials both contribute to AMMs, making them achieve excellent properties beyond the conventional metamaterials. The micro and macro structures of the AMMs are designed based on structural construction principles such as, phase transition, strain mismatch, and mechanical instability. Considering the controllability and efficiency of the stimuli-responsive materials, physical fields such as, the temperature, chemicals, light, electric current, magnetic field, and pressure have been adopted as the external stimuli in practice. In this paper, the frontier works and the latest progress in AMMs from the aspects of the mechanics and materials are reviewed. The functions and engineering applications of the AMMs are also discussed. Finally, existing issues and future perspectives in this field are briefly described. This review is expected to provide the basis and inspiration for the follow-up research on AMMs.
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Affiliation(s)
- Jixiang Qi
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zihao Chen
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Peng Jiang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Wenxia Hu
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Yonghuan Wang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zeang Zhao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Xiaofei Cao
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Shushan Zhang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ran Tao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ying Li
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Daining Fang
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
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