Stimuli-Responsive Theragrippers for Chemomechanical Controlled Release

Folding photopolymerized origami sheets by post-curing

The paper presents a novel manufacturing approach to fabricate origami based on 3D printing utilizing digital light processing. Specifically, we propose to leave part of the model uncured during the printing step, and then cure it in the post-processing step to set the shape in a folded configuration. While the cured regions in the first step try to regain their unfolded shape, the regions cured in the second step attempt to keep their folded shape. As a result, the final shape is obtained when both regions’ stresses reach equilibrium. Finite element analysis is performed in ANSYS to obtain the stress distribution on common hinge designs, demonstrating that the square-hinge has a lower maximum principal stress than elliptical and triangle hinges. Based on the square-hinge and rectangular cavity, two variables—the hinge width and the cavity height—are selected as principal variables to construct an empirical model with the final folding angle. In the end, experimental verification shows that the developed method is valid and reliable to realize the proposed deformation and 3D development of 2D hinges.

Controllable, Bidirectional Water/Organic Vapors Responsive Actuators Fabricated by One-Step Thiol-Ene Click Polymerization

It is challenging to synthesize stimuli-responsive materials with the well-balanced performance of fast stimulus-response speed, good mechanical strength, multi-functionality, and deformation diversity as well. This work reports a facile, one-step thiol-ene click polymerization strategy for preparation of water/acetone vapor-responsive hierarchical films, by using diallyl terephthalate (P) as hydrophobic ene-monomer, 1,4-diallyl-1,4-diazabicyclo [2.2.2]octane-1,4-diium bromide (B) as hydrophilic ene-monomer, and pentaerythritol tetra(3-mercaptopropionate) (PETMP) as thiol monomer. Besides, by taking advantage of the specific hydrophilic/hydrophobic induction effect of substrate and adjusting the molar ratio of P to B, P₆₀ B₄₀ -HPI film is fabricated on hydrophilic substrate "with plasma treatment" whereas P₈₀ B₂₀ -HPO film is obtained on hydrophobic substrate "without plasma treatment". Their "upper-dense and lower-porous" structural feature ensured the excellent combination of fast stimuli-response speed endowed by the porous structure and good mechanical strength enhanced by the upper dense surface. Both films are bidirectional water/acetone vapor-responsive materials, but their bending directions responding to the stimuli factors are completely opposite. This strategy showed great potential in the development of smart stimuli-responsive materials.

High-Resolution SPECT Imaging of Stimuli-Responsive Soft Microrobots

Untethered small-scale robots have great potential for biomedical applications. However, critical barriers to effective translation of these miniaturized machines into clinical practice exist. High resolution tracking and imaging in vivo is one of the barriers that limit the use of micro- and nanorobots in clinical applications. Here, the inclusion of radioactive compounds in soft thermoresponsive magnetic microrobots is investigated to enable their single-photon emission computed tomography imaging. Four microrobotic platforms differing in hydrogel structure and four ^99m Tc[Tc]-based radioactive compounds are investigated in order to achieve optimal contrast agent retention and optimal imaging. Single microrobot imaging of structures as low as 100 µm in diameter, as well as tracking of shape switching from tubular to planar configurations by inclusion of ^99m Tc[Tc] colloid in the hydrogel structure, is reported.

Steering and control of miniaturized untethered soft magnetic grippers with haptic assistance

Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic grippers in 2-D space. The soft grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners-The ability to accurately and intuitively control the motion of miniaturized grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.

Motion Manipulation of Micro- and Nanomotors

Inspired by the self-migration of microorganisms in nature, artificial micro- and nanomotors can mimic this fantastic behavior by converting chemical fuel or external energy into mechanical motion. These self-propelled micro- and nanomotors, designed either by top-down or bottom-up approaches, are able to achieve different applications, such as environmental remediation, sensing, cargo/sperm transportation, drug delivery, and even precision micro-/nanosurgery. For these various applications, especially biomedical applications, regulating on-demand the motion of micro- and nanomotors is quite essential. However, it remains a continuing challenge to increase the controllability over motors themselves. Here, we will discuss the recent advancements regarding the motion manipulation of micro- and nanomotors by different approaches.

Reversible bidirectional bending of hydrogel-based bilayer actuators

Semi-IPN hydrogel-based bilayers were fabricated and exhibited unique bidirectional bending behavior in response to solution temperature and pH, which is vastly different from what is observed for bilayers composed of only conventional hydrogels.

Review of Adaptive Programmable Materials and Their Bioapplications

Adaptive programmable materials have attracted increasing attention due to their high functionality, autonomous behavior, encapsulation, and site-specific confinement capabilities in various applications. Compared to conventional materials, adaptive programmable materials possess unique single-material architecture that can maintain, respond, and change their shapes and dimensions when they are subjected to surrounding environment changes, such as alternation in temperature, pH, and ionic strength. In this review, the most-recent advances in the design strategies of adaptive programmable materials are presented with respect to different types of architectural polymers, including stimuli-responsive polymers and shape-memory polymers. The diverse functions of these sophisticated materials and their significance in therapeutic agent delivery systems are also summarized in this review. Finally, the challenges for facile fabrication of these materials and future prospective are also discussed.

A Kirigami Approach to Forming a Synthetic Buckliball

The shape transformation of some biological systems inspires scientists to create sophisticated structures at the nano- and macro- scales. However, to be useful in engineering, the mechanics of governing such a spontaneous, parallel and large deformation must be well understood. In this study, a kirigami approach is used to fold a bilayer planar sheet featuring a specific pattern into a buckliball under a certain thermal stimulus. Importantly, this prescribed spherical object can retract into a much smaller sphere due to constructive buckling caused by radially inward displacement. By minimizing the potential strain energy, we obtain a critical temperature, below which the patterned sheet exhibits identical principal curvatures everywhere in the self-folding procedure and above which buckling occurs. The applicability of the theoretical analysis to the self-folding of sheets with a diversity of patterns is verified by the finite element method.

Smart Hydrogels with Inhomogeneous Structures Assembled Using Nanoclay-Cross-Linked Hydrogel Subunits as Building Blocks

A novel and facile assembly strategy has been successfully developed to construct smart nanocomposite (NC) hydrogels with inhomogeneous structures using nanoclay-cross-linked stimuli-responsive hydrogel subunits as building blocks via rearranged hydrogen bonding between polymers and clay nanosheets. The assembled thermoresponsive poly(N-isopropylacrylamide-co-acrylamide) (poly(NIPAM-co-AM)) hydrogels with various inhomogeneous structures exhibit excellent mechanical properties due to plenty of new hydrogen bonding interactions created at the interface for locking the NC hydrogel subunits, which are strong enough to tolerate external forces such as high levels of elongations and multicycles of swelling/deswelling operations. The proposed approach is featured with flexibility and designability to build assembled hydrogels with diverse architectures for achieving various responsive deformations, which are highly promising for stimuli-responsive manipulation such as actuation, encapsulation, and cargo transportation. Our assembly strategy creates new opportunities for further developing mechanically strong hydrogel systems with complex architectures that composed of diverse internal structures, multistimuli-responsive properties, and controllable shape deformation behaviors in the soft robots and actuators fields.

Self-folding hydrogel bilayer for enhanced drug loading, encapsulation, and transport

Hydrogel-based robotic microdevices are currently investigated for minimally invasive medical procedures. Hydrogels are especially suited to targeted drug delivery applications as they are able to carry several times more drug solution than its dry weight. A major drawback of these system is that drug release takes place before reaching the targeted area in the body. We introduce a strategy based on a self-folding bilayer to prevent release during transportation without hindering the drug loading efficiency of the hydrogel. The drug is loaded into the hydrogel matrix at room temperature. When the temperature is increased to body temperature, the hydrogel-matrix collapses and the self-folded bilayer refolds into another tube. In this configuration, we observed a significant reduction in drug leakage with less than 5% drug loss during encapsulation. Finally, we demonstrate that the tube can be manipulated magnetically, which shows its potential use in targeted drug delivery applications.

Control of Untethered Soft Grippers for Pick-and-Place Tasks

In order to handle complex tasks in hard-to-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale grippers to demonstrate pick-and-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload.

Smart three-dimensional lightweight structure triggered from a thin composite sheet via 3D printing technique

Complex fabrication process and expensive materials have restricted the development of smart three-dimensional (3D) lightweight structures, which are expected to possess self-shaping, self-folding and self-unfolding performances. Here we present a simple approach to fabricate smart lightweight structures by triggering shape transformation from thin printed composite sheets. The release of the internal strain in printed polymer materials enables the printed composite sheet to keep flat under heating and transform into a designed 3D configuration when cooled down to room temperature. The 3D lightweight structure can be switched between flat and 3D configuration under appropriate thermal stimuli. Our work exploits uniform internal strain in printed materials as a controllable tool to fabricate smart 3D lightweight structures, opening an avenue for possible applications in engineering fields.

Hydrogel Walkers with Electro-Driven Motility for Cargo Transport

In this study, soft hydrogel walkers with electro-driven motility for cargo transport have been developed via a facile mould-assisted strategy. The hydrogel walkers consisting of polyanionic poly(2-acrylamido-2-methylpropanesulfonic acid-co-acrylamide) exhibit an arc looper-like shape with two “legs” for walking. The hydrogel walkers can reversibly bend and stretch via repeated “on/off” electro-triggers in electrolyte solution. Based on such bending/stretching behaviors, the hydrogel walkers can move their two “legs” to achieve one-directional walking motion on a rough surface via repeated “on/off” electro-triggering cycles. Moreover, the hydrogel walkers loaded with very heavy cargo also exhibit excellent walking motion for cargo transport. Such hydrogel systems create new opportunities for developing electro-controlled soft systems with simple design/fabrication strategies in the soft robotic field for remote manipulation and transportation.

Polymeric actuators

Actuators are materials and devices that are able to change their shape in response to changes in environmental conditions and perform mechanical work on nano-, micro-, and macroscales. Among the huge variety of different actuators, polymer-based ones are highly attractive because of a number of properties such as sensitivity to a broad range of stimuli and good mechanical properties. The goal of this review is to provide a general picture of different mechanisms and working principles of polymeric actuators as well as to show a palette of their applications.

MEMS: Enabled Drug Delivery Systems

Drug delivery systems play a crucial role in the treatment and management of medical conditions. Microelectromechanical systems (MEMS) technologies have allowed the development of advanced miniaturized devices for medical and biological applications. This Review presents the use of MEMS technologies to produce drug delivery devices detailing the delivery mechanisms, device formats employed, and various biomedical applications. The integration of dosing control systems, examples of commercially available microtechnology-enabled drug delivery devices, remaining challenges, and future outlook are also discussed.

Reversibly Cross-Linkable Thermoresponsive Self-Folding Hydrogel Films

This paper reports a novel approach for the design of self-folding films using reversibly cross-linkable thermoresponsive polymers with coumarin groups: poly(N-isopropylacrylamide-co-7-(2-methacryloyloxyethoxy)-4-methylcoumarin). We demonstrated that, depending on the structure of the films and the conditions of cross-linking/de-cross-linking, one can fabricate a variety of different forms ranging from simple tubes to complex centipede-like structures. The demonstrated approach opens new perspectives for the design of 3D self-assembling materials.

Self-folding thermo-magnetically responsive soft microgrippers

Hydrogels such as poly(N-isopropylacrylamide-co-acrylic acid) (pNIPAM-AAc) can be photopatterned to create a wide range of actuatable and self-folding microstructures. Mechanical motion is derived from the large and reversible swelling response of this cross-linked hydrogel in varying thermal or pH environments. This action is facilitated by their network structure and capacity for large strain. However, due to the low modulus of such hydrogels, they have limited gripping ability of relevance to surgical excision or robotic tasks such as pick-and-place. Using experiments and modeling, we design, fabricate, and characterize photopatterned, self-folding functional microgrippers that combine a swellable, photo-cross-linked pNIPAM-AAc soft-hydrogel with a nonswellable and stiff segmented polymer (polypropylene fumarate, PPF). We also show that we can embed iron oxide (Fe2O3) nanoparticles into the porous hydrogel layer, allowing the microgrippers to be responsive and remotely guided using magnetic fields. Using finite element models, we investigate the influence of the thickness and the modulus of both the hydrogel and stiff polymer layers on the self-folding characteristics of the microgrippers. Finally, we illustrate operation and functionality of these polymeric microgrippers for soft robotic and surgical applications.