Earthworm inspired locomotive motion from fast swelling hybrid hydrogels

Photo-steered rapid and multimodal locomotion of 3D-printed tough hydrogel robots

Hydrogels are an ideal material to develop soft robots. However, it remains a grand challenge to develop miniaturized hydrogel robots with mechanical robustness, rapid actuation, and multi-gait motions. Reported here is a facile strategy to fabricate hydrogel-based soft robots by three-dimensional (3D) printing of responsive and nonresponsive tough gels for programmed morphing and locomotion upon stimulations. Highly viscoelastic poly(acrylic acid-co-acrylamide) and poly(acrylic acid-co-N-isopropyl acrylamide) aqueous solutions, as well as their mixtures, are printed with multiple nozzles into 3D constructs followed by incubation in a solution of zirconium ions to form robust carboxyl-Zr4+ coordination complexes, to produce tough metallo-supramolecular hydrogel fibers. Gold nanorods are incorporated into ink to afford printed gels with response to light. Owing to the mechanical excellence and small diameter of gel fibers, the printed hydrogel robots exhibit high robustness, fast response, and agile motions when remotely steered by dynamic light. The design of printed constructs and steering with spatiotemporal light allow for multimodal motions with programmable trajectories of the gel robots. The hydrogel robots can walk, turn, flip, and transport cargos upon light stimulations. Such printed hydrogels with good mechanical performances, fast response, and agile locomotion may open opportunities for soft robots in biomedical and engineering fields.

Additive-Free Method for Enhancing the Volume Phase Transition Rate in Light-Responsive Hydrogels: A Study of Micro-Nano Bubble Water on PNIPAM-co-AAc Hydrogels

Light-responsive hydrogels containing light-thermal convertible pigments have received interest for their possible applications in light-responsive shutters, valves, drug delivery systems, etc. However, their utility is limited by the slow response time. In this study, we investigated the use of micro-nano bubble water as a preparation solvent to accelerate the volume phase transition kinetics of poly(N-isopropylacrylamide-co-acrylic acid) (PNIPAM-co-AAc) hydrogels. The hydrogels were characterized by dynamic light scattering (DLS) and dissolved oxygen (DO) measurements. The mechanical properties, surface morphology, and chemical composition of the hydrogels were analyzed by Young's modulus measurements, scanning electron microscopy (SEM), and Fourier transform infrared (FT-IR) spectroscopy, respectively. The results showed that hydrogels prepared with bubble water changed the volume transition rate by more than two orders of magnitude by simply changing the standing time of the bubble water for only a few hours. The cooperative diffusion coefficients obtained from the light-induced volume transition kinetics correlated linearly with Young's modulus and metastable state swelling ratio. Our results suggest that bubbles act as efficient water channels, thereby modulating the response rate and providing a simple, additive-free method for preparing hydrogels with a wide range of response rates.

Actuation and design innovations in earthworm-inspired soft robots: A review

Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot's segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

Untethered unidirectionally crawling gels driven by asymmetry in contact forces

Reversible thermoresponsive hydrogels, which swell and shrink (deswell) in the temperature range of 30° to 60°C, provide an attractive material class for operating untethered soft robots in human physiological and ambient conditions. Crawling has been demonstrated previously with thermoresponsive hydrogels but required patterned or constrained gels or substrates to break symmetry for unidirectional motion. Here, we demonstrate a locomotion mechanism for unidirectionally crawling gels driven by spontaneous asymmetries in contact forces during swelling and deswelling of segmented active thermoresponsive poly( N -isopropylacrylamide) (pNIPAM) and passive polyacrylamide (pAAM) bilayers with suspended linkers. Actuation studies demonstrate the consistent unidirectional movement of these gel crawlers across multiple thermal cycles on flat, unpatterned substrates. We explain the mechanism using finite element simulations and by varying experimental parameters such as the linker stiffness and the number of bilayer segments. We elucidate design criteria and validate experiments using image analysis and finite element models. We anticipate that this mechanism could potentially be applied to other shape-changing locomotors.

Esophagus-Inspired Actuator for Solid Transportation via the Synergy of Lubrication and Contractile Deformation

Directional transportation of objects has important applications from energy transfer and intelligent robots to biomedical devices. Although breakthroughs in liquid migration on 2D surfaces or 3D tubular devices have been achieved, realizing smooth/on-demand transportation of constrained solids within a 3D cavity environment under harsh pressurized environment still remains a daunting challenge, where strong interface friction force becomes the main obstacle restricting the movement of solids. Inspired by typical feeding mechanism in natural esophagus system which synergistically couples a lubricating mucosa surface with the peristaltic contraction deformation of the cavity, herein, this challenge is addressed by constructing an esophagus-inspired layered tubular actuator with a slippery inner surface and responsive hydrogel matrix to realize spherical solid propulsion by photo(thermo)-induced cavity deformation. The as-constructed tubular actuator containing Fe₃ O₄ nanoparticles exhibits local volumetric shrinkage upon NIR-irradiation, which can generate large hydrodynamic pressure and considerable mechanical extrusion force (F_{driving force} ≈ 0.18 N) to overcome low interface friction force (f_{friction force} ≈ 0.03 N), enabling on-demand transportation of constrained (pressure: 0.103 MPa) spherical solids over a long distance in an arbitrary direction. This actuator is anticipated to be used as bionic medicine transportation devices or artificial in vitro esophagus simulation systems, for example, to help formula eating-related physiotherapy plans for patients and astronauts.

Stimuli-responsive cylindrical hydrogels mimic intestinal peristalsis to propel a solid object

The emerging field of soft robotics relies on soft, stimuli-responsive materials to enable load transport, manipulation, and mobility in complex unconstrained environments. These materials often need to replicate biological functionality such as muscle contractions and flexibility. Here we demonstrate a soft actuator prototype based on thermosensitive PNIPAAM hydrogels that can transport and manipulate objects. A hollow cylindrical hydrogel was selectively heated and cooled with Peltier devices to yield a traveling wave of shrinking and swelling akin to intestinal peristalsis. A 4 mm diameter bead was placed inside the cylinder and propelled 19.5 mm, equal to distance traveled by the peristaltic wave. We derived conditions that enable peristaltic transport as a function of transporter-cargo design parameters. We conclude that hydrogel-based peristaltic manipulators covering 2 orders of magnitude in stiffness (1-10(2) kPa) could transport cargo spanning 4 orders of magnitude in size (μm-m).

Stimulus-responsive polymers and other functional polymer surfaces as components in glass microfluidic channels

The integration of smart stimulus-responsive polymers as functional elements within microfluidic devices has greatly improved the performance capabilities of controlled fluid delivery. For their use as actuators in microfluidic systems, reversible expansion and shrinking are unique mechanisms which can be utilized as both passive and active fluid control elements to establish gate and valve functions (passive) and pumping elements (active). Various constituents in microfluidic glass channels based on stimulus-responsive elements have been reported based on pH-responsive, thermoresponsive and photoresponsive coatings. Fluid control and robust performance have been demonstrated in microfluidic devices in a number of studies. Here we give a brief overview of selected examples from the literature reporting on the use of stimulus response polymers as active or passive elements for fluid control in microfluidic devices, with specific emphasis on glass-based devices. The remaining challenges include improving switching times and achieving local addressability of the responsive constituent. We envisage tackling these challenges by utilizing redox-responsive polymers which offer fast and reversible switching and local addressability in combination with nanofabricated electrodes.

Solvent induced phenomena in a dendronized linear polymer

The properties of a dendronized linear polymer (DP) in dilute solutions depending on solvent quality and temperature are described. The polymer has a contour length of Lc = 1,060 nm. The sample of the fourth generation (PG4) was analyzed in the thermodynamically good solvents dioxane, chloroform, and methanol. The wormlike macromolecule has a persistence length lp = 7 nm in dioxane and a cross-section radius determined by small angle X-ray scattering (SAXS) of Rc (SAXS) = 2.8 nm. The bulk density of PG4 determined by SAXS was compared with solution density. Evidence for substantial swelling of the cross-section was found. Toluene acts as a thermodynamically poor solvent (θ solvent). Above the θ temperature Tθ , a strong temperature dependence of the size and the Young's modulus E was observed. Following Odijk, E/kBT ∼1 was found. Below Tθ , a regime characterized by unswelling of the wormlike chains was observed. The results suggest that DPs can be described as soft colloid filaments, which are subject to commonly observed interactions in colloidal systems. A phase diagram indicates a regime below Tθ in which fluctuations of osmotic pressure inside the filaments result in periodic undulation of the chains. In summary, introducing a dense dendritic shell around the backbone converts conventional polymers into molecular colloids. Figureᅟ