Synergetic Combination of Interfacial Engineering and Shape-Changing Modulation for Biomimetic Soft Robotic Devices

Thermal-Regulated Adhesion Enhancement and Fast Switching within the Viscoelastic Glass Transition Zone of a Shape Memory Polymer

The effects of temperature and preload on adhesion of an epoxy-based shape memory polymer (ESMP) were investigated experimentally. The ESMP sheet and polydimethylsiloxane (PDMS) control sample were prepared by mold casting. The adhesion measurements were carried out on a home-built adhesion tester using a hemispherical glass indenter as the counter-surface. The reduced modulus was determined by the Oliver-Pharr method and Hertz theory. The viscoelastic energy dissipation was extracted, and the effective work of adhesion was calculated by the fitting method and JKR theory. In the vicinity of glass transition temperature (T_g), the viscoelastic enhancement factor (1 + f(v, T)) is as high as 955 because of the strong viscoelastic effect of the ESMP sheet. The adhesion strength of the ESMP sheet is about 589 kPa under a relatively smaller contact displacement condition (∼44.6 μm). The strong viscoelastic effect induces more viscoelastic energy dissipation that contributes to the effective work of adhesion and leads to strong preload dependence of the adhesion. The pull-off force F_pull-off is demonstrated to linearly depend on F_m^1/3E_r^2/3. In the sharp half glass transition zone (T > T_g), the viscoelasticity and rigidity rapidly decrease with the temperature increasing about 10 °C, leading to a 6-fold reduction in adhesion. The results indicate that the adhesion of the ESMP sheet can be significantly enhanced and meanwhile rapidly switched within the viscoelastic glass transition zone.

Molecular crystalline capsules that release their contents by light

Here, we present single crystalline capsules of a photoresponsive molecule produced by simple recrystallization from organic solutions without direct human processing. During the crystal growth process, a movie was taken of the capsule taking in the organic solution. The capsules responded rapidly (<1 s) to the UV light stimuli and released the captured solution or solute. In principle, they can take in any substance dissolved in organic solvents, and their size can be controlled. Moreover, the capsule can be broken by multi-photon excitation using a near-infrared laser within the biological window. Furthermore, because the molecular packing in the crystal is unidirectional, the response can be controlled by the polarization of the light. This study shows the new potential of photoresponsive molecules.

Actuation Characteristics and Mechanism of Electroactive Plasticized Thermoplastic Polyurethane

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

Enhancements of Loading Capacity and Moving Ability by Microstructures for Wireless Soft Robot Boats

Because of its promising applications in various fields such as in vivo drug treatment, in-pipe inspection, and so forth, there is an increasing interest on wireless soft robot boats taking advantages of their shape adaptability. The loading capacity and mobility, however, are always fundamental challenges to restrict their applications. In this study, a graphene-based soft robot boat, which could be programmable-driven by a remote near-infrared light, is proposed. Different microstructures underneath the boat are carefully designed and employed to improve both the loading capacity and the moving ability. It reveals that, compared to that without microstructures, the soft robot boat with square pillar arrays (120-160 μm of period, duty cycle, and aspect ratio at active Wenzel/Cassie transition point) could enhance the loading capacity by 12.75% and the moving velocity by 16.70%. For the robot boat with grating structures, a strong driving anisotropy is revealed, with an enhancement of 2.24% for the loading capacity and 34.65% for the driving response along the grating lines. A boat prototype with a self-weight of 6.05 g is finally developed and can achieve continuous navigation in a closed narrow space for in situ monitoring, which may find applications in the inspection of other narrow terrains (e.g., blood vessels).