Biocompatible shape memory polymer actuators with high force capabilities

The effect of Pluronic P123 on shape memory of cross-linked polyurethane/poly(l-lactide) biocomposite

Polyurethane (PU) and poly(l-lactide) (PLLA) have attracted increasing attention in the development of shape memory polymers (SMPs) due to their good biocompatibility and degradability. Although Pluronic P123 can be used to tune polymeric surface hydrophilicity, its effect on SM performance is a mystery. In this study, a soluble cross-linked PU is synthesized as the switching phase and combined with PLLA and P123 to construct a hydrothermally responsive SM composite. The water contact angle of PU/PLLA/P123 decreases from 22.7° to 5.1° within 2 min. PU and P123 form the switching group, which enhances the SM behavior of the composite. The shape fixity (Rf) and shape recovery (Rr) of PU/PLLA/P123 are 94.4 % and 98 % in 55 °C water, respectively, and the shape recovery time is only 10 s. P123 plays the role of "turbine" in the SM process. PU/PLLA/P123 exhibits a balance between stiffness and elasticity, and good degradability. Furthermore, PU/PLLA/P123 is also biocompatible and beneficial to cell proliferation and growth. Therefore, it offers an alternative approach to developing hydrothermally responsive SM biocomposites based on P123, PU and PLLA for biomedical applications.

The Role of 3D Printing Technologies in Soft Grippers

Soft grippers are essential for precise and gentle handling of delicate, fragile, and easy-to-break objects, such as glassware, electronic components, food items, and biological samples, without causing any damage or deformation. This is especially important in industries such as healthcare, manufacturing, agriculture, food handling, and biomedical, where accuracy, safety, and preservation of the objects being handled are critical. This article reviews the use of 3D printing technologies in soft grippers, including those made of functional materials, nonfunctional materials, and those with sensors. 3D printing processes that can be used to fabricate each class of soft grippers are discussed. Available 3D printing technologies that are often used in soft grippers are primarily extrusion-based printing (fused deposition modeling and direct ink writing), jet-based printing (polymer jet), and immersion printing (stereolithography and digital light processing). The materials selected for fabricating soft grippers include thermoplastic polymers, UV-curable polymers, polymer gels, soft conductive composites, and hydrogels. It is conclude that 3D printing technologies revolutionize the way soft grippers are being fabricated, expanding their application domains and reducing the difficulties in customization, fabrication, and production.

4D Printed Shape-Memory Elastomer for Thermally Programmable Soft Actuators

Polymeric shape-memory elastomers can recover to a permeant shape from any programmed deformation under external stimuli. They are mostly cross-linked polymeric materials and can be shaped by three-dimensional (3D) printing. However, 3D printed shape-memory polymers so far only exhibit elasticity above their transition temperature, which results in their programmed shape being inelastic or brittle at lower temperatures. To date, 3D printed shape-memory elastomers with elasticity both below and above their transition temperature remain an elusive goal, which limits the application of shape-memory materials as elastic materials at low temperatures. In this paper, we printed, for the first time, a custom-developed shape-memory elastomer based on polyethylene glycol using digital light processing, which possesses elasticity and stretchability in a wide temperature range, below and above the transition temperature. Young's modulus in these two states can vary significantly, with a difference of up to 2 orders of magnitude. This marked difference in Young's modulus imparts excellent shape-memory properties to the material. The difference in Young's modulus at different temperatures allows for the programming of the pneumatic actuators by heating and softening specific areas. Consequently, a single actuator can exhibit distinct movement modes based on the programming process it undergoes.

Configurational Entropy Regulation in Polyolefin Elastomer/Paraffin Wax Vitrimers by Thermally Responsive Liquid-Solid Transition for Force Storage

The work output of shape memory polymers during shape shifting is desired for practical application as actuators. Herein, a polyolefin elastomer (POE) and paraffin wax (PW) are co-cross-linked by dynamic boronic ester bonds to enhance the network elasticity and the stress transfer between the two phases, endowing high force storage capacity to the prepared vitrimers. Depending on the phase of PW, one-way force storage is realized by programming at a low temperature (25 °C), owing to which solid PW can promote the locking of POE chains in a low-entropy state, while reversible force storage can be realized by programming at a high temperature (75 °C), owing to which the relaxation of chains facilitated by liquid PW can promote the construction of a stable structure. Based on one-way force storage, a weight-lifting machine with a weight of 20 mg prestrained at 25 °C can lift a 100 g weight, showing a lifting ratio of no less than 5000, with a high work output of 0.98 J/g. A high-temperature alarm can be triggered at varied temperatures (43-56 °C) through controlled force release by adjusting the PW content and programmed prestrains. Based on the reversible force storage, crawling robots and artificial muscles with a work output of 0.025 J/g are demonstrated. The dynamic cross-linking network also confers mold-free self-healing capability to POE/PW vitrimers, and the repair efficiency is enhanced compared with the POE vitrimer due to the improved POE chain motion by liquid PW. The realized one-way and reversible force storage and self-healing by POE/PW vitrimers pave the way for the application of SMPs in the fields of soft robotic actuators.

Influences of Crystallinity and Crosslinking Density on the Shape Recovery Force in Poly(ε-Caprolactone)-Based Shape-Memory Polymer Blends

Shape-memory polymers (SMPs) show great potential in various emerging applications, such as artificial muscles, soft actuators, and biomedical devices, owing to their unique shape recovery-induced contraction force. However, the factors influencing this force remain unclear. Herein, we designed a simple polymer blending system using a series of tetra-branched poly(ε-caprolactone)-based SMPs with long and short branch-chain lengths that demonstrate decreased crystallinity and increased crosslinking density gradients. The resultant polymer blends possessed mechanical properties manipulable across a wide range in accordance with the crystallinity gradient, such as stretchability (50.5-1419.5%) and toughness (0.62-130.4 MJ m-3), while maintaining excellent shape-memory properties. The experimental results show that crosslinking density affected the shape recovery force, which correlates to the SMPs' energy storage capacity. Such a polymer blending system could provide new insights on how crystallinity and crosslinking density affect macroscopic thermal and mechanical properties as well as the shape recovery force of SMP networks, improving design capability for future applications.

Shape Memory Behaviour of PMMA-Coated NiTi Alloy under Thermal Cycle

Both poly(methyl methacrylate) (PMMA) and NiTi possess shape memory and biocompatibility behavior. The macroscale properties of PMMA–NiTi composites depend immensely on the quality of the interaction between two components. NiTi shape memory alloy (SMA) and superelastic (SE) sheets were spin coated on one side with PMMA. The composite was prepared by the spin coating method with an alloy-to-polymer-thickness ratio of 1:3. The bending stiffness and radius of curvature were calculated by using numerical and experimental methods during thermal cycles. The experimental radius curvatures in actuation have good agreement with the model. The change in shape results from the difference in coefficients of thermal expansion between PMMA and NiTi. Actuation temperatures were between 0 and 100 °C for the SMA–PMMA composite with a change in curvature from 10 to 120 mm with fixed Young’s modulus of PMMA at 3 GPa, and a change in Young’s modulus of NiTi from 30 to 70 GPa. PMMA–NiTi composites are useful as actuators and sensor elements.

Armor-Based Stable Force Pneumatic Artificial Muscles for Steady Actuation Properties

In this article, a novel actuator called armor-based stable force pneumatic artificial muscle (AS-PAM) is presented. AS-PAM has a sealed chamber made of polygonal parts and film, which helps the actuator to be lightweight (∼100 g) and achieve a large contraction ratio (>60%). It has an armor and a constraint to guide its motion, which keeps its force output [6.25 N/(cm²·bar)] stable over its operating range (<10% deviation). An analytical model is presented to predict and control the behavior of the actuator, and various experiments were conducted to show the validity of the model. Afterward, a gripper using the actuators is presented to illustrate how it can be used in real applications. With its characteristics, the actuator shows interesting behaviors that cannot be found in other soft pneumatic actuators, and it would allow AS-PAM to expand the range of applications in which soft robots cooperate with humans.

Smart scaffolds: shape memory polymers (SMPs) in tissue engineering

Smart scaffolds based on shape memory polymer (SMPs) have been increasingly studied in tissue engineering. The unique shape actuating ability of SMP scaffolds has been utilized to improve delivery and/or tissue defect filling. In this regard, these scaffolds may be self-deploying, self-expanding, or self-fitting. Smart scaffolds are generally thermoresponsive or hydroresponsive wherein shape recovery is driven by an increase in temperature or by hydration, respectively. Most smart scaffolds have been directed towards regenerating bone, cartilage, and cardiovascular tissues. A vast variety of smart scaffolds can be prepared with properties targeted for a specific tissue application. This breadth of smart scaffolds stems from the variety of compositions employed as well as the numerous methods used to fabricated scaffolds with the desired morphology. Smart scaffold compositions span across several distinct classes of SMPs, affording further tunability of properties using numerous approaches. Specifically, these SMPs include those based on physically cross-linked and chemically cross-linked networks and include widely studied shape memory polyurethanes (SMPUs). Various additives, ranging from nanoparticles to biologicals, have also been included to impart unique functionality to smart scaffolds. Thus, given their unique functionality and breadth of tunable properties, smart scaffolds have tremendous potential in tissue engineering.

Topological Structure Design and Fabrication of Biocompatible PLA/TPU/ADM Mesh with Appropriate Elasticity for Hernia Repair

The meshes for hernia repair result in many problems that are related to complications including chronic pain and limited movement due to inadequate mechanical strength, non-absorbability, or low elasticity. In this study, degradable polylactic acid (PLA), synthetic thermoplastic polyurethane (TPU), and acellular dermal matrix (ADM) powders are combined to prepare a novel PLA/TPU/ADM mesh with three different topological structures (square, circular, and diamond) by 3D printing. The physicochemical properties and structural characteristics of mesh are studied, the results show that the diamond structure mesh with the pore size of 3 mm has sufficient elasticity and tensile strength, which provides the efficient mechanical strength required for hernia repair (16 N cm^-1 ) and the value more than polypropylene(PP) mesh. Besides, in vitro and in vivo experiments demonstrate human umbilical vein endothelial cells could successfully proliferate on the PLA/TPU/ADM mesh whose biocompatibility with the host is shown using a rat model of abdominal wall defect. In conclusion, the results of this study demonstrate that the PLA/TPU/ADM mesh may be considered a good choice for hernia repair as its potential to overcome the elastic and strength challenges associated with a highly flexible abdominal wall, as well as its good biocompatibility.

Thermoresponsive Shape Memory Fibers for Compression Garments

Their highly deformable properties make shape memory polymers (SMP) a promising component for the development of new compression garments. The shape memory effect (SME) can be observed when two polymers are combined. In here, polycaprolactone (PCL) and thermoplastic polyurethane (TPU) were melt spun in different arrangement types (blend, core-sheath, and island-in-sea), whereas the best SME was observed for the blend type. In order to trigger the SME, this yarn was stimulated at a temperature of 50 °C. It showed a strain fixation of 62%, a strain recovery of 99%, and a recovery stress of 2.7 MPa.

Actuation Characteristics and Mechanism of Electroactive Plasticized Thermoplastic Polyurethane

As interesting alternatives, electroactive actuators based on plasticized thermoplastic polyurethane (TPU) have shown their potential in developing soft robotics due to the large bending deformation, fast response, and good durability, especially their designable properties. Understanding the actuation mechanism is essential for controlling soft actuators as well as developing novel ones. In this work, the behaviors of the plasticizer and TPU membranes in electric fields were investigated and observed in situ by a microscope, showing that the plasticizer molecules migrated toward the anode of the actuator. It is found that there was a very thin plasticizer-rich layer formed in the material because of the accumulation of negatively charged plasticizer molecules, basing on the results of electrochemical impedance measurement and space charge measurement. This further led to a lower Young's modulus but an internal electric field with a higher density in this layer, resulting in the deformation of the actuator. Furthermore, based on the actuation mechanism, some actuation characteristics of the developed soft actuators were clarified. The maximum deflection of these actuators increased with the number of cycle tests, and in each cycle test, the deflection quickly reached the maximum value and then gradually decreased. It is believed that these characteristics are strongly related to the behaviors of plasticizer molecules, which were investigated accordingly.

Triple-Shape Memory Behavior of Modified Lactide/Glycolide Copolymers

The paper presents the formation and properties of biodegradable thermoplastic blends with triple-shape memory behavior, which were obtained by the blending and extrusion of poly(l-lactide-co-glycolide) and bioresorbable aliphatic oligoesters with side hydroxyl groups: oligo (butylene succinate-co-butylene citrate) and oligo(butylene citrate). Addition of the oligoesters to poly (l-lactide-co-glycolide) reduces the glass transition temperature (Tg) and also increases the flexibility and shape memory behavior of the final blends. Among the tested blends, materials containing less than 20 wt % of oligo (butylene succinate-co-butylene citrate) seem especially promising for biomedical applications as materials for manufacturing bioresorbable implants with high flexibility and relatively good mechanical properties. These blends show compatibility, exhibiting one glass transition temperature and macroscopically uniform physical properties.

3D printed biodegradable functional temperature-stimuli shape memory polymer for customized scaffoldings

Shape memory polymers (SMPs) and their composites have become the prominent choice of the various industries owing to the unique inherent characteristics which can be stimulated through the exposure of external stimuli. The use of SMPs in the three-dimensional (3D) technologies has produced enormous advantages. However, the potential of SMPs in 3D printing has limitedly explored. In the present study, an investigation was performed to study the shape memory effect (SME) of the fused filament fabricated (FFF) chitosan (CS) reinforced poly-lactic-acid (PLA) based porous scaffolds. Firstly, the composite filaments, with 1, 1.5, and 2% wt. of CS, were fabricated by using the twin-screw extrusion process, which was later used to print the test specimens at different infill density. The printed samples were selectively pre-elongated to 2.5 mm and then processed through direct heating, at 60-70 °C, for enabling the SME. It has been observed that the CS particles acted as rigid phases and interrupted the re-ordering of PLA chain. However, the scaffoldings showed 18.8% shape recovery at optimized process parametric settings. In addition, wettability and biocompatibility analyses of developed scaffoldings have also been performed to investigate the biological aspects of the developed scaffoldings. The stimulated samples found to be possessed with good wettability and cell proliferation. Overall, the 3D printed PLA/CS porous scaffoldings have shown significant shape recovery characteristics and are biologically active to be used as self-healing implants for acute bone deficiencies.

The role of foaming process on shape memory behavior of polylactic acid-thermoplastic polyurethane-nano cellulose bio-nanocomposites

In this study the effects of foaming process on the shape memory properties of Polylactic acid/thermoplastic polyurethane/cellulous-nanofiber bio-nanocomposites were investigated. The samples of cylindrical shapes as well as sheets were manufactured and foamed. The results indicated that while the foaming process presented a microcellular structure, it can cause a tangible increase (up to 40%) in force recovery ratio and an intense reduction (up to 10 times) in actuation force. It is statistically shown that the existence of cellulose nano-fibers within the foamed matrix causes a significant increase in actuation force and reduction in the force recovery ratio. Analytical evaluation on the sheet form samples, in the foamed state using rheological model, was carried out that indicated satisfying description of their shape memory behaviors. It was also demonstrated that there exists significant deviation between the shape memory properties extracted from experimental and analytical assessments.

Poly (lactic acid) blends: Processing, properties and applications

Poly (lactic acid) or polylactide (PLA) is a commercial biobased, biodegradable, biocompatible, compostable and non-toxic polymer that has competitive material and processing costs and desirable mechanical properties. Thereby, it can be considered favorably for biomedical applications and as the most promising substitute for petroleum-based polymers in a wide range of commodity and engineering applications. However, PLA has some significant shortcomings such as low melt strength, slow crystallization rate, poor processability, high brittleness, low toughness, and low service temperature, which limit its applications. To overcome these limitations, blending PLA with other polymers is an inexpensive approach that could also tailor the final properties of PLA-based products. During the last two decades, researchers investigated the synthesis, processing, properties, and development of various PLA-based blend systems including miscible blends of poly l-lactide (PLLA) and poly d-lactide (PDLA), which generate stereocomplex crystals, binary immiscible/miscible blends of PLA with other thermoplastics, multifunctional ternary blends using a third polymer or fillers such as nanoparticles, as well as PLA-based blend foam systems. This article reviews all these investigations and compares the syntheses/processing-morphology-properties interrelationships in PLA-based blends developed so far for various applications.

Origami-Based Vacuum Pneumatic Artificial Muscles with Large Contraction Ratios

A novel linear actuator called origami-based vacuum pneumatic artificial muscle (OV-PAM) is proposed in this study that can produce large forces (>400 N) with a contraction ratio >90% of the active length of the actuator. Moreover, some of the designs presented in this article can lift large loads with large contraction ratios at extremely low vacuum pressure (≈10 kPa). This actuator consists of a sealed origami film chamber connecting a polygonal top and bottom plate with evenly spaced transversal reinforcements that prevent the chamber from contracting laterally at certain points of the actuator under vacuum pressure. As vacuum pressure is applied, both a tension force in the walls and a vertical force on the bottom plate of the actuator generate a large contractile force, and the force on the bottom plate can produce a consistent force throughout the entire motion. A quasistatic analytical model was developed that can accurately predict the behavior of the actuator and that can be used for actuator design. OV-PAMs are lightweight, have large contractile forces throughout their entire motion and large contraction ratios. It can also produce large forces at low pressures with large cross-sectional areas. Their versatility could make them well suited for a wide range of applications. They could take us closer to a future where robots can cooperate with humans to shape a better future.

Thermally induced shape memory behavior, enzymatic degradation and biocompatibility of PLA/TPU blends: "Effects of compatibilization"

Poly(lactic acid) (PLA)/thermoplastic polyurethane (TPU) blends were melt-mixed and compatibilized to investigate their biocompatibility, biodegradability and thermally induced shape memory properties. The blend compositions were PLA/TPU: 80/20 (20TPU) and PLA/TPU: 50/50 (50TPU). 1,4-phenylene diisocyanate (PDI) was used in order to compatibilize the components reactively. The PDI composition was 0.5, 1, 3% by weight. Biodegradability was assessed by enzymatic degradation tests. Biocompatibility was investigated through in-vitro cell-culture experiments. Shape memory tests exhibited that 20TPU blends have higher recovery ratio than that of 50TPU blends. It was observed that the shape recovery ratio was enhanced by the addition of PDI. The highest shape recovery ratio was obtained at 3%PDI in 20TPU blends. Enzymatic biodegradability tests showed that the increasing TPU content decreased the biodegradability of the blends. It was found that compatibilization slowed down the enzymatic degradation of PLA/TPU blends. In-vitro cell-culture experiments indicated that all blends were biocompatible, and no evidence of cytotoxicity was observed.

Toward the low actuation temperature of flexible shape memory polymer composites with room temperature deformability via induced plasticizing effect

Room temperature deformable PLA/TPU/PEG blends demostrate superior shape memory properties under low temperature environments due to the induced plasticizing effect.

Poly(lactic acid) blends in biomedical applications

Poly(lactic acid) (PLA) has become a "material of choice" in biomedical applications for its ability to fulfill complex needs that typically include properties such as biocompatibility, biodegradability, mechanical strength, and processability. Despite the advantages of pure PLA in a wider spectrum of applications, it is limited by its hydrophobicity, low impact toughness, and slow degradation rate. Blending PLA with other polymers offers a convenient option to enhance its properties or generate novel properties for target applications without the need to develop new materials. PLA blends with different natural and synthetic polymers have been developed by solvent and melt blending techniques and further processed based on end-use applications. A variety of PLA blends has been explored for biomedical applications such as drug delivery, implants, sutures, and tissue engineering. This review discusses the opportunities for PLA blends in the biomedical arena, including the overview of blending and postblend processing techniques and the applications of PLA blends currently in use and under development.

Thermally-Induced Triple-Shape Hydrogels: Soft Materials Enabling Complex Movements

Shape-memory hydrogels enable directed movements of a specimen in response to temperature, whereby crystallizable switching segments incorporated as side chains resulted in constant degrees of swelling during the shape-memory cycle. Here we report about hydrogels exhibiting a thermally induced triple-shape effect that allows complex movements of soft materials with two almost independent shape changes. Potential applications for those soft triple-shape materials are two-step self-unfolding devices or temperature-sensitive hydrogel actuators, for example, smart valves for flow rate control in aqueous media. Series of hydrogels with two different hydrophobic crystallizable switching segments were prepared. The degrees of swelling of the triple-shape hydrogels were not affected for different shapes or temperatures, which avoided in this way interferences on the shape shifts. During the two-step programming procedure, two distinct shapes can be implemented as reflected by shape fixity ratios of generally >50%. Structural analysis of the switching domains during the triple-shape cycle by means of X-ray scattering indicates that longer side chains gain lower orientation after deformation and that shorter side chains orient perpendicular to the hydrophilic main chain. Furthermore, it is observed that increased orientation of the switching domains is not a key requirement for adequate shape fixity and recovery ratios of the triple-shape effect in hydrogels, thus longer side chains can be utilized as switching segments in other shape-memory hydrogels.

Recent Advances in Shape Memory Soft Materials for Biomedical Applications

Shape memory polymers (SMPs) are smart and adaptive materials able to recover their shape through an external stimulus. This functionality, combined with the good biocompatibility of polymers, has garnered much interest for biomedical applications. In this review, we discuss the design considerations critical to the successful integration of SMPs for use in vivo. We also highlight recent work on three classes of SMPs: shape memory polymers and blends, shape memory polymer composites, and shape memory hydrogels. These developments open the possibility of incorporating SMPs into device design, which can lead to vast technological improvements in the biomedical field.

Thermal and electroactive shape memory behaviors of poly(l-lactide)/thermoplastic polyurethane blend induced by carbon nanotubes

Selectively located CNTs endowed the PLLA/TPU/CNT blend composites with good shape memory behaviors.