Freeform Liquid 3D Printing of Soft Functional Components for Soft Robotics

Alvarado P. Applications of a vacuum-actuated multi-material hybrid soft gripper: lessons learnt from RoboSoft manipulation challenge

Soft grippers are garnering increasing attention for their adeptness in conforming to diverse objects, particularly delicate items, without warranting precise force control. This attribute proves especially beneficial in unstructured environments and dynamic tasks such as food handling. Human hands, owing to their elevated dexterity and precise motor control, exhibit the ability to delicately manipulate complex food items, such as small or fragile objects, by dynamically adjusting their grasping configurations. Furthermore, with their rich sensory receptors and hand-eye coordination that provide valuable information involving the texture and form factor, real-time adjustments to avoid damage or spill during food handling appear seamless. Despite numerous endeavors to replicate these capabilities through robotic solutions involving soft grippers, matching human performance remains a formidable engineering challenge. Robotic competitions serve as an invaluable platform for pushing the boundaries of manipulation capabilities, simultaneously offering insights into the adoption of these solutions across diverse domains, including food handling. Serving as a proxy for the future transition of robotic solutions from the laboratory to the market, these competitions simulate real-world challenges. Since 2021, our research group has actively participated in RoboSoft competitions, securing victories in the Manipulation track in 2022 and 2023. Our success was propelled by the utilization of a modified iteration of our Retractable Nails Soft Gripper (RNSG), tailored to meet the specific requirements of each task. The integration of sensors and collaborative manipulators further enhanced the gripper's performance, facilitating the seamless execution of complex grasping tasks associated with food handling. This article encapsulates the experiential insights gained during the application of our highly versatile soft gripper in these competition environments.

Dissecting the Interplay Mechanism among Process Parameters toward the Biofabrication of High-Quality Shapes in Embedded Bioprinting

Embedded bioprinting overcomes the barriers associated with the conventional extrusion-based bioprinting process as it enables the direct deposition of bioinks in 3D inside a support bath by providing in situ self-support for deposited bioinks during bioprinting to prevent their collapse and deformation. Embedded bioprinting improves the shape quality of bioprinted constructs made up of soft materials and low-viscosity bioinks, leading to a promising strategy for better anatomical mimicry of tissues or organs. Herein, the interplay mechanism among the printing process parameters toward improved shape quality is critically reviewed. The impact of material properties of the support bath and bioink, printing conditions, cross-linking mechanisms, and post-printing treatment methods, on the printing fidelity, stability, and resolution of the structures is meticulously dissected and thoroughly discussed. Further, the potential scope and applications of this technology in the fields of bioprinting and regenerative medicine are presented. Finally, outstanding challenges and opportunities of embedded bioprinting as well as its promise for fabricating functional solid organs in the future are discussed.

Three-Dimensional Printing of Ultrasoft Silicone with a Functional Stiffness Gradient

A methodology for three-dimensionally printing ultrasoft silicone with a functional stiffness gradient is presented. Ultraviolet-cure silicone was deposited via two independently controlled extruders into a thixotropic, gel-like, silicone oil-based support matrix. Each extruder contained a different liquid silicone formulation. The extrusion rates were independently varied during printing such that the combined selectively deposited material contained different ratios of the two silicones, resulting in localized control of material stiffness. Tests to validate the process are reported, including tensile testing of homogeneous cubic specimens to quantify the range of material stiffness that could be printed, indentation testing of cuboid specimens to characterize printed stiffness gradients, and vibratory testing of synthetic multilayer vocal fold (VF) models to demonstrate that the method may be applied to the fabrication of biomechanical models for voice production research. The cubic specimens exhibited linear stress-strain data with tensile elasticity modulus values between 1.11 and 27.1 kPa, more than a factor of 20 in stiffness variation. The cuboid specimens exhibited material variations that were visually recognizable and quantifiable via indentation testing. The VF models withstood rigorous phonatory flow-induced vibration and exhibited vibratory characteristics comparable to those of previous models. Overall, while process refinements are needed, the results of these tests demonstrate the ability to print ultrasoft silicone with stiffness gradients.

Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins

The development of the field of soft robotics has led to the exploration of novel techniques to manufacture soft actuators, which provide distinct advantages for wearable assistive robotics. One subset of these soft pneumatic actuators is conventionally developed from silicone, fabrics, and thermoplastic polyurethane (TPU). Each of these materials in isolation possesses limitations of low-stress capacity, low-design complexity, and high-input pressure requirements, respectively. Combining these materials can overcome some limitations and maintain their desirable properties. In this article, we explore one such composite design scheme using a combination of silicone polymer-based bladder and reconfigurable fabric skin made from an anisotropic extensible fabric. The silicone polymer bladder acts as the hermetic seal, while this skin acts as the constraint. Bending and torsional actuators were designed utilizing the anisotropy of these fabrics. The torsional actuator designs can achieve over 540° of twist, significantly larger than previously reported in the literature, owing to the lower mechanical impedance of the extensible fabrics. Actuators with 360° of bending were also fabricated using this method. In addition, the lack of TPU-backed or inextensible fabrics reduces the actuator's stiffness, leading to lower actuation pressures. Skin-based designs also confer the advantage of modularity, reconfigurability, and the ability to achieve complex motions by tuning the properties of the bladder and the skin. For applications with high-force requirements, such as wearable exoskeletons, we demonstrate the utility of multilayer design schemes. A multilayer bending actuator generated 190 N of force at 100 kPa and was shown to be a candidate for wearable assistive devices. In addition, torsional designs were shown to have utility in practical scenarios such as screwing on a bottle cap and turning knobs. Thus, we present a novel fabric-skin-based design concept that is highly versatile and customizable for various application requirements.

Multimaterial Embedded 3D Printing of Composite Reinforced Soft Actuators

Soft pneumatic actuators (SPAs) have attracted enormous attention in the growing field of robotics. Among different SPAs, composite reinforced actuators (CRAs) are widely used because of their simple structure and high controllability. However, multistep molding, a time-consuming method, is still the predominant fabrication method. Here, we propose a multimaterial embedded printing method (ME3P) to fabricate CRAs. In comparison with other 3-dimensional printing methods, our method improves fabrication flexibility greatly. Via the design and fabrication of the reinforced composites' patterns and different geometries of the soft body, we demonstrate actuators with programmable responses (elongation, contraction, twisting, bending, and helical and omnidirectional bending). Finite element analysis is employed for the prediction of pneumatic responses and the inverse design of actuators based on specific actuation needs. Lastly, we use tube-crawling robots as a model system to demonstrate our ability to fabricate complex soft robots for practical applications. This work demonstrates the versatility of ME3P for the future manufacturing of CRA-based soft robots.

Suppression of Filament Defects in Embedded 3D Printing

Embedded 3D printing enables the manufacture of soft, intricate structures. In the technique, a nozzle is embedded into a viscoelastic support bath and extrudes filaments or droplets. While embedded 3D printing expands the printable materials space to low-viscosity fluids, it also presents new challenges. Filament cross-sections can be tall and narrow, have sharp edges, and have rough surfaces. Filaments can also rupture or contract due to capillarity, harming print fidelity. Through digital image analysis of in situ videos of the printing process and images of filaments just after printing, we probe the effects of ink and support rheology, print speeds, and interfacial tension on defects in individual filaments. Using model materials, we determine that if both the ink and support are water-based, the local viscosity ratio near the nozzle controls the filament shape. If the ink is slightly more viscous than the support, a round, smooth filament is produced. If the ink is oil-based and the support is water-based, the capillary number, or the product of the ink speed and support viscosity divided by the interfacial tension, controls the filament shape. To suppress contraction and rupture, the capillary number should be high, even though this leads to trade-offs in roughness and roundness. Still, inks at nonzero interfacial tension can be advantageous, since they lead to much rounder and smoother filaments than inks at zero interfacial tension with equivalent viscosity ratios.