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Oh S, Lee S, Kim SW, Kim CY, Jeong EY, Lee J, Kwon DA, Jeong JW. Softening implantable bioelectronics: Material designs, applications, and future directions. Biosens Bioelectron 2024; 258:116328. [PMID: 38692223 DOI: 10.1016/j.bios.2024.116328] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2024] [Revised: 03/30/2024] [Accepted: 04/22/2024] [Indexed: 05/03/2024]
Abstract
Implantable bioelectronics, integrated directly within the body, represent a potent biomedical solution for monitoring and treating a range of medical conditions, including chronic diseases, neural disorders, and cardiac conditions, through personalized medical interventions. Nevertheless, contemporary implantable bioelectronics rely heavily on rigid materials (e.g., inorganic materials and metals), leading to inflammatory responses and tissue damage due to a mechanical mismatch with biological tissues. Recently, soft electronics with mechanical properties comparable to those of biological tissues have been introduced to alleviate fatal immune responses and improve tissue conformity. Despite their myriad advantages, substantial challenges persist in surgical handling and precise positioning due to their high compliance. To surmount these obstacles, softening implantable bioelectronics has garnered significant attention as it embraces the benefits of both rigid and soft bioelectronics. These devices are rigid for easy standalone implantation, transitioning to a soft state in vivo in response to environmental stimuli, which effectively overcomes functional/biological problems inherent in the static mechanical properties of conventional implants. This article reviews recent research and development in softening materials and designs for implantable bioelectronics. Examples featuring tissue-penetrating and conformal softening devices highlight the promising potential of these approaches in biomedical applications. A concluding section delves into current challenges and outlines future directions for softening implantable device technologies, underscoring their pivotal role in propelling the evolution of next-generation bioelectronics.
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Affiliation(s)
- Subin Oh
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Simok Lee
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Sung Woo Kim
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Choong Yeon Kim
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Eun Young Jeong
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Juhyun Lee
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Do A Kwon
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea; Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Jae-Woong Jeong
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea; KAIST Institute for Health Science and Technology, Daejeon, 34141, Republic of Korea.
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Lai J, Liu Y, Lu G, Yung P, Wang X, Tuan RS, Li ZA. 4D bioprinting of programmed dynamic tissues. Bioact Mater 2024; 37:348-377. [PMID: 38694766 PMCID: PMC11061618 DOI: 10.1016/j.bioactmat.2024.03.033] [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: 12/22/2023] [Revised: 03/12/2024] [Accepted: 03/28/2024] [Indexed: 05/04/2024] Open
Abstract
Setting time as the fourth dimension, 4D printing allows us to construct dynamic structures that can change their shape, property, or functionality over time under stimuli, leading to a wave of innovations in various fields. Recently, 4D printing of smart biomaterials, biological components, and living cells into dynamic living 3D constructs with 4D effects has led to an exciting field of 4D bioprinting. 4D bioprinting has gained increasing attention and is being applied to create programmed and dynamic cell-laden constructs such as bone, cartilage, and vasculature. This review presents an overview on 4D bioprinting for engineering dynamic tissues and organs, followed by a discussion on the approaches, bioprinting technologies, smart biomaterials and smart design, bioink requirements, and applications. While much progress has been achieved, 4D bioprinting as a complex process is facing challenges that need to be addressed by transdisciplinary strategies to unleash the full potential of this advanced biofabrication technology. Finally, we present future perspectives on the rapidly evolving field of 4D bioprinting, in view of its potential, increasingly important roles in the development of advanced dynamic tissues for basic research, pharmaceutics, and regenerative medicine.
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Affiliation(s)
- Jiahui Lai
- Department of Biomedical Engineering, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
- Center for Neuromusculoskeletal Restorative Medicine, Hong Kong Science Park, NT, Hong Kong SAR, China
| | - Yuwei Liu
- Department of Biomedical Engineering, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
- The First Affiliated Hospital of Shenzhen University, Shenzhen Second People's Hospital, Shenzhen, Guangdong, China
| | - Gang Lu
- Center for Neuromusculoskeletal Restorative Medicine, Hong Kong Science Park, NT, Hong Kong SAR, China
- School of Biomedical Sciences, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
| | - Patrick Yung
- Center for Neuromusculoskeletal Restorative Medicine, Hong Kong Science Park, NT, Hong Kong SAR, China
- Department of Orthopaedics & Traumatology, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
| | - Xiaoying Wang
- State Key Laboratory of Pulp & Paper Engineering, South China University of Technology, 381 Wushan Road, Tianhe District, Guangzhou, 510640, China
| | - Rocky S. Tuan
- Center for Neuromusculoskeletal Restorative Medicine, Hong Kong Science Park, NT, Hong Kong SAR, China
- School of Biomedical Sciences, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
- Department of Orthopaedics & Traumatology, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
- Institute for Tissue Engineering and Regenerative Medicine, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
| | - Zhong Alan Li
- Department of Biomedical Engineering, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
- Center for Neuromusculoskeletal Restorative Medicine, Hong Kong Science Park, NT, Hong Kong SAR, China
- School of Biomedical Sciences, The Chinese University of Hong Kong, NT, Hong Kong SAR, China
- Key Laboratory of Regenerative Medicine, Ministry of Education, School of Biomedical Sciences, Faculty of Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China
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Zhao J, Li X, Ji D, Bae J. Extrusion-based 3D printing of soft active materials. Chem Commun (Camb) 2024. [PMID: 38894652 DOI: 10.1039/d4cc01889c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/21/2024]
Abstract
Active materials are capable of responding to external stimuli, as observed in both natural and synthetic systems, from sensitive plants to temperature-responsive hydrogels. Extrusion-based 3D printing of soft active materials facilitates the fabrication of intricate geometries with spatially programmed compositions and architectures at various scales, further enhancing the functionality of materials. This Feature Article summarizes recent advances in extrusion-based 3D printing of active materials in both non-living (i.e., synthetic) and living systems. It highlights emerging ink formulations and architectural designs that enable programmable properties, with a focus on complex shape morphing and controllable light-emitting patterns. The article also spotlights strategies for engineering living materials that can produce genetically encoded material responses and react to a variety of environmental stimuli. Lastly, it discusses the challenges and prospects for advancements in both synthetic and living composite materials from the perspectives of chemistry, modeling, and integration.
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Affiliation(s)
- Jiayu Zhao
- Aiiso Yufeng Li Family Department of Chemical and Nano Engineering, University of California San Diego, La Jolla, CA 92093, USA.
| | - Xiao Li
- Material Science and Engineering Program, University of California San Diego, La Jolla, CA 92093, USA
| | - Donghwan Ji
- Aiiso Yufeng Li Family Department of Chemical and Nano Engineering, University of California San Diego, La Jolla, CA 92093, USA.
| | - Jinhye Bae
- Aiiso Yufeng Li Family Department of Chemical and Nano Engineering, University of California San Diego, La Jolla, CA 92093, USA.
- Material Science and Engineering Program, University of California San Diego, La Jolla, CA 92093, USA
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Han W, Gao W, Wang X. Enhanced Magnetic Soft Robotics: Integrating Fiber Optics and 3D Printing for Rapid Actuation and Precision Sensing. ACS APPLIED MATERIALS & INTERFACES 2024; 16:30396-30407. [PMID: 38820388 DOI: 10.1021/acsami.4c04586] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/02/2024]
Abstract
Timely, accurate, and rapid grasping of dynamic change information in magnetic actuation soft robots is essential for advancing their evolution toward intelligent, integrated, and multifunctional systems. However, existing magnetic-actuation soft robots lack effective functions for integrating sensing and actuation. Herein, we demonstrate the integration of distributed fiber optics technology with advanced-programming 3D printing techniques. This integration provides our soft robots unique capabilities such as integrated sensing, precise shape reconstruction, controlled deformation, and sophisticated magnetic navigation. By utilizing an improved magneto-mechanical coupling model and an advanced inversion algorithm, we successfully achieved real-time reconstruction of complex structures, such as 'V', 'N', and 'M' shapes and gripper designs, with a notable response time of 34 ms. Additionally, our robots demonstrate proficiency in magnetic navigation and closed-loop deformation control, making them ideal for operation in confined or obscured environments. This work thus provides a transformative strategy to meet unmet demands in the rapidly growing field of soft robotics, especially in establishing the theoretical and technological foundation for constructing digitized robots.
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Affiliation(s)
- Wenheng Han
- Key Laboratory of Mechanics on Western Disaster and Environment, MoE, College of Civil Engineering and Mechanic, Key Laboratory of Special Function Materials and Structure Design of Ministry of Education, Lanzhou University, Lanzhou 730000, PR China
| | - Wei Gao
- School of Science, Lanzhou University of Technology, Lanzhou 730050, PR China
| | - Xingzhe Wang
- Key Laboratory of Mechanics on Western Disaster and Environment, MoE, College of Civil Engineering and Mechanic, Key Laboratory of Special Function Materials and Structure Design of Ministry of Education, Lanzhou University, Lanzhou 730000, PR China
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Tong D, Zhao Y, Wu Z, Chen Y, Xu X, Chen Q, Fan X, Yang Z. Octopus-Inspired Soft Robot for Slow Drug Release. Biomimetics (Basel) 2024; 9:340. [PMID: 38921220 PMCID: PMC11202092 DOI: 10.3390/biomimetics9060340] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2024] [Revised: 05/27/2024] [Accepted: 05/28/2024] [Indexed: 06/27/2024] Open
Abstract
Octopus tentacles are equipped with numerous suckers, wherein the muscles contract and expel air, creating a pressure difference. Subsequently, when the muscular tension is released, objects can be securely adhered to. This mechanism has been widely employed in the development of adhesive systems. However, most existing octopus-inspired structures are passive and static, lacking dynamic and controllable adhesive switching capabilities and excellent locomotion performance. Here, we present an octopus-inspired soft robot (OISR). Attracted by the magnetic gradient field, the suction cup structure inside the OISR can generate a strong adsorption force, producing dynamically controllable adsorption and separation in the gastrointestinal (GI) tract. The experimental results show that the OISR has a variety of controllable locomotion behaviors, including quick scrolling and rolling motions, generating fast locomotion responses, rolling over gastric folds, and tumbling and swimming inside liquids. By carrying drugs that are absorbable by GI epithelial cells to target areas, the OISR enables continuous drug delivery at lesions or inflamed regions of the GI tract. This research may be a potential approach for achieving localized slow drug release within the GI tract.
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Affiliation(s)
- Dingwen Tong
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Yiqun Zhao
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Yutan Chen
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Xinmiao Xu
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Qinkai Chen
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
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6
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Zhao J, Xin C, Zhu J, Xia N, Hao B, Liu X, Tan Y, Yang S, Wang X, Xue J, Wang Q, Lu H, Zhang L. Insect-Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2312655. [PMID: 38465794 DOI: 10.1002/adma.202312655] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Revised: 03/04/2024] [Indexed: 03/12/2024]
Abstract
Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect-scale robots. Robust locomotion plays a particularly critical role. In this study, a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque is revealed and defined. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, a biped robot based on the mechanism is proposed, which not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load-carrying and weight-bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect-scale robotics.
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Affiliation(s)
- Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Chen Xin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiaqi Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Xurui Liu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Yu Tan
- College of Environment and Civil Engineering, Chengdu University of Technology, Chengdu, 610059, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Junnan Xue
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, 310027, China
- Institute of Cyber-Systems and Control, Department of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
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Shukla AK, Bhandari S, Mitra S, Kim B, Dey KK. Buoyancy-Driven Micro/-Nanomotors: From Fundamentals to Applications. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2308580. [PMID: 38225699 DOI: 10.1002/smll.202308580] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Revised: 12/30/2023] [Indexed: 01/17/2024]
Abstract
The progression of self-powered micro/-nanomotors (MNMs) has rapidly evolved over the past few decades, showing applications in various fields such as nanotechnology, biomedical engineering, microfluidics, environmental science, and energy harvesting. Miniaturized MNMs transduce chemical/biochemical energies into mechanical motion for navigating through complex fluidic environments with directional control via external forces fields such as magnetic, photonic, and electric stimuli. Among various propulsion mechanisms, buoyancy-driven MNMs have received noteworthy recognition due to their simplicity, efficiency, and versatility. Buoyancy force-driven motors harness the principles of density variation-mediated force to overcome fluidic resistance to navigate through complex environments. Restricting the propulsion in one direction helps to control directional movement, making it more efficient in isotropic solutions. The changes in pH, ionic strength, chemical concentration, solute gradients, or the presence of specific molecules can influence the motion of buoyancy-driven MNMs as evidenced by earlier reports. This review aims to provide a fundamental and detailed analysis of the current state-of-the-art in buoyancy-driven MNMs, aiming to inspire further research and innovation in this promising field.
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Affiliation(s)
- Ashish Kumar Shukla
- Laboratory of Soft and Living Materials, Department of Physics, Indian Institute of Technology, Palaj, Gandhinagar, Gujarat, 382055, India
- School of Mechatronics Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
| | - Satyapriya Bhandari
- Department of Chemistry, Kandi Raj College, University of Kalyani, Murshidabad, Kandi, West Bengal, 742137, India
| | - Shirsendu Mitra
- Department of Chemical Engineering, Pandit Deendayal Energy University, Gandhinagar, Gujarat, 382007, India
| | - Byungki Kim
- School of Mechatronics Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
- Future Convergence Engineering, Korea University of Technology and Education, Cheonan, Chungnam, 31253, Republic of Korea
| | - Krishna Kanti Dey
- Laboratory of Soft and Living Materials, Department of Physics, Indian Institute of Technology, Palaj, Gandhinagar, Gujarat, 382055, India
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Zhou X, Chen G, Jin B, Feng H, Chen Z, Fang M, Yang B, Xiao R, Xie T, Zheng N. Multimodal Autonomous Locomotion of Liquid Crystal Elastomer Soft Robot. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2402358. [PMID: 38520731 PMCID: PMC11187929 DOI: 10.1002/advs.202402358] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/05/2024] [Revised: 03/12/2024] [Indexed: 03/25/2024]
Abstract
Self-oscillation phenomena observed in nature serve as extraordinary inspiration for designing synthetic autonomous moving systems. Converting self-oscillation into designable self-sustained locomotion can lead to a new generation of soft robots that require minimal/no external control. However, such locomotion is typically constrained to a single mode dictated by the constant surrounding environment. In this study, a liquid crystal elastomer (LCE) robot capable of achieving self-sustained multimodal locomotion, with the specific motion mode being controlled via substrate adhesion or remote light stimulation is presented. Specifically, the LCE is mechanically trained to undergo repeated snapping actions to ensure its self-sustained rolling motion in a constant gradient thermal field atop a hotplate. By further fine-tuning the substrate adhesion, the LCE robot exhibits reversible transitions between rolling and jumping modes. In addition, the rolling motion can be manipulated in real time through light stimulation to perform other diverse motions including turning, decelerating, stopping, backing up, and steering around complex obstacles. The principle of introducing an on-demand gate control offers a new venue for designing future autonomous soft robots.
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Affiliation(s)
- Xiaorui Zhou
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Guancong Chen
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Binjie Jin
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Haijun Feng
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Zike Chen
- State Key Laboratory of Fluid Power and Mechatronic SystemsKey Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China
| | - Mengqi Fang
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Bo Yang
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Rui Xiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsKey Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China
| | - Tao Xie
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
| | - Ning Zheng
- State Key Laboratory of Chemical EngineeringCollege of Chemical and Biological EngineeringZhejiang UniversityHangzhou310027China
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Qi M, Liu Y, Wang Z, Yuan S, Li K, Zhang Q, Chen M, Wei L. Self-Healable Multifunctional Fibers via Thermal Drawing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2400785. [PMID: 38682447 PMCID: PMC11200011 DOI: 10.1002/advs.202400785] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/22/2024] [Revised: 04/08/2024] [Indexed: 05/01/2024]
Abstract
The development of soft electronics and soft fiber devices has significantly advanced flexible and wearable technology. However, they still face the risk of damage when exposed to sharp objects in real-life applications. Taking inspiration from nature, self-healable materials that can restore their physical properties after external damage offer a solution to this problem. Nevertheless, large-scale production of self-healable fibers is currently constrained. To address this limitation, this study leverages the thermal drawing technique to create elastic and stretchable self-healable thermoplastic polyurethane (STPU) fibers, enabling cost-effective mass production of such functional fibers. Furthermore, despite substantial research into the mechanisms of self-healable materials, quantifying their healing speed and time poses a persistent challenge. Thus, transmission spectra are employed as a monitoring tool to observe the real-time self-healing process, facilitating an in-depth investigation into the healing kinetics and efficiency. The versatility of the fabricated self-healable fiber extends to its ability to be doped with a wide range of functional materials, including dye molecules and magnetic microparticles, which enables modular assembly to develop distributed strain sensors and soft actuators. These achievements highlight the potential applications of self-healable fibers that seamlessly integrate with daily lives and open up new possibilities in various industries.
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Affiliation(s)
- Miao Qi
- College of Biomedical Engineering & Instrument ScienceKey Laboratory for Biomedical Engineering of Ministry of EducationZhejiang UniversityHangzhou310027China
- Zhejiang LabHangzhou311100China
| | - Yanting Liu
- School of Electrical and Electronic EngineeringNanyang Technological University50 Nanyang AvenueSingapore639798Singapore
| | - Zhe Wang
- Key Laboratory of Bionic Engineering of Ministry of EducationJilin UniversityChangchun130022China
| | - Shixing Yuan
- School of Electrical and Electronic EngineeringNanyang Technological University50 Nanyang AvenueSingapore639798Singapore
| | - Kaiwei Li
- Key Laboratory of Bionic Engineering of Ministry of EducationJilin UniversityChangchun130022China
| | - Qichong Zhang
- Suzhou Institute of Nano‐Tech and Nano‐BionicsChinese Academy of SciencesSuzhou215123China
| | - Mengxiao Chen
- College of Biomedical Engineering & Instrument ScienceKey Laboratory for Biomedical Engineering of Ministry of EducationZhejiang UniversityHangzhou310027China
- Zhejiang LabHangzhou311100China
| | - Lei Wei
- School of Electrical and Electronic EngineeringNanyang Technological University50 Nanyang AvenueSingapore639798Singapore
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10
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Gao F, Jiang H, Wang D, Wang S, Song W. Bio‐Inspired Magnetic‐Responsive Supramolecular‐Covalent Semi‐Convertible Hydrogel. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2401645. [PMID: 38754860 DOI: 10.1002/adma.202401645] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/03/2024] [Revised: 05/13/2024] [Indexed: 05/18/2024]
Abstract
Bio-inspired magnetic-responsive hydrogel is confined in exceedingly narrow spaces for soft robots and biomedicine in either gel state or magnetofluidic sol state. However, the motion of the gel state magnetic hydrogel will be inhibited in various irregular spaces due to the fixed shape and size and the sol-state magnetofluid gel may bring unpredictable residues in the confined narrow space. Inspired by the dynamic liquid lubricating mechanism of biological systems, novel magnetic-responsive semi-convertible hydrogel (MSCH) is developed through imbedding magnetic-responsive gelatin and amino-modified Fe3O4 nanoparticles network into the covalent network of polyvinyl alcohol, which can be switched between gel state and gel-sol state in response to magnetic stimuli. It can be attributed the disassembly of triple-helix structures of the gelatin under the action of the magnetic field, driven by force from the magnetic particles conjugated on the gelatin chain through electrostatic interactions, while the covalent network retains the hydrogel structural integrity. This leads to a sol layer on the MSCH surface enabling the MSCH to pass effectively through the confined channel or obstacle under magnetic field. The present MSCH will provide an alternative mode for magnetic field-related soft robots or actuators.
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Affiliation(s)
- Feng Gao
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, Changchun, 130012, P. R. China
| | - Hongyue Jiang
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, Changchun, 130012, P. R. China
| | - Dayang Wang
- College of Chemistry, Jilin University, Changchun, 130012, P. R. China
| | - Shutao Wang
- CAS Key Laboratory of Bio-Inspired Materials and Interfacial Science, CAS Center for Excellence in Nanoscience, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, P. R. China
- University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Wenlong Song
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, Changchun, 130012, P. R. China
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11
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Xian W, Zhan YS, Maiti A, Saab AP, Li Y. Filled Elastomers: Mechanistic and Physics-Driven Modeling and Applications as Smart Materials. Polymers (Basel) 2024; 16:1387. [PMID: 38794580 PMCID: PMC11125212 DOI: 10.3390/polym16101387] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/15/2024] [Revised: 05/06/2024] [Accepted: 05/07/2024] [Indexed: 05/26/2024] Open
Abstract
Elastomers are made of chain-like molecules to form networks that can sustain large deformation. Rubbers are thermosetting elastomers that are obtained from irreversible curing reactions. Curing reactions create permanent bonds between the molecular chains. On the other hand, thermoplastic elastomers do not need curing reactions. Incorporation of appropriated filler particles, as has been practiced for decades, can significantly enhance mechanical properties of elastomers. However, there are fundamental questions about polymer matrix composites (PMCs) that still elude complete understanding. This is because the macroscopic properties of PMCs depend not only on the overall volume fraction (ϕ) of the filler particles, but also on their spatial distribution (i.e., primary, secondary, and tertiary structure). This work aims at reviewing how the mechanical properties of PMCs are related to the microstructure of filler particles and to the interaction between filler particles and polymer matrices. Overall, soft rubbery matrices dictate the elasticity/hyperelasticity of the PMCs while the reinforcement involves polymer-particle interactions that can significantly influence the mechanical properties of the polymer matrix interface. For ϕ values higher than a threshold, percolation of the filler particles can lead to significant reinforcement. While viscoelastic behavior may be attributed to the soft rubbery component, inelastic behaviors like the Mullins and Payne effects are highly correlated to the microstructures of the polymer matrix and the filler particles, as well as that of the polymer-particle interface. Additionally, the incorporation of specific filler particles within intelligently designed polymer systems has been shown to yield a variety of functional and responsive materials, commonly termed smart materials. We review three types of smart PMCs, i.e., magnetoelastic (M-), shape-memory (SM-), and self-healing (SH-) PMCs, and discuss the constitutive models for these smart materials.
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Affiliation(s)
- Weikang Xian
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| | - You-Shu Zhan
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| | - Amitesh Maiti
- Lawrence Livermore National Laboratory, Livermore, CA 94550, USA; (A.M.); (A.P.S.)
| | - Andrew P. Saab
- Lawrence Livermore National Laboratory, Livermore, CA 94550, USA; (A.M.); (A.P.S.)
| | - Ying Li
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
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12
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Dai CF, Zhu QL, Khoruzhenko O, Thelen M, Bai H, Breu J, Du M, Zheng Q, Wu ZL. Reversible Snapping of Constrained Anisotropic Hydrogels Upon Light Stimulations. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2402824. [PMID: 38704682 DOI: 10.1002/advs.202402824] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/19/2024] [Revised: 04/12/2024] [Indexed: 05/07/2024]
Abstract
Creatures, such as Venus flytrap and hummingbirds, capable of rapid predation through snap-through transition, provide paradigms for the design of soft actuators and robots with fast actions. However, these artificial "snappers" usually need contact stimulations to trigger the flipping. Reported here is a constrained anisotropic poly(N-isopropylacrylamide) hydrogel showing fast snapping upon light stimulation. This hydrogel is prepared by flow-induced orientation of nanosheets (NSs) within a rectangular tube. The precursor containing gold nanoparticles is immediately exposed to UV light for photopolymerization to fix the ordered structure of NSs. Two ends of the slender gel are clamped to form a buckle with bistability nature, which snaps to the other side upon laser irradiation. Systematic experiments are conducted to investigate the influences of power intensity and irradiation angle of the laser, as well as thickness and buckle height of the gel, on the snapping behaviors. The fast snapping is further used to kick a plastic bead and control the switch state. Furthermore, synergetic or oscillated snapping of the gel with two buckles of opposite directions is realized by inclined irradiation of a laser or horizontal irradiation with two lasers, respectively. Such light-steered snapping of hydrogels should merit designing soft robots, energy harvests, etc.
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Affiliation(s)
- Chen Fei Dai
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Qing Li Zhu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Olena Khoruzhenko
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Michael Thelen
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Huiying Bai
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Josef Breu
- Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Universitätsstrasse 30, 95440, Bayreuth, Germany
| | - Miao Du
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Qiang Zheng
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Zi Liang Wu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, 310058, China
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13
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Zhou K, Sun R, Wojciechowski JP, Wang R, Yeow J, Zuo Y, Song X, Wang C, Shao Y, Stevens MM. 4D Multimaterial Printing of Soft Actuators with Spatial and Temporal Control. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2312135. [PMID: 38290081 DOI: 10.1002/adma.202312135] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/14/2023] [Revised: 01/16/2024] [Indexed: 02/01/2024]
Abstract
Soft actuators (SAs) are devices which can interact with delicate objects in a manner not achievable with traditional robotics. While it is possible to design a SA whose actuation is triggered via an external stimulus, the use of a single stimulus creates challenges in the spatial and temporal control of the actuation. Herein, a 4D printed multimaterial soft actuator design (MMSA) whose actuation is only initiated by a combination of triggers (i.e., pH and temperature) is presented. Using 3D printing, a multilayered soft actuator with a hydrophilic pH-sensitive layer, and a hydrophobic magnetic and temperature-responsive shape-memory polymer layer, is designed. The hydrogel responds to environmental pH conditions by swelling or shrinking, while the shape-memory polymer can resist the shape deformation of the hydrogel until triggered by temperature or light. The combination of these stimuli-responsive layers allows for a high level of spatiotemporal control of the actuation. The utility of the 4D MMSA is demonstrated via a series of cargo capture and release experiments, validating its ability to demonstrate active spatiotemporal control. The MMSA concept provides a promising research direction to develop multifunctional soft devices with potential applications in biomedical engineering and environmental engineering.
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Affiliation(s)
- Kun Zhou
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Rujie Sun
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Jonathan P Wojciechowski
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Richard Wang
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Jonathan Yeow
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Yuyang Zuo
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Xin Song
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Chunliang Wang
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Yue Shao
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Molly M Stevens
- Department of Materials, Department of Bioengineering, and Institute of Biomedical Engineering, Imperial College London, London, SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Department of Engineering Science, and Kavli Institute for Nanoscience Discovery, University of Oxford, Oxford, OX1 3QU, UK
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14
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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15
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Jung Y, Kwon K, Lee J, Ko SH. Untethered soft actuators for soft standalone robotics. Nat Commun 2024; 15:3510. [PMID: 38664373 PMCID: PMC11045848 DOI: 10.1038/s41467-024-47639-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/09/2023] [Accepted: 04/08/2024] [Indexed: 04/28/2024] Open
Abstract
Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.
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Affiliation(s)
- Yeongju Jung
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Kangkyu Kwon
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Jinwoo Lee
- Department of Mechanical, Robotics, and Energy Engineering, Dongguk University, 30 Pildong-ro 1-gil, Jung-gu, Seoul, 04620, South Korea.
| | - Seung Hwan Ko
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Institute of Engineering Research / Institute of Advanced Machinery and Design (SNU-IAMD), Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Interdisciplinary Program in Bioengineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, Korea.
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16
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Wang F, Zhang Y, Jin D, Jiang Z, Liu Y, Knoll A, Jiang H, Ying Y, Zhou M. Magnetic Soft Microrobot Design for Cell Grasping and Transportation. CYBORG AND BIONIC SYSTEMS 2024; 5:0109. [PMID: 38680536 PMCID: PMC11052606 DOI: 10.34133/cbsystems.0109] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/28/2023] [Accepted: 03/07/2024] [Indexed: 05/01/2024] Open
Abstract
Manipulating cells at a small scale is widely acknowledged as a complex and challenging task, especially when it comes to cell grasping and transportation. Various precise methods have been developed to remotely control the movement of microrobots. However, the manipulation of micro-objects necessitates the use of end-effectors. This paper presents a study on the control of movement and grasping operations of a magnetic microrobot, utilizing only 3 pairs of electromagnetic coils. A specially designed microgripper is employed on the microrobot for efficient cell grasping and transportation. To ensure precise grasping, a bending deformation model of the microgripper is formulated and subsequently validated. To achieve precise and reliable transportation of cells to specific positions, an approach that combines an extended Kalman filter with a model predictive control method is adopted to accomplish the trajectory tracking task. Through experiments, we observe that by applying the proposed control strategy, the mean absolute error of path tracking is found to be less than 0.155 mm. Remarkably, this value accounts for only 1.55% of the microrobot's size, demonstrating the efficacy and accuracy of our control strategy. Furthermore, an experiment involving the grasping and transportation of a zebrafish embryonic cell (diameter: 800 μm) is successfully conducted. The results of this experiment not only validate the precision and effectiveness of the proposed microrobot and its associated models but also highlight its tremendous potential for cell manipulation in vitro and in vivo.
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Affiliation(s)
- Fanghao Wang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Youchao Zhang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Daoyuan Jin
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Zhongliang Jiang
- TUM School of Computation, Information, and Technology, Garching 85748, Germany
| | - Yaqian Liu
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Alois Knoll
- TUM School of Computation, Information, and Technology, Garching 85748, Germany
| | - Huanyu Jiang
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Yibin Ying
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
| | - Mingchuan Zhou
- College of Biosystems Engineering and Food Science,
Zhejiang University, Hangzhou 310058, China
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17
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Wang Y, Chen H, Xie L, Liu J, Zhang L, Yu J. Swarm Autonomy: From Agent Functionalization to Machine Intelligence. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312956. [PMID: 38653192 DOI: 10.1002/adma.202312956] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 04/17/2024] [Indexed: 04/25/2024]
Abstract
Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Leiming Xie
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Jinbo Liu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
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18
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Roshan U, Mudugamuwa A, Cha H, Hettiarachchi S, Zhang J, Nguyen NT. Actuation for flexible and stretchable microdevices. LAB ON A CHIP 2024; 24:2146-2175. [PMID: 38507292 DOI: 10.1039/d3lc01086d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/22/2024]
Abstract
Flexible and stretchable microdevices incorporate highly deformable structures, facilitating precise functionality at the micro- and millimetre scale. Flexible microdevices have showcased extensive utility in the fields of biomedicine, microfluidics, and soft robotics. Actuation plays a critical role in transforming energy between different forms, ensuring the effective operation of devices. However, when it comes to actuating flexible microdevices at the small millimetre or even microscale, translating actuation mechanisms from conventional rigid large-scale devices is not straightforward. The recent development of actuation mechanisms leverages the benefits of device flexibility, particularly in transforming conventional actuation concepts into more efficient approaches for flexible devices. Despite many reviews on soft robotics, flexible electronics, and flexible microfluidics, a specific and systematic review of the actuation mechanisms for flexible and stretchable microdevices is still lacking. Therefore, the present review aims to address this gap by providing a comprehensive overview of state-of-the-art actuation mechanisms for flexible and stretchable microdevices. We elaborate on the different actuation mechanisms based on fluid pressure, electric, magnetic, mechanical, and chemical sources, thoroughly examining and comparing the structure designs, characteristics, performance, advantages, and drawbacks of these diverse actuation mechanisms. Furthermore, the review explores the pivotal role of materials and fabrication techniques in the development of flexible and stretchable microdevices. Finally, we summarise the applications of these devices in biomedicine and soft robotics and provide perspectives on current and future research.
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Affiliation(s)
- Uditha Roshan
- Queensland Micro and Nanotechnology Centre, Griffith University, Brisbane, QLD 4111, Australia.
| | - Amith Mudugamuwa
- Queensland Micro and Nanotechnology Centre, Griffith University, Brisbane, QLD 4111, Australia.
| | - Haotian Cha
- Queensland Micro and Nanotechnology Centre, Griffith University, Brisbane, QLD 4111, Australia.
| | - Samith Hettiarachchi
- Queensland Micro and Nanotechnology Centre, Griffith University, Brisbane, QLD 4111, Australia.
| | - Jun Zhang
- Queensland Micro and Nanotechnology Centre, Griffith University, Brisbane, QLD 4111, Australia.
- School of Engineering and Built Environment, Griffith University, Brisbane, QLD 4111, Australia
| | - Nam-Trung Nguyen
- Queensland Micro and Nanotechnology Centre, Griffith University, Brisbane, QLD 4111, Australia.
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19
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Wang Y, Wang Y, Mushtaq RT, Wei Q. Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications. Polymers (Basel) 2024; 16:1087. [PMID: 38675005 PMCID: PMC11054840 DOI: 10.3390/polym16081087] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2024] [Revised: 04/10/2024] [Accepted: 04/11/2024] [Indexed: 04/28/2024] Open
Abstract
The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.
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Affiliation(s)
- Yanmei Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
| | - Yanen Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
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20
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Yue Q, Wang S, Jones ST, Fielding LA. Multifunctional Self-Assembled Block Copolymer/Iron Oxide Nanocomposite Hydrogels Formed from Wormlike Micelles. ACS APPLIED MATERIALS & INTERFACES 2024; 16. [PMID: 38592714 PMCID: PMC11056933 DOI: 10.1021/acsami.4c03007] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/22/2024] [Revised: 03/25/2024] [Accepted: 03/26/2024] [Indexed: 04/10/2024]
Abstract
This article reports the preparation of multifunctional magnetic nanocomposite hydrogels formed from wormlike micelles. Specifically, iron oxide nanoparticles were incorporated into a temperature responsive block copolymer, poly(glycerol monomethacrylate)-b-poly(2-hydroxypropyl methacrylate) (PGMA-b-PHPMA), and graphene oxide (GO) dispersion at a low temperature (∼2 °C) through high-speed mixing and returning the mixture to room temperature, resulting in the formation of nanocomposite gels. The optimal concentrations of iron oxide and GO enhanced the gel strength of the nanocomposite gels, which exhibited a strong magnetic response when a magnetic field was applied. These materials retained the thermoresponsiveness of the PGMA-PHPMA wormlike micelles allowing for a solid-to-liquid transition to occur when the temperature was reduced. The mechanical and rheological properties and performance of the nanocomposite gels were demonstrated to be adjustable, making them suitable for a wide range of potential applications. These nanocomposite worm gels were demonstrated to be relatively adhesive and to act as strain and temperature sensors, with the measured electrical resistance of the nanocomposite gels changing with applied strain and temperature sweeps. The nanocomposite gels were found to recover efficiently after the application of high shear with approximately 100% healing efficiency within seconds. Additionally, these nanocomposite worm gels were injectable, and the addition of GO and iron oxide nanomaterials seemed to have no significant adverse impact on the biocompatibility of the copolymer gels, making them suitable not only for 3D printing in nanocomposite engineering but also for potential utilization in various biomedical applications as an injectable magnetic responsive hydrogel.
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Affiliation(s)
- Qi Yue
- Department
of Materials, School of Natural Sciences, University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
- Henry
Royce Institute, The University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
| | - Shiyu Wang
- Department
of Materials, School of Natural Sciences, University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
- Henry
Royce Institute, The University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
| | - Samuel T. Jones
- Department
of Materials, School of Natural Sciences, University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
- Henry
Royce Institute, The University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
- School
of Chemistry, University of Birmingham, Edgbaston, Birmingham B15 2TT, U.K.
| | - Lee A. Fielding
- Department
of Materials, School of Natural Sciences, University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
- Henry
Royce Institute, The University of Manchester, Oxford Road, Manchester M13 9PL, U.K.
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21
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Yarali E, Mirzaali MJ, Ghalayaniesfahani A, Accardo A, Diaz-Payno PJ, Zadpoor AA. 4D Printing for Biomedical Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2402301. [PMID: 38580291 DOI: 10.1002/adma.202402301] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/13/2024] [Indexed: 04/07/2024]
Abstract
4D (bio-)printing endows 3D printed (bio-)materials with multiple functionalities and dynamic properties. 4D printed materials have been recently used in biomedical engineering for the design and fabrication of biomedical devices, such as stents, occluders, microneedles, smart 3D-cell engineered microenvironments, drug delivery systems, wound closures, and implantable medical devices. However, the success of 4D printing relies on the rational design of 4D printed objects, the selection of smart materials, and the availability of appropriate types of external (multi-)stimuli. Here, this work first highlights the different types of smart materials, external stimuli, and design strategies used in 4D (bio-)printing. Then, it presents a critical review of the biomedical applications of 4D printing and discusses the future directions of biomedical research in this exciting area, including in vivo tissue regeneration studies, the implementation of multiple materials with reversible shape memory behaviors, the creation of fast shape-transformation responses, the ability to operate at the microscale, untethered activation and control, and the application of (machine learning-based) modeling approaches to predict the structure-property and design-shape transformation relationships of 4D (bio)printed constructs.
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Affiliation(s)
- Ebrahim Yarali
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
- Department of Precision and Microsystems Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
| | - Mohammad J Mirzaali
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
| | - Ava Ghalayaniesfahani
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
- Department of Chemistry, Materials and Chemical Engineering, Giulio Natta, Politecnico di Milano, Piazza Leonardo da Vinci, 32, Milano, 20133, Italy
| | - Angelo Accardo
- Department of Precision and Microsystems Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
| | - Pedro J Diaz-Payno
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
- Department of Orthopedics and Sports Medicine, Erasmus MC University Medical Center, Rotterdam, 3015 CN, The Netherlands
| | - Amir A Zadpoor
- Department of Biomechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology (TU Delft), Mekelweg 2, Delft, 2628 CD, The Netherlands
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22
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Kwon H, Yang Y, Kim G, Gim D, Ha M. Anisotropy in magnetic materials for sensors and actuators in soft robotic systems. NANOSCALE 2024; 16:6778-6819. [PMID: 38502047 DOI: 10.1039/d3nr05737b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/20/2024]
Abstract
The field of soft intelligent robots has rapidly developed, revealing extensive potential of these robots for real-world applications. By mimicking the dexterities of organisms, robots can handle delicate objects, access remote areas, and provide valuable feedback on their interactions with different environments. For autonomous manipulation of soft robots, which exhibit nonlinear behaviors and infinite degrees of freedom in transformation, innovative control systems integrating flexible and highly compliant sensors should be developed. Accordingly, sensor-actuator feedback systems are a key strategy for precisely controlling robotic motions. The introduction of material magnetism into soft robotics offers significant advantages in the remote manipulation of robotic operations, including touch or touchless detection of dynamically changing shapes and positions resulting from the actuations of robots. Notably, the anisotropies in the magnetic nanomaterials facilitate the perception and response with highly selective, directional, and efficient ways used for both sensors and actuators. Accordingly, this review provides a comprehensive understanding of the origins of magnetic anisotropy from both intrinsic and extrinsic factors and summarizes diverse magnetic materials with enhanced anisotropy. Recent developments in the design of flexible sensors and soft actuators based on the principle of magnetic anisotropy are outlined, specifically focusing on their applicabilities in soft robotic systems. Finally, this review addresses current challenges in the integration of sensors and actuators into soft robots and offers promising solutions that will enable the advancement of intelligent soft robots capable of efficiently executing complex tasks relevant to our daily lives.
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Affiliation(s)
- Hyeokju Kwon
- School of Materials Science and Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, Republic of Korea.
| | - Yeonhee Yang
- School of Materials Science and Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, Republic of Korea.
| | - Geonsu Kim
- School of Materials Science and Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, Republic of Korea.
| | - Dongyeong Gim
- School of Materials Science and Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, Republic of Korea.
| | - Minjeong Ha
- School of Materials Science and Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, Republic of Korea.
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23
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Tan MWM, Wang H, Gao D, Huang P, Lee PS. Towards high performance and durable soft tactile actuators. Chem Soc Rev 2024; 53:3485-3535. [PMID: 38411597 DOI: 10.1039/d3cs01017a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/28/2024]
Abstract
Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.
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Affiliation(s)
- Matthew Wei Ming Tan
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
| | - Hui Wang
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Dace Gao
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Peiwen Huang
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
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24
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Tran HH, Watkins A, Oh MJ, Babeer A, Schaer TP, Steager E, Koo H. Targeting biofilm infections in humans using small scale robotics. Trends Biotechnol 2024; 42:479-495. [PMID: 37968157 PMCID: PMC11104480 DOI: 10.1016/j.tibtech.2023.10.004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 10/12/2023] [Accepted: 10/13/2023] [Indexed: 11/17/2023]
Abstract
The eradication of drug-resistant microbial biofilms remains an unresolved global health challenge. Small-scale robotics are providing innovative therapeutic and diagnostic approaches with high precision and efficacy. These approaches are rapidly moving from proof-of-concept studies to translational biomedical applications using ex vivo, animal, and clinical models. Here, we discuss the fundamental and translational aspects of how microrobots target the infection sites to disrupt the structural and functional traits of biofilms and their antimicrobial resistance mechanisms. We emphasize current approaches of mechanochemical disruption and on-site drug delivery that are supported by in vivo models and preclinical testing, while also highlighting diagnostics potential. We also discuss clinical translation challenges and provide perspectives for development of microrobotics approaches to combat biofilm infections and biofouling in humans.
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Affiliation(s)
- Hong Huy Tran
- School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA; School of Engineering and Applied Sciences, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
| | - Amanda Watkins
- School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA; Department of Clinical Studies New Bolton Center, School of Veterinary Medicine, University of Pennsylvania, Kennett Square, Pennsylvania, USA
| | - Min Jun Oh
- School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA; School of Engineering and Applied Sciences, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
| | - Alaa Babeer
- Department of Oral Biology, King Abdulaziz University, Jeddah 21589, Saudi Arabia
| | - Thomas P Schaer
- Department of Clinical Studies New Bolton Center, School of Veterinary Medicine, University of Pennsylvania, Kennett Square, Pennsylvania, USA
| | - Edward Steager
- School of Engineering and Applied Sciences, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA.
| | - Hyun Koo
- School of Dental Medicine, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA.
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25
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Barra A, Wychowaniec JK, Winning D, Cruz MM, Ferreira LP, Rodriguez BJ, Oliveira H, Ruiz-Hitzky E, Nunes C, Brougham DF, Ferreira P. Magnetic Chitosan Bionanocomposite Films as a Versatile Platform for Biomedical Hyperthermia. Adv Healthc Mater 2024; 13:e2303861. [PMID: 38041539 DOI: 10.1002/adhm.202303861] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/13/2023] [Indexed: 12/03/2023]
Abstract
Responsive magnetic nanomaterials offer significant advantages for innovative therapies, for instance, in cancer treatments that exploit on-demand delivery on alternating magnetic field (AMF) stimulus. In this work, biocompatible magnetic bionanocomposite films are fabricated from chitosan by film casting with incorporation of magnetite nanoparticles (MNPs) produced by facile one pot synthesis. The influence of synthesis conditions and MNP concentration on the films' heating efficiency and heat dissipation are evaluated through spatio-temporal mapping of the surface temperature changes by video-thermography. The cast films have a thickness below 100 µm, and upon exposure to AMF (663 kHz, 12.8 kA m-1), induce exceptionally strong heating, reaching a maximum temperature increase of 82 °C within 270 s irradiation. Further, it is demonstrated that the films can serve as substrates that supply heat for multiple hyperthermia scenarios, including: i) non-contact automated heating of cell culture medium, ii) heating of gelatine-based hydrogels of different shapes, and iii) killing of cancerous melanoma cells. The films are versatile components for non-contact stimulus with translational potential in multiple biomedical applications.
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Affiliation(s)
- Ana Barra
- Department of Materials and Ceramic Engineering, CICECO - Aveiro Institute of Materials, University of Aveiro, Aveiro, 3810-193, Portugal
- Materials Science Institute of Madrid, CSIC, c/Sor Juana Inés de la Cruz 3, Madrid, 28049, Spain
| | - Jacek K Wychowaniec
- School of Chemistry, University College Dublin, Belfield, Dublin, D04 V1W8, Ireland
- AO Research Institute Davos, Clavadelerstrasse 8, Davos, 7270, Switzerland
| | - Danielle Winning
- School of Chemistry, University College Dublin, Belfield, Dublin, D04 V1W8, Ireland
| | - Maria Margarida Cruz
- Biosystems and Integrative Sciences Institute (BioISI), Faculdade de Ciências, Universidade de Lisboa, Lisboa, 1749-016, Portugal
| | - Liliana P Ferreira
- Biosystems and Integrative Sciences Institute (BioISI), Faculdade de Ciências, Universidade de Lisboa, Lisboa, 1749-016, Portugal
- Physics Department, University of Coimbra, Coimbra, 3004-516, Portugal
| | - Brian J Rodriguez
- School of Physics and Conway Institute of Biomolecular and Biomedical Research, University College Dublin, Belfield, Dublin, D04 V1W8, Ireland
| | - Helena Oliveira
- Department of Biology and CESAM, University of Aveiro, Aveiro, 3810-193, Portugal
| | - Eduardo Ruiz-Hitzky
- Materials Science Institute of Madrid, CSIC, c/Sor Juana Inés de la Cruz 3, Madrid, 28049, Spain
| | - Cláudia Nunes
- Department of Materials and Ceramic Engineering, CICECO - Aveiro Institute of Materials, University of Aveiro, Aveiro, 3810-193, Portugal
| | - Dermot F Brougham
- School of Chemistry, University College Dublin, Belfield, Dublin, D04 V1W8, Ireland
| | - Paula Ferreira
- Department of Materials and Ceramic Engineering, CICECO - Aveiro Institute of Materials, University of Aveiro, Aveiro, 3810-193, Portugal
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26
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Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
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Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
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27
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Straus I, Kravanja G, Hribar L, Kriegl R, Jezeršek M, Shamonin M, Drevensek-Olenik I, Kokot G. Surface Modification of Magnetoactive Elastomers by Laser Micromachining. MATERIALS (BASEL, SWITZERLAND) 2024; 17:1550. [PMID: 38612065 PMCID: PMC11012975 DOI: 10.3390/ma17071550] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/28/2024] [Revised: 03/25/2024] [Accepted: 03/26/2024] [Indexed: 04/14/2024]
Abstract
It has been recently demonstrated that laser micromachining of magnetoactive elastomers is a very convenient method for fabricating dynamic surface microstructures with magnetically tunable properties, such as wettability and surface reflectivity. In this study, we investigate the impact of the micromachining process on the fabricated material's structural properties and its chemical composition. By employing scanning electron microscopy, we investigate changes in size distribution and spatial arrangement of carbonyl iron microparticles dispersed in the polydimethylsiloxane (PDMS) matrix as a function of laser irradiation. Based on the images obtained by a low vacuum secondary electron detector, we analyze modifications of the surface topography. The results show that most profound modifications occur during the low-exposure (8 J/cm2) treatment of the surface with the laser beam. Our findings provide important insights for developing theoretical models of functional properties of laser-sculptured microstructures from magnetoactive elastomers.
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Affiliation(s)
- Izidor Straus
- Faculty of Mathematics and Physics, University of Ljubljana, 1000 Ljubljana, Slovenia; (I.S.); (G.K.)
| | - Gaia Kravanja
- Faculty of Mechanical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia; (G.K.); (L.H.); (M.J.)
| | - Luka Hribar
- Faculty of Mechanical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia; (G.K.); (L.H.); (M.J.)
| | - Raphael Kriegl
- East Bavarian Centre for Intelligent Materials (EBACIM), Ostbayerische Technische Hochschule Regensburg, 93053 Regensburg, Germany; (R.K.); (M.S.)
| | - Matija Jezeršek
- Faculty of Mechanical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia; (G.K.); (L.H.); (M.J.)
| | - Mikhail Shamonin
- East Bavarian Centre for Intelligent Materials (EBACIM), Ostbayerische Technische Hochschule Regensburg, 93053 Regensburg, Germany; (R.K.); (M.S.)
| | - Irena Drevensek-Olenik
- Faculty of Mathematics and Physics, University of Ljubljana, 1000 Ljubljana, Slovenia; (I.S.); (G.K.)
- Jožef Stefan Institute, 1000 Ljubljana, Slovenia
| | - Gašper Kokot
- Faculty of Mathematics and Physics, University of Ljubljana, 1000 Ljubljana, Slovenia; (I.S.); (G.K.)
- Jožef Stefan Institute, 1000 Ljubljana, Slovenia
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28
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Zhang Q, Zeng Y, Zhao Y, Peng X, Ren E, Liu G. Bio-Hybrid Magnetic Robots: From Bioengineering to Targeted Therapy. Bioengineering (Basel) 2024; 11:311. [PMID: 38671732 PMCID: PMC11047666 DOI: 10.3390/bioengineering11040311] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/20/2024] [Revised: 03/19/2024] [Accepted: 03/21/2024] [Indexed: 04/28/2024] Open
Abstract
Magnetic robots possess an innate ability to navigate through hard-to-reach cavities in the human body, making them promising tools for diagnosing and treating diseases minimally invasively. Despite significant advances, the development of robots with desirable locomotion and full biocompatibility under harsh physiological conditions remains challenging, which put forward new requirements for magnetic robots' design and material synthesis. Compared to robots that are synthesized with inorganic materials, natural organisms like cells, bacteria or other microalgae exhibit ideal properties for in vivo applications, such as biocompatibility, deformability, auto-fluorescence, and self-propulsion, as well as easy for functional therapeutics engineering. In the process, these organisms can provide autonomous propulsion in biological fluids or external magnetic fields, while retaining their functionalities with integrating artificial robots, thus aiding targeted therapeutic delivery. This kind of robotics is named bio-hybrid magnetic robotics, and in this mini-review, recent progress including their design, engineering and potential for therapeutics delivery will be discussed. Additionally, the historical context and prominent examples will be introduced, and the complexities, potential pitfalls, and opportunities associated with bio-hybrid magnetic robotics will be discussed.
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Affiliation(s)
- Qian Zhang
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
| | - Yun Zeng
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
| | - Yang Zhao
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
| | - Xuqi Peng
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
| | - En Ren
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- Key Laboratory of Advanced Drug Delivery Systems, Zhejiang Province College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China
| | - Gang Liu
- Institute of Artificial Intelligence, Xiamen University, Xiamen 361005, China; (Q.Z.); (Y.Z.); (Y.Z.); (G.L.)
- State Key Laboratory of Vaccines for Infectious Diseases, Center for Molecular Imaging and Translational Medicine, Xiang An Biomedicine Laboratory, School of Public Health, Xiamen University, Xiamen 361005, China
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29
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Liu Y, Huang J, Liu C, Song Z, Wu J, Zhao Q, Li Y, Dong F, Wang L, Xu H. Soft Millirobot Capable of Switching Motion Modes on the Fly for Targeted Drug Delivery in the Oviduct. ACS NANO 2024; 18:8694-8705. [PMID: 38466230 DOI: 10.1021/acsnano.3c09753] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/12/2024]
Abstract
Small-scale magnetic robots with fixed magnetizations have limited locomotion modes, restricting their applications in complex environments in vivo. Here we present a morphology-reconfigurable millirobot that can switch the locomotion modes locally by reprogramming its magnetizations during navigation, in response to distinct magnetic field patterns. By continuously switching its locomotion modes between the high-velocity rigid motion and high-adaptability soft actuation, the millirobot efficiently navigates in small lumens with intricate internal structures and complex surface topographies. As demonstrations, the millirobot performs multimodal locomotion including woodlouse-like rolling and flipping, sperm-like rotating, and snake-like gliding to negotiate different terrains, including the unrestricted channel and high platform, narrow channel, and solid-liquid interface, respectively. Finally, we demonstrate the drug delivery capability of the millirobot through the oviduct-mimicking phantom and ex vivo oviduct. The magnetization reprogramming strategy during navigation represents a promising approach for developing self-adaptive robots for performing complex tasks in vivo.
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Affiliation(s)
- Yuan Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Jing Huang
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
- Department of Polymer Materials and Engineering, College of Materials and Metallurgy, Guizhou University, Guiyang 550025, China
| | - Chu Liu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Zhongyi Song
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Jiandong Wu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Qilong Zhao
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Yingtian Li
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Fuping Dong
- Department of Polymer Materials and Engineering, College of Materials and Metallurgy, Guizhou University, Guiyang 550025, China
| | - Lei Wang
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
| | - Haifeng Xu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong Province, P. R. China, 1068 Xueyuan Avenue, Shenzhen 518055, China
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30
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Ye J, Xiang W, Cheng C, Bao W, Zhang Q. Principles and methods of liquid metal actuators. SOFT MATTER 2024; 20:2196-2211. [PMID: 38372963 DOI: 10.1039/d3sm01756g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/20/2024]
Abstract
As a promising material, liquid metals (LMs) have gained considerable interest in the field of soft robotics due to their ability to move as designed routines or change their shape dramatically under external stimuli. Inspired by the science fiction film Terminator, tremendous efforts have been devoted to liquid robots with high compliance and intelligence. How to manipulate LM droplets is crucial to achieving this goal. Accordingly, this review is dedicated to presenting the principles driving LMs and summarizing the potential methods to develop LM actuators of high maneuverability. Moreover, the recent progress of LM robots based on these methods is overviewed. The challenges and prospects of implementing autonomous robots have been proposed.
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Affiliation(s)
- Jiao Ye
- School of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan, 430205, China.
| | - Wentao Xiang
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Cai Cheng
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Wendi Bao
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Qi Zhang
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, China
- School of Engineering Science, University of Chinese Academy of Sciences, Beijing 100049, China
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31
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Leanza S, Wu S, Sun X, Qi HJ, Zhao RR. Active Materials for Functional Origami. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2302066. [PMID: 37120795 DOI: 10.1002/adma.202302066] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/04/2023] [Revised: 04/13/2023] [Indexed: 06/19/2023]
Abstract
In recent decades, origami has been explored to aid in the design of engineering structures. These structures span multiple scales and have been demonstrated to be used toward various areas such as aerospace, metamaterial, biomedical, robotics, and architectural applications. Conventionally, origami or deployable structures have been actuated by hands, motors, or pneumatic actuators, which can result in heavy or bulky structures. On the other hand, active materials, which reconfigure in response to external stimulus, eliminate the need for external mechanical loads and bulky actuation systems. Thus, in recent years, active materials incorporated with deployable structures have shown promise for remote actuation of light weight, programmable origami. In this review, active materials such as shape memory polymers (SMPs) and alloys (SMAs), hydrogels, liquid crystal elastomers (LCEs), magnetic soft materials (MSMs), and covalent adaptable network (CAN) polymers, their actuation mechanisms, as well as how they have been utilized for active origami and where these structures are applicable is discussed. Additionally, the state-of-the-art fabrication methods to construct active origami are highlighted. The existing structural modeling strategies for origami, the constitutive models used to describe active materials, and the largest challenges and future directions for active origami research are summarized.
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Affiliation(s)
- Sophie Leanza
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Xiaohao Sun
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
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32
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Sun Y, Zhang W, Gu J, Xia L, Cao Y, Zhu X, Wen H, Ouyang S, Liu R, Li J, Jiang Z, Cheng D, Lv Y, Han X, Qiu W, Cai K, Song E, Cao Q, Li L. Magnetically driven capsules with multimodal response and multifunctionality for biomedical applications. Nat Commun 2024; 15:1839. [PMID: 38424039 PMCID: PMC10904804 DOI: 10.1038/s41467-024-46046-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/17/2023] [Accepted: 02/12/2024] [Indexed: 03/02/2024] Open
Abstract
Untethered capsules hold clinical potential for the diagnosis and treatment of gastrointestinal diseases. Although considerable progress has been achieved recently in this field, the constraints imposed by the narrow spatial structure of the capsule and complex gastrointestinal tract environment cause many open-ended problems, such as poor active motion and limited medical functions. In this work, we describe the development of small-scale magnetically driven capsules with a distinct magnetic soft valve made of dual-layer ferromagnetic soft composite films. A core technological advancement achieved is the flexible opening and closing of the magnetic soft valve by using the competitive interactions between magnetic gradient force and magnetic torque, laying the foundation for the functional integration of both drug release and sampling. Meanwhile, we propose a magnetic actuation strategy based on multi-frequency response control and demonstrate that it can achieve effective decoupled regulation of the capsule's global motion and local responses. Finally, through a comprehensive approach encompassing ideal models, animal ex vivo models, and in vivo assessment, we demonstrate the versatility of the developed magnetic capsules and their multiple potential applications in the biomedical field, such as targeted drug delivery and sampling, selective dual-drug release, and light/thermal-assisted therapy.
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Affiliation(s)
- Yuxuan Sun
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Wang Zhang
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Junnan Gu
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Liangyu Xia
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Yinghao Cao
- Cancer Center, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Xinhui Zhu
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Hao Wen
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Shaowei Ouyang
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Ruiqi Liu
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Jialong Li
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Zhenxing Jiang
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Denglong Cheng
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Yiliang Lv
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Xiaotao Han
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Wu Qiu
- School of Life Science and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Kailin Cai
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Enmin Song
- School of Computer and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Quanliang Cao
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China.
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
| | - Liang Li
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China.
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
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33
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Oh MH, Kim YH, Han J, Kim Y, Kim D, Kim KS, Lee JY, Kim SK, Kwon MS, Kim SY, Kang SK. Magnetically Actuated Trigger Transient Soft Actuators Comprising On-Demand Photo-Initiated and Thermo-Degradable Polypropylene Carbonate-Photo-Acid Generator. ACS APPLIED MATERIALS & INTERFACES 2024. [PMID: 38415664 DOI: 10.1021/acsami.3c19613] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/29/2024]
Abstract
Lifetime-reconfigurable soft robots have emerged as a new class of robots, emphasizing the unmet needs of futuristic sustainability and security. Trigger-transient materials that can both actuate and degrade on-demand are crucial for achieving life-reconfigurable soft robots. Here, we propose the use of transient and magnetically actuating materials that can decompose under ultraviolet light and heat, achieved by adding photo-acid generator (PAG) and magnetic particles (Sr-ferrite) to poly(propylene carbonate) (PPC). Chemical and thermal analyses reveal that the mechanism of PPC-PAG decomposition occurs through PPC backbone cleavage by the photo-induced acid. The self-assembled monolayer (SAM) encapsulation of Sr-ferrite preventing the interaction with the PAG allowed the transience of magnetic soft actuators. We demonstrate remotely controllable and degradable magnetic soft kirigami actuators using blocks with various magnetized directions. This study proposes novel approaches for fabricating lifetime-configurable magnetic soft actuators applicable to diverse environments and applications, such as enclosed/sealed spaces and security/military devices.
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Affiliation(s)
- Min-Ha Oh
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Young-Hwan Kim
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Jieun Han
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Yongsub Kim
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Daewhan Kim
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Kyung-Sub Kim
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Ju-Yong Lee
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Sang-Koog Kim
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Min Sang Kwon
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
| | - Sang Yup Kim
- Department of Mechanical Engineering, Sogang University, 35 Baekbeom-ro, Mapo-gu, Seoul 04107, Republic of Korea
| | - Seung-Kyun Kang
- Department of Materials Science and Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
- Research Institute of Advanced Materials (RIAM), Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Republic of Korea
- Nano Systems Institute SOFT Foundry, Seoul National University, Seoul 08826, Republic of Korea
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34
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Park J, Lee Y, Cho S, Choe A, Yeom J, Ro YG, Kim J, Kang DH, Lee S, Ko H. Soft Sensors and Actuators for Wearable Human-Machine Interfaces. Chem Rev 2024; 124:1464-1534. [PMID: 38314694 DOI: 10.1021/acs.chemrev.3c00356] [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: 02/07/2024]
Abstract
Haptic human-machine interfaces (HHMIs) combine tactile sensation and haptic feedback to allow humans to interact closely with machines and robots, providing immersive experiences and convenient lifestyles. Significant progress has been made in developing wearable sensors that accurately detect physical and electrophysiological stimuli with improved softness, functionality, reliability, and selectivity. In addition, soft actuating systems have been developed to provide high-quality haptic feedback by precisely controlling force, displacement, frequency, and spatial resolution. In this Review, we discuss the latest technological advances of soft sensors and actuators for the demonstration of wearable HHMIs. We particularly focus on highlighting material and structural approaches that enable desired sensing and feedback properties necessary for effective wearable HHMIs. Furthermore, promising practical applications of current HHMI technology in various areas such as the metaverse, robotics, and user-interactive devices are discussed in detail. Finally, this Review further concludes by discussing the outlook for next-generation HHMI technology.
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Affiliation(s)
- Jonghwa Park
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Youngoh Lee
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Seungse Cho
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Ayoung Choe
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Jeonghee Yeom
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Yun Goo Ro
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Jinyoung Kim
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Dong-Hee Kang
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Seungjae Lee
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Hyunhyub Ko
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
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35
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Wang Z, Chen Y, Ma Y, Wang J. Bioinspired Stimuli-Responsive Materials for Soft Actuators. Biomimetics (Basel) 2024; 9:128. [PMID: 38534813 DOI: 10.3390/biomimetics9030128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/29/2024] [Revised: 02/16/2024] [Accepted: 02/19/2024] [Indexed: 03/28/2024] Open
Abstract
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.
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Affiliation(s)
- Zhongbao Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yixin Chen
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yuan Ma
- Department of Mechanical Engineering, Research Institute for Intelligent Wearable Systems, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Jing Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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36
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Xie R, Cao Y, Sun R, Wang R, Morgan A, Kim J, Callens SJP, Xie K, Zou J, Lin J, Zhou K, Lu X, Stevens MM. Magnetically driven formation of 3D freestanding soft bioscaffolds. SCIENCE ADVANCES 2024; 10:eadl1549. [PMID: 38306430 PMCID: PMC10836728 DOI: 10.1126/sciadv.adl1549] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Accepted: 01/04/2024] [Indexed: 02/04/2024]
Abstract
3D soft bioscaffolds have great promise in tissue engineering, biohybrid robotics, and organ-on-a-chip engineering applications. Though emerging three-dimensional (3D) printing techniques offer versatility for assembling soft biomaterials, challenges persist in overcoming the deformation or collapse of delicate 3D structures during fabrication, especially for overhanging or thin features. This study introduces a magnet-assisted fabrication strategy that uses a magnetic field to trigger shape morphing and provide remote temporary support, enabling the straightforward creation of soft bioscaffolds with overhangs and thin-walled structures in 3D. We demonstrate the versatility and effectiveness of our strategy through the fabrication of bioscaffolds that replicate the complex 3D topology of branching vascular systems. Furthermore, we engineered hydrogel-based bioscaffolds to support biohybrid soft actuators capable of walking motion triggered by cardiomyocytes. This approach opens new possibilities for shaping hydrogel materials into complex 3D morphologies, which will further empower a broad range of biomedical applications.
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Affiliation(s)
- Ruoxiao Xie
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Yuanxiong Cao
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Kavli Institute for Nanoscience Discovery, University of Oxford, South Parks Road, Oxford, OX1 3QU, UK
| | - Rujie Sun
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Richard Wang
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Alexis Morgan
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Junyoung Kim
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Sebastien J P Callens
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Kai Xie
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Jiawen Zou
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Junliang Lin
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Kavli Institute for Nanoscience Discovery, University of Oxford, South Parks Road, Oxford, OX1 3QU, UK
| | - Kun Zhou
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Xiangrong Lu
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Molly M Stevens
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Kavli Institute for Nanoscience Discovery, University of Oxford, South Parks Road, Oxford, OX1 3QU, UK
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37
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Ji Y, Bai X, Sun H, Wang L, Gan C, Jia L, Xu J, Zhang W, Wang L, Xu Y, Hou Y, Wang Y, Hui H, Feng L. Biocompatible Ferrofluid-Based Millirobot for Tumor Photothermal Therapy in Near-Infrared-II Window. Adv Healthc Mater 2024; 13:e2302395. [PMID: 37947303 DOI: 10.1002/adhm.202302395] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/02/2023] [Revised: 10/25/2023] [Indexed: 11/12/2023]
Abstract
Ferrofluidic robots with excellent deformability and controllability have been intensively studied recently. However, most of these studies are in vitro and the use of ferrofluids for in vivo medicinal applications remains a big challenge. The application of ferrofluidic robots to the body requires the solution of many key problems. In this study, biocompatibility, controllability, and tumor-killing efficacy are considered when creating a ferrofluid-based millirobot for in vivo tumor-targeted therapy. For biocompatibility problems, corn oil is used specifically for the ferrofluid robot. In addition, a control system is built that enables a 3D magnetic drive to be implemented in complex biological media. Using the photothermal conversion property of 1064 nm, the ferrofluid robot can kill tumor cells in vitro; inhibit tumor volume, destroy the tumor interstitium, increase tumor cell apoptosis, and inhibit tumor cell proliferation in vivo. This study provides a reference for ferrofluid-based millirobots to achieve targeted therapies in vivo.
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Affiliation(s)
- Yiming Ji
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Xue Bai
- School of Biomedical Engineering, Capital Medical University, Beijing, 100069, China
| | - Hongyan Sun
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Luyao Wang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Lina Jia
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Junjie Xu
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Wei Zhang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
| | - Liang Wang
- Department of Hematology, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yingchen Xu
- Department of General Surgery, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yaxin Hou
- Department of Diagnostic Ultrasound, Beijing Tongren Hospital, Capital Medical University, Beijing, 100730, China
| | - Yinyan Wang
- Beijing Tiantan Hospital, Capital Medical University, Beijing, 100050, China
| | - Hui Hui
- CAS Key Laboratory of Molecular Imaging, The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, 100190, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, 100191, China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, China
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38
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Zhang Z, Zhong Y, Sun P, Zhao P, Li H, Liu X. Magnetically separable Co 0.6Fe 2.4O 4/MIL-101-NH 2 adsorbent for Congo red efficient removal. ENVIRONMENTAL SCIENCE AND POLLUTION RESEARCH INTERNATIONAL 2024; 31:9764-9783. [PMID: 38194177 DOI: 10.1007/s11356-023-31796-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/22/2023] [Accepted: 12/27/2023] [Indexed: 01/10/2024]
Abstract
The development of effective and practical adsorbents for eliminating pollutants still remains a significant challenge. Herein, we synthesized a novel magnetically separable composite, Co0.6Fe2.4O4/MIL-101-NH2, through the in-situ growth of MIL-101-NH2 on magnetic nanoparticles, designed specifically for the removal of Congo red (CR) from aqueous solutions. MIL-101-NH2 possessed high BET surface area (240.485 m2•g-1) and facile magnetic separation function and can be swiftly separated (within 30 s) through an external magnetic field post-adsorption. The investigation systematically explored the influence of crucial parameters, including adsorbent dosage, pH, adsorption duration, temperature, and the presence of interfering ions, on CR adsorption performance. Findings indicate that CR adsorption adheres to the pseudo-second-order (PSO) kinetic model and the Langmuir isotherm model. Thermodynamic analysis reveals the spontaneity, endothermic nature, and orderly progression of the adsorption process. Remarkably, the adsorbent with 0.1 g•L-1 boasts an impressive maximum adsorption capacity of 1756.19 mg•g-1 for CR at 298.15 K, establishing its competitive advantage. The reuse of the adsorbent over 5 cycles remains 78% of the initial adsorption. The CR adsorption mechanisms were elucidated, emphasizing the roles of π-π interactions, electrostatic forces, hydrogen bonding, and metal coordination. Comparison with other dyes, such as methylene blue (MB) and methyl orange (MO), and exploration of adsorption performance in binary dye systems, demonstrates the superior capacity and selectivity of this adsorbent for CR. In conclusion, our magnetically separable metal-organic framework (MOF)based composite presents a versatile and effective solution for CR removal, with promising applications in water treatment and environmental remediation.
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Affiliation(s)
- Zhenhong Zhang
- School of Nursing, Wuhan University, Wuhan, 430079, People's Republic of China
| | - Yuye Zhong
- School of Nursing, Wuhan University, Wuhan, 430079, People's Republic of China
| | - Peng Sun
- Youyi Campus of Northwestern Polytechnical University, 127 West Youyi Road, Beilin District, Xi'an, Shaanxi, 710072, People's Republic of China
| | - Pingping Zhao
- School of Nursing, Wuhan University, Wuhan, 430079, People's Republic of China
| | - Houbin Li
- School of Nursing, Wuhan University, Wuhan, 430079, People's Republic of China.
| | - Xinghai Liu
- Electronic Information School, Wuhan University, Wuhan, 430079, People's Republic of China
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Zhao X, Yao H, Lv Y, Chen Z, Dong L, Huang J, Mi S. Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2310009. [PMID: 38295155 DOI: 10.1002/smll.202310009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/02/2023] [Revised: 12/31/2023] [Indexed: 02/02/2024]
Abstract
Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications.
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Affiliation(s)
- Xiaoyu Zhao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Hongyi Yao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Yaoyi Lv
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Zhixian Chen
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Lina Dong
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Jiajun Huang
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
| | - Shengli Mi
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
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40
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Wang S, Lim S, Tasmim S, Kalairaj MS, Rivera-Tarazona LK, Abdelrahman MK, Javed M, George SM, Lee YJ, Jawed MK, Ware TH. Reconfigurable Growth of Engineered Living Materials. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2309818. [PMID: 38288578 DOI: 10.1002/adma.202309818] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/21/2023] [Revised: 01/11/2024] [Indexed: 02/10/2024]
Abstract
The growth of multicellular organisms is a process akin to additive manufacturing where cellular proliferation and mechanical boundary conditions, among other factors, drive morphogenesis. Engineers have limited ability to engineer morphogenesis to manufacture goods or to reconfigure materials comprised of biomass. Herein, a method that uses biological processes to grow and regrow magnetic engineered living materials (mELMs) into desired geometries is reported. These composites contain Saccharomyces cerevisiae and magnetic particles within a hydrogel matrix. The reconfigurable manufacturing process relies on the growth of living cells, magnetic forces, and elastic recovery of the hydrogel. The mELM then adopts a form in an external magnetic field. Yeast within the material proliferates, resulting in 259 ± 14% volume expansion. Yeast proliferation fixes the magnetic deformation, even when the magnetic field is removed. The shape fixity can be up to 99.3 ± 0.3%. The grown mELM can recover up to 73.9 ± 1.9% of the original form by removing yeast cell walls. The directed growth and recovery process can be repeated at least five times. This work enables ELMs to be processed and reprocessed into user-defined geometries without external material deposition.
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Affiliation(s)
- Suitu Wang
- Department of Materials Science and Engineering, Texas A&M University, College Station, TX, 77840, USA
| | - Sangmin Lim
- Department of Mechanical & Aerospace Engineering, University of California, Los Angeles, CA, 90095, USA
| | - Seelay Tasmim
- Department of Biomedical Engineering, Texas A&M University, College Station, TX, 77840, USA
| | | | | | - Mustafa K Abdelrahman
- Department of Materials Science and Engineering, Texas A&M University, College Station, TX, 77840, USA
| | - Mahjabeen Javed
- Department of Biomedical Engineering, Texas A&M University, College Station, TX, 77840, USA
| | - Sasha M George
- Department of Materials Science and Engineering, Texas A&M University, College Station, TX, 77840, USA
| | - Yoo Jin Lee
- Department of Biomedical Engineering, Texas A&M University, College Station, TX, 77840, USA
| | - M Khalid Jawed
- Department of Mechanical & Aerospace Engineering, University of California, Los Angeles, CA, 90095, USA
| | - Taylor H Ware
- Department of Materials Science and Engineering, Texas A&M University, College Station, TX, 77840, USA
- Department of Biomedical Engineering, Texas A&M University, College Station, TX, 77840, USA
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41
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Han L, Si J, Guo M, Wang R, Wang K, Yang J, Wang Z, Yang X. An Untethered Soft Crawling Robot Driven by Wireless Power Transfer Technology. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2309661. [PMID: 38268235 DOI: 10.1002/smll.202309661] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/24/2023] [Revised: 01/16/2024] [Indexed: 01/26/2024]
Abstract
Soft robots based on flexible materials have attracted the attention due to high flexibility and great environmental adaptability. Among the common driving modes, electricity, light, and magnetism have the limitations of wiring, poor penetration capability, and sophisticated equipment, respectively. Here, an emerging wireless driving mode is proposed for the soft crawling robot based on wireless power transfer (WPT) technology. The receiving coil at the robot's tail, as an energy transfer station, receives energy from the transmitting coil and supplies the electrothermal responsiveness to drive the robot's crawling. By regulating the WPT's duration to control the friction between the robot and the ground, bidirectional crawling is realized. Furthermore, the receiving coil is also employed as a sensory organ to equip the robot with localization, ID recognition, and sensing capabilities based on electromagnetic coupling. This work provides an innovative and promising strategy for the design and integration of soft crawling robots, exhibiting great potential in the field of intelligent robots.
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Affiliation(s)
- Lei Han
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Jiawei Si
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Miaomiao Guo
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Rui Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Kai Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Jin Yang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Ziyuan Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
| | - Xiaohan Yang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing, 210096, China
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42
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Gong S, Lu Y, Yin J, Levin A, Cheng W. Materials-Driven Soft Wearable Bioelectronics for Connected Healthcare. Chem Rev 2024; 124:455-553. [PMID: 38174868 DOI: 10.1021/acs.chemrev.3c00502] [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: 01/05/2024]
Abstract
In the era of Internet-of-things, many things can stay connected; however, biological systems, including those necessary for human health, remain unable to stay connected to the global Internet due to the lack of soft conformal biosensors. The fundamental challenge lies in the fact that electronics and biology are distinct and incompatible, as they are based on different materials via different functioning principles. In particular, the human body is soft and curvilinear, yet electronics are typically rigid and planar. Recent advances in materials and materials design have generated tremendous opportunities to design soft wearable bioelectronics, which may bridge the gap, enabling the ultimate dream of connected healthcare for anyone, anytime, and anywhere. We begin with a review of the historical development of healthcare, indicating the significant trend of connected healthcare. This is followed by the focal point of discussion about new materials and materials design, particularly low-dimensional nanomaterials. We summarize material types and their attributes for designing soft bioelectronic sensors; we also cover their synthesis and fabrication methods, including top-down, bottom-up, and their combined approaches. Next, we discuss the wearable energy challenges and progress made to date. In addition to front-end wearable devices, we also describe back-end machine learning algorithms, artificial intelligence, telecommunication, and software. Afterward, we describe the integration of soft wearable bioelectronic systems which have been applied in various testbeds in real-world settings, including laboratories that are preclinical and clinical environments. Finally, we narrate the remaining challenges and opportunities in conjunction with our perspectives.
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Affiliation(s)
- Shu Gong
- Department of Chemical & Biological Engineering, Monash University, Clayton, Victoria 3800, Australia
| | - Yan Lu
- Department of Chemical & Biological Engineering, Monash University, Clayton, Victoria 3800, Australia
| | - Jialiang Yin
- Department of Chemical & Biological Engineering, Monash University, Clayton, Victoria 3800, Australia
| | - Arie Levin
- Department of Chemical & Biological Engineering, Monash University, Clayton, Victoria 3800, Australia
| | - Wenlong Cheng
- Department of Chemical & Biological Engineering, Monash University, Clayton, Victoria 3800, Australia
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Sirithunge C, Wang H, Iida F. Soft touchless sensors and touchless sensing for soft robots. Front Robot AI 2024; 11:1224216. [PMID: 38312746 PMCID: PMC10830750 DOI: 10.3389/frobt.2024.1224216] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Accepted: 01/02/2024] [Indexed: 02/06/2024] Open
Abstract
Soft robots are characterized by their mechanical compliance, making them well-suited for various bio-inspired applications. However, the challenge of preserving their flexibility during deployment has necessitated using soft sensors which can enhance their mobility, energy efficiency, and spatial adaptability. Through emulating the structure, strategies, and working principles of human senses, soft robots can detect stimuli without direct contact with soft touchless sensors and tactile stimuli. This has resulted in noteworthy progress within the field of soft robotics. Nevertheless, soft, touchless sensors offer the advantage of non-invasive sensing and gripping without the drawbacks linked to physical contact. Consequently, the popularity of soft touchless sensors has grown in recent years, as they facilitate intuitive and safe interactions with humans, other robots, and the surrounding environment. This review explores the emerging confluence of touchless sensing and soft robotics, outlining a roadmap for deployable soft robots to achieve human-level dexterity.
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Affiliation(s)
| | - Huijiang Wang
- Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
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Espíndola-Pérez E, Campo J, Sánchez-Somolinos C. Multimodal and Multistimuli 4D-Printed Magnetic Composite Liquid Crystal Elastomer Actuators. ACS APPLIED MATERIALS & INTERFACES 2024; 16:2704-2715. [PMID: 38150329 PMCID: PMC10797586 DOI: 10.1021/acsami.3c14607] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/29/2023] [Revised: 12/03/2023] [Accepted: 12/05/2023] [Indexed: 12/29/2023]
Abstract
Liquid crystal elastomer (LCE)-based soft actuators are being studied for their significant shape-changing abilities when they are exposed to heat or light. Nevertheless, their relatively slow response compared with soft magnetic materials limits their application possibilities. Integration of magnetic responsiveness with LCEs has been previously attempted; however, the LCE response is typically jeopardized in high volumes of magnetic microparticles (MMPs). Here, a multistimuli, magnetically active LCE (MLCE), capable of producing programmable and multimodal actuation, is presented. The MLCE, composed of MMPs within an LCE matrix, is generated through extrusion-based 4D printing that enables digital control of mesogen orientation even at a 1:1 (LCE:MMPs) weight ratio, a challenging task to accomplish with other methods. The printed actuators can significantly deform when thermally actuated as well as exhibit fast response to magnetic fields. When combining thermal and magnetic stimuli, modes of actuation inaccessible with only one input are achieved. For instance, the actuator is reconfigured into various states by using the heat-mediated LCE response, followed by subsequent magnetic addressing. The multistimuli capabilities of the MLCE composite expand its applicability where common LCE actuators face limitations in speed and precision. To illustrate, a beam-steering device developed by using these materials is presented.
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Affiliation(s)
- Erick
R. Espíndola-Pérez
- Departamento
de Física de la Materia Condensada, Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC-Universidad
de Zaragoza, Zaragoza 50009, Spain
| | - Javier Campo
- Departamento
de Física de la Materia Condensada, Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC-Universidad
de Zaragoza, Zaragoza 50009, Spain
| | - Carlos Sánchez-Somolinos
- Departamento
de Física de la Materia Condensada, Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC-Universidad
de Zaragoza, Zaragoza 50009, Spain
- Centro
de Investigación Biomédica en Red de Bioingeniería,
Biomateriales y Nanomedicina, Instituto
de Salud Carlos III, Zaragoza 50018, Spain
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Qi F, Li Y, Hong Y, Zhao Y, Qing H, Yin J. Defected twisted ring topology for autonomous periodic flip-spin-orbit soft robot. Proc Natl Acad Sci U S A 2024; 121:e2312680121. [PMID: 38194462 PMCID: PMC10801889 DOI: 10.1073/pnas.2312680121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2023] [Accepted: 11/30/2023] [Indexed: 01/11/2024] Open
Abstract
Periodic spin-orbit motion is ubiquitous in nature, observed from electrons orbiting nuclei to spinning planets orbiting the Sun. Achieving autonomous periodic orbiting motions, along circular and noncircular paths, in soft mobile robotics is crucial for adaptive and intelligent exploration of unknown environments-a grand challenge yet to be accomplished. Here, we report leveraging a closed-loop twisted ring topology with a defect for an autonomous soft robot capable of achieving periodic spin-orbiting motions with programmed circular and re-programmed irregular-shaped trajectories. Constructed by bonding a twisted liquid crystal elastomer ribbon into a closed-loop ring topology, the robot exhibits three coupled periodic self-motions in response to constant temperature or constant light sources: inside-out flipping, self-spinning around the ring center, and self-orbiting around a point outside the ring. The coupled spinning and orbiting motions share the same direction and period. The spinning or orbiting direction depends on the twisting chirality, while the orbital radius and period are determined by the twisted ring geometry and thermal actuation. The flip-spin and orbiting motions arise from the twisted ring topology and a bonding site defect that breaks the force symmetry, respectively. By utilizing the twisting-encoded autonomous flip-spin-orbit motions, we showcase the robot's potential for intelligently mapping the geometric boundaries of unknown confined spaces, including convex shapes like circles, squares, triangles, and pentagons and concaves shapes with multi-robots, as well as health monitoring of unknown confined spaces with boundary damages.
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Affiliation(s)
- Fangjie Qi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
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46
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Huaroto JJ, Suarez E, Kim W, Vela EA. Leveraging pleat folds and soft compliant elements in inflatable fabric beams. Front Robot AI 2024; 10:1267642. [PMID: 38283800 PMCID: PMC10822686 DOI: 10.3389/frobt.2023.1267642] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Accepted: 12/13/2023] [Indexed: 01/30/2024] Open
Abstract
Inflatable fabric beams (IFBs) integrating pleat folds can generate complex motion by modifying the pleat characteristics (e.g., dimensions, orientations). However, the capability of the IFB to return to the folded configuration relies upon the elasticity of the fabrics, requiring additional pressure inputs or complementary mechanisms. Using soft compliant elements (SCEs) assembled onto pleat folds is an appealing approach to improving the IFB elasticity and providing a range of spatial configurations when pressurized. This study introduces an actuator comprising an IFB with pleat folds and SCEs. By methodologically assembling the SCEs onto the pleat folds, we constrain the IFB unfolding to achieve out-of-plane motion at 5 kPa. Besides, the proposed actuator can generate angular displacement by regulating the input pressure (> 5 kPa). A matrix-based representation and model are proposed to analyze the actuator motion. We experimentally study the actuator's angular displacement by modifying SCE shapes, fold dimensions, and assembly distances of SCEs. Moreover, we analyze the effects of incorporating two SCEs onto a pleat fold. Our results show that the actuator motion can be tuned by integrating SCEs with different stiffness and varying the pleat fold dimensions. In addition, we demonstrate that the integration of two SCEs onto the pleat fold permits the actuator to return to its folded configuration when depressurized. In order to demonstrate the versatility of the proposed actuator, we devise and conduct experiments showcasing the implementation of a planar serial manipulator and a soft gripper with two grasping modalities.
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Affiliation(s)
- Juan J. Huaroto
- Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru
| | - Etsel Suarez
- Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru
| | - Wangdo Kim
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
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47
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Xue E, Liu L, Wu W, Wang B. Soft Fiber/Textile Actuators: From Design Strategies to Diverse Applications. ACS NANO 2024; 18:89-118. [PMID: 38146868 DOI: 10.1021/acsnano.3c09307] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/27/2023]
Abstract
Fiber/textile-based actuators have garnered considerable attention due to their distinctive attributes, encompassing higher degrees of freedom, intriguing deformations, and enhanced adaptability to complex structures. Recent studies highlight the development of advanced fibers and textiles, expanding the application scope of fiber/textile-based actuators across diverse emerging fields. Unlike sheet-like soft actuators, fibers/textiles with intricate structures exhibit versatile movements, such as contraction, coiling, bending, and folding, achieved through adjustable strain and stroke. In this review article, we provide a timely and comprehensive overview of fiber/textile actuators, including structures, fabrication methods, actuation principles, and applications. After discussing the hierarchical structure and deformation of the fiber/textile actuator, we discuss various spinning strategies, detailing the merits and drawbacks of each. Next, we present the actuation principles of fiber/fabric actuators, along with common external stimuli. In addition, we provide a summary of the emerging applications of fiber/textile actuators. Concluding with an assessment of existing challenges and future opportunities, this review aims to provide a valuable perspective on the enticing realm of fiber/textile-based actuators.
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Affiliation(s)
- Enbo Xue
- School of Electronic Science & Engineering, Southeast University, Nanjing, Jiangsu 210096, P. R. China
| | - Limei Liu
- College of Mechanical Engineering, Yangzhou University, Yangzhou, Jiangsu 225127, P. R. China
| | - Wei Wu
- Laboratory of Printable Functional Materials and Printed Electronics, School of Physics and Technology, Wuhan University, Wuhan 430072, P. R. China
| | - Binghao Wang
- School of Electronic Science & Engineering, Southeast University, Nanjing, Jiangsu 210096, P. R. China
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48
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Linares-Moreau M, Brandner LA, Velásquez-Hernández MDJ, Fonseca J, Benseghir Y, Chin JM, Maspoch D, Doonan C, Falcaro P. Fabrication of Oriented Polycrystalline MOF Superstructures. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2309645. [PMID: 38018327 DOI: 10.1002/adma.202309645] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/18/2023] [Revised: 10/19/2023] [Indexed: 11/30/2023]
Abstract
The field of metal-organic frameworks (MOFs) has progressed beyond the design and exploration of powdery and single-crystalline materials. A current challenge is the fabrication of organized superstructures that can harness the directional properties of the individual constituent MOF crystals. To date, the progress in the fabrication methods of polycrystalline MOF superstructures has led to close-packed structures with defined crystalline orientation. By controlling the crystalline orientation, the MOF pore channels of the constituent crystals can be aligned along specific directions: these systems possess anisotropic properties including enhanced diffusion along specific directions, preferential orientation of guest species, and protection of functional guests. In this perspective, we discuss the current status of MOF research in the fabrication of oriented polycrystalline superstructures focusing on the specific crystalline directions of orientation. Three methods are examined in detail: the assembly from colloidal MOF solutions, the use of external fields for the alignment of MOF particles, and the heteroepitaxial ceramic-to-MOF growth. This perspective aims at promoting the progress of this field of research and inspiring the development of new protocols for the preparation of MOF systems with oriented pore channels, to enable advanced MOF-based devices with anisotropic properties.
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Affiliation(s)
- Mercedes Linares-Moreau
- Institute of Physical and Theoretical Chemistry, Graz University of Technology, Graz, 8010, Austria
| | - Lea A Brandner
- Institute of Physical and Theoretical Chemistry, Graz University of Technology, Graz, 8010, Austria
| | | | - Javier Fonseca
- Catalan Institute of Nanoscience and Nanotechnology (ICN2), CSIC and The Barcelona Institute of Science and Technology, Campus UAB, Bellaterra, Barcelona, 08193, Spain
| | - Youven Benseghir
- Faculty of Chemistry, Institute of Functional Materials and Catalysis, University of Vienna, Währingerstr. 42, Vienna, A-1090, Austria
| | - Jia Min Chin
- Faculty of Chemistry, Institute of Functional Materials and Catalysis, University of Vienna, Währingerstr. 42, Vienna, A-1090, Austria
| | - Daniel Maspoch
- Catalan Institute of Nanoscience and Nanotechnology (ICN2), CSIC and The Barcelona Institute of Science and Technology, Campus UAB, Bellaterra, Barcelona, 08193, Spain
- Departament de Química, Facultat de Ciències, Universitat Autònoma de Barcelona (UAB), Cerdanyola del Vallès, Barcelona, 08193, Spain
- ICREA, Pg. Lluís Companys 23, Barcelona, 08010, Spain
| | - Christian Doonan
- Department of Chemistry, The University of Adelaide, Adelaide, South Australia, 5005, Australia
| | - Paolo Falcaro
- Institute of Physical and Theoretical Chemistry, Graz University of Technology, Graz, 8010, Austria
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49
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Li S, Aizenberg M, Lerch MM, Aizenberg J. Programming Deformations of 3D Microstructures: Opportunities Enabled by Magnetic Alignment of Liquid Crystalline Elastomers. ACCOUNTS OF MATERIALS RESEARCH 2023; 4:1008-1019. [PMID: 38148997 PMCID: PMC10749463 DOI: 10.1021/accountsmr.3c00101] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/11/2023] [Revised: 09/10/2023] [Indexed: 12/28/2023]
Abstract
Synthetic structures that undergo controlled movement are crucial building blocks for developing new technologies applicable to robotics, healthcare, and sustainable self-regulated materials. Yet, programming motion is nontrivial, and particularly at the microscale it remains a fundamental challenge. At the macroscale, movement can be controlled by conventional electric, pneumatic, or combustion-based machinery. At the nanoscale, chemistry has taken strides in enabling molecularly fueled movement. Yet in between, at the microscale, top-down fabrication becomes cumbersome and expensive, while bottom-up chemical self-assembly and amplified molecular motion does not reach the necessary sophistication. Hence, new approaches that converge top-down and bottom-up methods and enable motional complexity at the microscale are urgently needed. Synthetic anisotropic materials (e.g., liquid crystalline elastomers, LCEs) with encoded molecular anisotropy that are shaped into arbitrary geometries by top-down fabrication promise new opportunities to implement controlled actuation at the microscale. In such materials, motional complexity is directly linked to the built-in molecular anisotropy that can be "activated" by external stimuli. So far, encoding the desired patterns of molecular directionality has relied mostly on either mechanical or surface alignment techniques, which do not allow the decoupling of molecular and geometric features, severely restricting achievable material shapes and thus limiting attainable actuation patterns, unless complex multimaterial constructs are fabricated. Electromagnetic fields have recently emerged as possible alternatives to provide 3D control over local anisotropy, independent of the geometry of a given 3D object. The combination of magnetic alignment and soft lithography, in particular, provides a powerful platform for the rapid, practical, and facile production of microscale soft actuators with field-defined local anisotropy. Recent work has established the feasibility of this approach with low magnetic field strengths (in the lower mT range) and comparably simple setups used for the fabrication of the microactuators, in which magnetic fields can be engineered through arrangement of permanent magnets. This workflow gives access to microstructures with unusual spatial patterning of molecular alignment and has enabled a multitude of nontrivial deformation types that would not be possible to program by any other means at the micron scale. A range of "activating" stimuli can be used to put these structures in motion, and the type of the trigger plays a key role too: directional and dynamic stimuli (such as light) make it possible to activate the patterned anisotropic material locally and transiently, which enables one to achieve and further program motional complexity and communication in microactuators. In this Account, we will discuss recent advances in magnetic alignment of molecular anisotropy and its use in soft lithography and related fabrication approaches to create LCE microactuators. We will examine how design choices-from the molecular to the fabrication and the operational levels-control and define the achievable LCE deformations. We then address the role of stimuli in realizing the motional complexity and how one can engineer feedback within and communication between microactuator arrays fabricated by soft lithography. Overall, we outline emerging strategies that make possible a completely new approach to designing for desired sets of motions of active, microscale objects.
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Affiliation(s)
- Shucong Li
- Department
of Chemistry and Chemical Biology, Harvard
University, Cambridge, Massachusetts 02138, United States
- Department
of Mechanical Engineering, Massachusetts
Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Michael Aizenberg
- John
A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts 02138, United States
| | - Michael M. Lerch
- John
A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts 02138, United States
- Stratingh
Institute for Chemistry, University of Groningen, 9747 AG Groningen, The Netherlands
| | - Joanna Aizenberg
- Department
of Chemistry and Chemical Biology, Harvard
University, Cambridge, Massachusetts 02138, United States
- John
A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts 02138, United States
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50
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Wang L, Chang Y, Wu S, Zhao RR, Chen W. Physics-aware differentiable design of magnetically actuated kirigami for shape morphing. Nat Commun 2023; 14:8516. [PMID: 38129420 PMCID: PMC10739944 DOI: 10.1038/s41467-023-44303-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/29/2023] [Accepted: 12/07/2023] [Indexed: 12/23/2023] Open
Abstract
Shape morphing that transforms morphologies in response to stimuli is crucial for future multifunctional systems. While kirigami holds great promise in enhancing shape-morphing, existing designs primarily focus on kinematics and overlook the underlying physics. This study introduces a differentiable inverse design framework that considers the physical interplay between geometry, materials, and stimuli of active kirigami, made by soft material embedded with magnetic particles, to realize target shape-morphing upon magnetic excitation. We achieve this by combining differentiable kinematics and energy models into a constrained optimization, simultaneously designing the cuts and magnetization orientations to ensure kinematic and physical feasibility. Complex kirigami designs are obtained automatically with unparalleled efficiency, which can be remotely controlled to morph into intricate target shapes and even multiple states. The proposed framework can be extended to accommodate various active systems, bridging geometry and physics to push the frontiers in shape-morphing applications, like flexible electronics and minimally invasive surgery.
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Affiliation(s)
- Liwei Wang
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
| | - Yilong Chang
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Wei Chen
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA.
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