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Qing H, Chi Y, Hong Y, Zhao Y, Qi F, Li Y, Yin J. Fully 3D-Printed Miniature Soft Hydraulic Actuators with Shape Memory Effect for Morphing and Manipulation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2402517. [PMID: 38808656 DOI: 10.1002/adma.202402517] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/18/2024] [Revised: 05/16/2024] [Indexed: 05/30/2024]
Abstract
Miniature shape-morphing soft actuators driven by external stimuli and fluidic pressure hold great promise in morphing matter and small-scale soft robotics. However, it remains challenging to achieve both rich shape morphing and shape locking in a fast and controlled way due to the limitations of actuation reversibility and fabrication. Here, fully 3D-printed, sub-millimeter thin-plate-like miniature soft hydraulic actuators with shape memory effect (SME) for programable fast shape morphing and shape locking, are reported. It combines commercial high-resolution multi-material 3D printing of stiff shape memory polymers (SMPs) and soft elastomers and direct printing of microfluidic channels and 2D/3D channel networks embedded in elastomers in a single print run. Leveraging spatial patterning of hybrid compositions and expansion heterogeneity of microfluidic channel networks for versatile hydraulically actuated shape morphing, including circular, wavy, helical, saddle, and warping shapes with various curvatures, are demonstrated. The morphed shapes can be temporarily locked and recover to their original planar forms repeatedly by activating SME of the SMPs. Utilizing the fast shape morphing and locking in the miniature actuators, their potential applications in non-invasive manipulation of small-scale objects and fragile living organisms, multimodal entanglement grasping, and energy-saving manipulators, are demonstrated.
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Affiliation(s)
- Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Fangjie Qi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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2
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Nie S, Huo L, Ji H, Nie S, Gao P, Li H. Deformation Characteristics of Three-Dimensional Spiral Soft Actuator Driven by Water Hydraulics for Underwater Manipulator. Soft Robot 2024; 11:410-422. [PMID: 38011608 DOI: 10.1089/soro.2023.0085] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2023] Open
Affiliation(s)
- Songlin Nie
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Linfeng Huo
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Hui Ji
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Shuang Nie
- Faculty of Applied Science and Engineering, University of Toronto, Toronto, Canada
| | - Pengwang Gao
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
| | - Hanyu Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
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3
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Ou Yang CW, Yu SY, Chan CW, Tseng CY, Cai JF, Huang HP, Juang JY. Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints. Soft Robot 2024. [PMID: 38387016 DOI: 10.1089/soro.2023.0111] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2024] Open
Abstract
Soft robotic grippers and hands offer adaptability, lightweight construction, and enhanced safety in human-robot interactions. In this study, we introduce vacuum-actuated soft robotic finger joints to overcome their limitations in stiffness, response, and load-carrying capability. Our design-optimized through parametric design and three-dimensional (3D) printing-achieves high stiffness using vacuum pressure and a buckling mechanism for large bending angles (>90°) and rapid response times (0.24 s). We develop a theoretical model and nonlinear finite-element simulations to validate the experimental results and provide valuable insights into the underlying mechanics and visualization of the deformation and stress field. We showcase versatile applications of the buckling joints: a three-finger gripper with a large lifting ratio (∼96), a five-finger robotic hand capable of replicating human gestures and adeptly grasping objects of various characteristics in static and dynamic scenarios, and a planar-crawling robot carrying loads 30 times its weight at 0.89 body length per second (BL/s). In addition, a jellyfish-inspired robot crawls in circular pipes at 0.47 BL/s. By enhancing soft robotic grippers' functionality and performance, our study expands their applications and paves the way for innovation through 3D-printed multifunctional buckling joints.
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Affiliation(s)
- Chih-Wen Ou Yang
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Shao-Yi Yu
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
- Department of Mechanical Engineering, University of California at Berkeley, Berkeley, California, USA
| | - Che-Wei Chan
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Chien-Yao Tseng
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Jing-Fang Cai
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Han-Pang Huang
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
| | - Jia-Yang Juang
- Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan
- Program in Nanoengineering and Nanoscience, Graduate School of Advanced Technology, National Taiwan University, Taipei, Taiwan
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4
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Razzaq MY, Balk M, Mazurek-Budzyńska M, Schadewald A. From Nature to Technology: Exploring Bioinspired Polymer Actuators via Electrospinning. Polymers (Basel) 2023; 15:4029. [PMID: 37836078 PMCID: PMC10574948 DOI: 10.3390/polym15194029] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/21/2023] [Revised: 09/29/2023] [Accepted: 10/04/2023] [Indexed: 10/15/2023] Open
Abstract
Nature has always been a source of inspiration for the development of novel materials and devices. In particular, polymer actuators that mimic the movements and functions of natural organisms have been of great interest due to their potential applications in various fields, such as biomedical engineering, soft robotics, and energy harvesting. During recent years, the development and actuation performance of electrospun fibrous meshes with the advantages of high permeability, surface area, and easy functional modification, has received extensive attention from researchers. This review covers the recent progress in the state-of-the-art electrospun actuators based on commonly used polymers such as stimuli-sensitive hydrogels, shape-memory polymers (SMPs), and electroactive polymers. The design strategies inspired by nature such as hierarchical systems, layered structures, and responsive interfaces to enhance the performance and functionality of these actuators, including the role of biomimicry to create devices that mimic the behavior of natural organisms, are discussed. Finally, the challenges and future directions in the field, with a focus on the development of more efficient and versatile electrospun polymer actuators which can be used in a wide range of applications, are addressed. The insights gained from this review can contribute to the development of advanced and multifunctional actuators with improved performance and expanded application possibilities.
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Affiliation(s)
- Muhammad Yasar Razzaq
- Institut für Kunststofftechnologie und Recycling e. V., Gewerbepark 3, D-6369 Südliches Anhalt, Germany
| | - Maria Balk
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstraße 55, D-14513 Teltow, Germany
| | | | - Anke Schadewald
- Institut für Kunststofftechnologie und Recycling e. V., Gewerbepark 3, D-6369 Südliches Anhalt, Germany
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5
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Wang H, Zhang Z, Fu K, Li Y. Four-Dimensionally Printed Continuous Carbon Fiber-Reinforced Shape Memory Polymer Composites with Diverse Deformation Based on an Inhomogeneous Temperature Field. Polymers (Basel) 2023; 15:3740. [PMID: 37765594 PMCID: PMC10537134 DOI: 10.3390/polym15183740] [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: 08/08/2023] [Revised: 08/29/2023] [Accepted: 09/06/2023] [Indexed: 09/29/2023] Open
Abstract
Four-dimensionally printed continuous carbon fiber-reinforced shape memory polymer composite (CFSMPC) is a smart material with the ability to bear loads and undergo deformation. The deformation of CFSMPC can be driven by the electrothermal effect of carbon fibers. In this study, the effect of temperature on the shape memory recovery performance of polylactic acid (PLA) was first studied experimentally. Continuous carbon fibers were incorporated into PLA to design CFSMPCs with thickness gradients and hand-shaped structures, respectively. The distribution strategy of the carbon fibers was determined based on simulations of the electrically driven shape recovery process of the aforementioned structures. Both the simulations and experiments demonstrated that the electrification of the CFSMPC structures resulted in an inhomogeneous temperature field, leading to distinct deformation recovery processes. Eventually, a precise unfolding was achieved for the thickness gradient structure and the five fingers in the hand-shaped structure by utilizing a safe voltage of 6 V. This demonstrates that the 4D-printed CFSMPC with diverse deformations based on an inhomogeneous temperature field has potential applications in actuators, reconfigurable devices, and other fields.
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Affiliation(s)
- Hongyan Wang
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
- Beijing Institute of Electronic System Engineering, Beijing 100854, China
| | - Zhongsen Zhang
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
| | - Kunkun Fu
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
| | - Yan Li
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
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Choi I, Jang S, Jung S, Woo S, Kim J, Bak C, Lee Y, Park S. A dual stimuli-responsive smart soft carrier using multi-material 4D printing. MATERIALS HORIZONS 2023; 10:3668-3679. [PMID: 37350575 DOI: 10.1039/d3mh00521f] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/24/2023]
Abstract
This paper proposes a 4D printed smart soft carrier with a hemispherical hollow and openable lid. The soft carrier is composed of a lid with a slot (with a shape of 4 legs), a border, and a hemisphere. The soft carrier is fabricated by 4D printing using smart hydrogels. Specifically, the lid, border, and hemisphere are fabricated using a thermo-responsive poly(N-isopropylacrylamide) (PNIPAM) hydrogel, a non-responsive polyethylene glycol (PEG) hydrogel with superparamagnetic iron oxide nanoparticles (SPIONs), and a PEG hydrogel, respectively. Since the SPIONs are included in the border, the slot in the center of the lid is opened and closed according to the temperature change caused by near-infrared (NIR) irradiation, and the proposed soft carrier is magnetically driven by an external magnetic field. The hemisphere enables the storage and transport of cargo. The proposed soft carrier can control the opening and closing of the slot and movement to a desired position in water. Several cargo delivery experiments were conducted using various shapes and numbers of cargo. In addition, the proposed soft carrier can successfully handle small living marine organisms. This soft carrier can be manufactured by 4D printing and operated by dual stimuli (NIR and magnetic field) and can safely deliver various types of cargo and delicate organisms without leakage or damage. The flexibility of 4D printing enables the size of the soft carrier to be tailored to the specific physical attributes of various objects, making it an adaptable and versatile delivery approach.
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Affiliation(s)
- Inyoung Choi
- School of Undergraduate Studies, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea.
| | - Saeeun Jang
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea
| | - Seunggyeom Jung
- School of Undergraduate Studies, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea.
| | - Seohyun Woo
- School of Undergraduate Studies, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea.
| | - Jinyoung Kim
- School of Undergraduate Studies, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea.
| | - Cheol Bak
- Department of Energy Science and Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea
| | - Yongmin Lee
- Department of Energy Science and Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea
- Energy Science and Engineering Center, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea
| | - Sukho Park
- School of Undergraduate Studies, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea.
- Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea
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7
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Farhan M, Klimm F, Thielen M, Rešetič A, Bastola A, Behl M, Speck T, Lendlein A. Artificial Tendrils Mimicking Plant Movements by Mismatching Modulus and Strain in Core and Shell. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2211902. [PMID: 37024772 DOI: 10.1002/adma.202211902] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/19/2022] [Revised: 03/20/2023] [Indexed: 06/02/2023]
Abstract
Motile organs have evolved in climbing plants enabling them to find a support and, after secure attachment, to reach for sunlight without investing in a self-supporting stem. Searching movements, the twining of stems, and the coiling of tendrils are involved in successful plant attachment. Such coiling movements have great potential in robotic applications, especially if they are reversible. Here, the underlying mechanism of tendril movement based on contractile fibers is reported, as illustrated by a function-morphological analysis of tendrils in several liana species and the encoding of such a principle in a core-shell multimaterial fiber (MMF) system. MMFs are composed of a shape-memory core fiber (SMCF) and an elastic shell. The shape-memory effect of the core fibers enables the implementation of strain mismatch in the MMF by physical means and provides thermally controlled reversible motion. The produced MMFs show coiling and/or uncoiling behavior, with a high reversible actuation magnitude of ≈400%, which is almost 20 times higher compared with similar stimuli for sensitive soft actuators. The movements in these MMFs rely on the crystallization/melting behavior of oriented macromolecules of SMCF.
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Affiliation(s)
- Muhammad Farhan
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513, Teltow, Germany
| | - Frederike Klimm
- Plant Biomechanics Group, Institute of Biology, University of Freiburg, 79104, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Georges-Köhler-Allee 105, 79110, Freiburg, Germany
- FMF - Freiburg Materials Research Center, Stefan-Meier-Straße 21, 79104, Freiburg, Germany
| | - Marc Thielen
- Plant Biomechanics Group, Institute of Biology, University of Freiburg, 79104, Freiburg, Germany
- FMF - Freiburg Materials Research Center, Stefan-Meier-Straße 21, 79104, Freiburg, Germany
| | - Andraž Rešetič
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513, Teltow, Germany
| | - Anil Bastola
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513, Teltow, Germany
| | - Marc Behl
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513, Teltow, Germany
| | - Thomas Speck
- Plant Biomechanics Group, Institute of Biology, University of Freiburg, 79104, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Georges-Köhler-Allee 105, 79110, Freiburg, Germany
- FMF - Freiburg Materials Research Center, Stefan-Meier-Straße 21, 79104, Freiburg, Germany
| | - Andreas Lendlein
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513, Teltow, Germany
- Institute of Chemistry, University of Potsdam, 14469, Potsdam, Germany
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8
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Farhan M, Hartstein DS, Pieper Y, Behl M, Lendlein A, Neffe AT. Bio-Inspired Magnetically Controlled Reversibly Actuating Multimaterial Fibers. Polymers (Basel) 2023; 15:polym15092233. [PMID: 37177379 PMCID: PMC10181395 DOI: 10.3390/polym15092233] [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: 04/15/2023] [Revised: 05/03/2023] [Accepted: 05/04/2023] [Indexed: 05/15/2023] Open
Abstract
Movements in plants, such as the coiling of tendrils in climbing plants, have been studied as inspiration for coiling actuators in robotics. A promising approach to mimic this behavior is the use of multimaterial systems that show different elastic moduli. Here, we report on the development of magnetically controllable/triggerable multimaterial fibers (MMFs) as artificial tendrils, which can reversibly coil and uncoil on stimulation from an alternating magnetic field. These MMFs are based on deformed shape-memory fibers with poly[ethylene-co-(vinyl acetate)] (PEVA) as their core and a silicone-based soft elastomeric magnetic nanocomposite shell. The core fiber provides a temperature-dependent expansion/contraction that propagates the coiling of the MMF, while the shell enables inductive heating to actuate the movements in these MMFs. Composites with mNP weight content ≥ 15 wt% were required to achieve heating suitable to initiate movement. The MMFs coil upon application of the magnetic field, in which a degree of coiling N = 0.8 ± 0.2 was achieved. Cooling upon switching OFF the magnetic field reversed some of the coiling, giving a reversible change in coiling ∆n = 2 ± 0.5. These MMFs allow magnetically controlled remote and reversible actuation in artificial (soft) plant-like tendrils, and are envisioned as fiber actuators in future robotics applications.
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Affiliation(s)
- Muhammad Farhan
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513 Teltow, Germany
| | - Daniel S Hartstein
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513 Teltow, Germany
| | - Yvonne Pieper
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513 Teltow, Germany
| | - Marc Behl
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513 Teltow, Germany
| | - Andreas Lendlein
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513 Teltow, Germany
- Institute of Chemistry, University of Potsdam, 14476 Potsdam, Germany
| | - Axel T Neffe
- Institute of Active Polymers, Helmholtz-Zentrum Hereon, Kantstr. 55, 14513 Teltow, Germany
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9
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Ang BWK, Yeow CH, Lim JH. A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics. SENSORS (BASEL, SWITZERLAND) 2023; 23:3263. [PMID: 36991974 PMCID: PMC10051244 DOI: 10.3390/s23063263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/27/2023] [Revised: 03/06/2023] [Accepted: 03/13/2023] [Indexed: 06/19/2023]
Abstract
In recent years, the advent of soft robotics has changed the landscape of wearable technologies. Soft robots are highly compliant and malleable, thus ensuring safe human-machine interactions. To date, a wide variety of actuation mechanisms have been studied and adopted into a multitude of soft wearables for use in clinical practice, such as assistive devices and rehabilitation modalities. Much research effort has been put into improving their technical performance and establishing the ideal indications for which rigid exoskeletons would play a limited role. However, despite having achieved many feats over the past decade, soft wearable technologies have not been extensively investigated from the perspective of user adoption. Most scholarly reviews of soft wearables have focused on the perspective of service providers such as developers, manufacturers, or clinicians, but few have scrutinized the factors affecting adoption and user experience. Hence, this would pose a good opportunity to gain insight into the current practice of soft robotics from a user's perspective. This review aims to provide a broad overview of the different types of soft wearables and identify the factors that hinder the adoption of soft robotics. In this paper, a systematic literature search using terms such as "soft", "robot", "wearable", and "exoskeleton" was conducted according to PRISMA guidelines to include peer-reviewed publications between 2012 and 2022. The soft robotics were classified according to their actuation mechanisms into motor-driven tendon cables, pneumatics, hydraulics, shape memory alloys, and polyvinyl chloride muscles, and their pros and cons were discussed. The identified factors affecting user adoption include design, availability of materials, durability, modeling and control, artificial intelligence augmentation, standardized evaluation criteria, public perception related to perceived utility, ease of use, and aesthetics. The critical areas for improvement and future research directions to increase adoption of soft wearables have also been highlighted.
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Affiliation(s)
- Benjamin Wee Keong Ang
- Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore; (B.W.K.A.); (C.-H.Y.)
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore; (B.W.K.A.); (C.-H.Y.)
| | - Jeong Hoon Lim
- Department of Medicine, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119074, Singapore
- Division of Rehabilitation Medicine, University Medicine Cluster, National University Hospital, Singapore 119077, Singapore
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10
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Ding J, Ma H, Xiao X, Li Q, Liu K, Zhang X. Flexible Torsional Photoactuators Based on MXene-Carbon Nanotube-Paraffin Wax Films. ACS APPLIED MATERIALS & INTERFACES 2022; 14:57171-57179. [PMID: 36515685 DOI: 10.1021/acsami.2c16838] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
A flexible actuator, which can convert external stimuli to mechanical motion, is an essential component of every soft robot and determines its performance. As a novel two-dimensional material, MXene has been used to fabricate flexible actuators due to its excellent physical properties. Although MXene-based actuators exhibit excellent actuation performance, their bending deformation is solely due to the in-plane isotropy of the MXene film, and an MXene torsional actuator has not been reported. This study presents a flexible torsional actuator based on an MXene-carbon nanotube (CNT)-paraffin wax (PW) film. In this actuator, the MXene thin film acts as a light absorption layer with wavelength selectivity, superaligned CNT provides structural anisotropy for the composite film, and PW acts as the active layer. The chirality and helical structure of the actuator could be tuned by the orientation of the CNT film. Such an actuator delivers excellent actuation performance, including high work density (∼1.2 J/cm3), low triggering power (77 mW/cm2), high rotational speed (320°/s), long lifetime (30,000 cycles), and wavelength selectivity. Inspired by vines, we used the torsional actuator as a spiral grabber, which lifted an object that weighs 20 times more than the actuator. The high-performance torsional actuator would be potentially used as a noncontact sensor, rotary motor, and grabbing tool in the soft robot system.
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Affiliation(s)
- Jun Ding
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
| | - He Ma
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
| | - Xiao Xiao
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
| | - Qingwei Li
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing100081, China
| | - Kai Liu
- State Key Laboratory of New Ceramics and Fine Processing, School of Material Science and Engineering, Tsinghua University, Beijing100084, China
| | - Xinping Zhang
- Institute of Information Photonics Technology and Faculty of Sciences, Beijing University of Technology, Beijing100124, China
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11
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Li Q, Jiao Y. Ultrafast Photothermal Actuators with a Large Helical Curvature Based on Ultrathin GO and Biaxially Oriented PE Films. ACS APPLIED MATERIALS & INTERFACES 2022; 14:55828-55838. [PMID: 36484521 DOI: 10.1021/acsami.2c18478] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
In nature, there are some amazing superfast actuations (Venus flytrap) and large-curvature helical deformations (the awn of Erodium). Although many bionic actuators have been made (electrothermal, hygroscopic, photoinduced), most of their actuations are slow and small, not comparable to the wonderful ones in nature. Here, we report an ultrafast photothermal actuator with large-curvature curling based on an ultrathin graphene oxide (GO) and biaxially oriented polyethylene (BOPE) bilayer film (thickness ∼11 μm). By virtue of the fast temperature changing rate (peak: 900 °C s-1 during infrared heating and -1200 °C s-1 during cooling) and the great difference in the coefficient of thermal expansion of GO and BOPE layers, the actuator deforms rapidly and greatly. The maximum bending speed and curvature can reach 5300° s-1 and 22 cm-1, respectively, which are comparable to those of wonderful natural actuators and far exceed the performances of the reported artificial actuators. Different from ordinary helical actuators made of uniaxial anisotropic materials, our actuator is based on a typical biaxial anisotropic material of BOPE. However, the morphing behaviors of this type of actuator have not been reported before. So for the first time, we systematically studied this problem through experiments and simulations using the GO-BOPE actuator as a prototype and have drawn clear conclusions. In addition, functional GO-BOPE actuators capable of winding around and manipulating tiny objects were also designed and developed. We think this ultrafast large-curvature photothermal actuator will have wide application prospects in bionic actuations and dexterous robots.
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Affiliation(s)
- Qingwei Li
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing100081, China
| | - Yan Jiao
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing100081, China
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12
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Rahmatabadi D, Aberoumand M, Soltanmohammadi K, Soleyman E, Ghasemi I, Baniassadi M, Abrinia K, Zolfagharian A, Bodaghi M, Baghani M. A New Strategy for Achieving Shape Memory Effects in 4D Printed Two-Layer Composite Structures. Polymers (Basel) 2022; 14:polym14245446. [PMID: 36559813 PMCID: PMC9787995 DOI: 10.3390/polym14245446] [Citation(s) in RCA: 22] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/12/2022] [Revised: 12/07/2022] [Accepted: 12/09/2022] [Indexed: 12/15/2022] Open
Abstract
In this study, a new strategy and design for achieving a shape memory effect (SME) and 4D printed two-layer composite structures is unveiled, thanks to fused deposition modeling (FDM) biomaterial printing of commercial filaments, which do not have an SME. We used ABS and PCL as two well-known thermoplastics, and TPU as elastomer filaments that were printed in a two-layer structure. The thermoplastic layer plays the role of constraint for the elastomeric layer. A rubber-to-glass transition of the thermoplastic layer acts as a switching phenomenon that provides the capability of stabilizing the temporary shape, as well as storing the deformation stress for the subsequent recovery of the permanent shape by phase changing the thermoplastic layer in the opposite direction. The results show that ABS-TPU had fixity and recovery ratios above 90%. The PCL-TPU composite structure also demonstrated complete recovery, but its fixity was 77.42%. The difference in the SME of the two composite structures is related to the transition for each thermoplastic and programming temperature. Additionally, in the early cycles, the shape-memory performance decreased, and in the fourth and fifth cycles, it almost stabilized. The scanning electron microscopy (SEM) photographs illustrated superior interfacial bonding and part integrity in the case of multi-material 3D printing.
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Affiliation(s)
- Davood Rahmatabadi
- School of Mechanical Engineering, University of Tehran, Tehran 14174, Iran
| | | | | | - Elyas Soleyman
- School of Mechanical Engineering, University of Tehran, Tehran 14174, Iran
| | - Ismaeil Ghasemi
- Faculty of Processing, Iran Polymer and Petrochemical Institute, Tehran 14975, Iran
| | - Majid Baniassadi
- School of Mechanical Engineering, University of Tehran, Tehran 14174, Iran
| | - Karen Abrinia
- School of Mechanical Engineering, University of Tehran, Tehran 14174, Iran
| | - Ali Zolfagharian
- School of Engineering, Deakin University, Geelong 3216, Australia
| | - Mahdi Bodaghi
- Department of Engineering, School of Science and Technology, Nottingham Trent University, Nottingham NG11 8NS, UK
- Correspondence: (M.B.); (M.B.)
| | - Mostafa Baghani
- School of Mechanical Engineering, University of Tehran, Tehran 14174, Iran
- Correspondence: (M.B.); (M.B.)
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13
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Zhang P, Chen W, Tang B. From Two-Dimensional to Three-Dimensional: Diversified Bending Modality of a Cable-Driven Actuator and Its Grasping Characteristics. Soft Robot 2022; 9:1154-1166. [PMID: 35073198 DOI: 10.1089/soro.2021.0102] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022] Open
Abstract
Cable-driven actuators are widely studied and utilized in soft robotics, and cable-driven is a traditional, advanced, and practical driving method. While limited by the uniaxial force transfer of the driving cable in previous researches, the cable-driven actuator can only bend in a two-dimensional (2D) plane. To further expand their scope of utilization, a new design scheme of an actuator is proposed to realize the transition from 2D bending to three-dimensional motion. A zigzag cable routing (ZCR) mode is presented to improve the helical motion. Compared with the straight cable routing mode, the ZCR actuator has better smooth movement characteristics and expanded functionality. Furthermore, we experimentally investigated the contact force and holding ability. The results show that the contact force is evenly acting on the cylinder target, and the grab weight is greater than 1950 g.
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Affiliation(s)
- Ping Zhang
- Key Laboratory of Ocean Energy Utilization and Energy Conservation of Ministry of Education, Dalian University of Technology, Dalian, China.,Institute of Internal Combustion Engine, Dalian University of Technology, Dalian, China
| | - Weichun Chen
- Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing, China
| | - Bin Tang
- Key Laboratory of Ocean Energy Utilization and Energy Conservation of Ministry of Education, Dalian University of Technology, Dalian, China.,Institute of Internal Combustion Engine, Dalian University of Technology, Dalian, China
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14
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Louf JF, Alexander SLM. Poroelastic plant-inspired structures & materials to sense, regulate flow, and move. BIOINSPIRATION & BIOMIMETICS 2022; 18:015002. [PMID: 36317663 DOI: 10.1088/1748-3190/ac9e32] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/01/2022] [Accepted: 10/27/2022] [Indexed: 06/16/2023]
Abstract
Despite their lack of a nervous system and muscles, plants are able to feel, regulate flow, and move. Such abilities are achieved through complex multi-scale couplings between biology, chemistry, and physics, making them difficult to decipher. A promising approach is to decompose plant responses in different blocks that can be modeled independently, and combined later on for a more holistic view. In this perspective, we examine the most recent strategies for designing plant-inspired soft devices that leverage poroelastic principles to sense, manipulate flow, and even generate motion. We will start at the organism scale, and study how plants can use poroelasticity to carry informationin-lieuof a nervous system. Then, we will go down in size and look at how plants manage to passively regulate flow at the microscopic scale using valves with encoded geometric non-linearities. Lastly, we will see at an even smaller scale, at the nanoscopic scale, how fibers orientation in plants' tissues allow them to induce motion using water instead of muscles.
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Affiliation(s)
- Jean-François Louf
- Department of Chemical Engineering, Auburn University, Auburn, AL 36849, United States of America
| | - Symone L M Alexander
- Department of Chemical Engineering, Auburn University, Auburn, AL 36849, United States of America
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15
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Kim H, Li J, Hsieh YSY, Cho M, Ahn SH, Li C. Photo-Programmed Deformations in Rigid Liquid Crystalline Polymers Triggered by Body Temperature. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2203772. [PMID: 36169084 DOI: 10.1002/smll.202203772] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/17/2022] [Revised: 09/13/2022] [Indexed: 06/16/2023]
Abstract
Deformations triggered by body heat are desirable in the context of shape-morphing applications because, under the majority of circumstances, the human body maintains a higher temperature than that of its surroundings. However, at present, this bioenergy-triggered action is primarily limited to soft polymeric networks. Thus, herein, the programming of body temperature-triggered deformations into rigid azobenzene-containing liquid crystalline polymers (azo-LCPs) with a glass-transition temperature of 100 °C is demonstrated. To achieve this, a mechano-assisted photo-programming strategy is used to create a metastable state with room-temperature stable residual stress, which is induced by the isomerization of azobenzene. The programmed rigid azo-LCP can undergo large-amplitude body temperature-triggered shape changes within minutes and can be regenerated without any performance degradation. By changing the programming photomasks and irradiation conditions employed, various 2D to 3D shape-morphing architectures, including folded clips, inch-worm structures, spiral structures, and snap-through motions are achieved. When programmed with polarized light, the proposed strategy results in domain-selective activation, generating designed characteristics in multi-domain azo-LCPs. The reported strategy is therefore expected to broaden the applications of azo-LCPs in the fields of biomedical and flexible microelectronic devices.
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Affiliation(s)
- Hyunsu Kim
- Department of Mechanical and Aerospace Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 151-742, Republic of Korea
| | - Jing Li
- Development Center of Plant Germplasm Resources, College of Life Sciences, Shanghai Normal University, Shanghai, 200234, China
- Division of Glycoscience, Department of Chemistry, School of Engineering Sciences in Chemistry, Biotechnology and Health, KTH Royal Institute of Technology, AlbaNova University Centre, Stockholm, SE106 91, Sweden
| | - Yves S Y Hsieh
- Division of Glycoscience, Department of Chemistry, School of Engineering Sciences in Chemistry, Biotechnology and Health, KTH Royal Institute of Technology, AlbaNova University Centre, Stockholm, SE106 91, Sweden
- School of Pharmacy, College of Pharmacy, Taipei Medical University, Taipei, 11031, Taiwan
| | - Maenghyo Cho
- Department of Mechanical and Aerospace Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 151-742, Republic of Korea
| | - Sung-Hoon Ahn
- Department of Mechanical and Aerospace Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 151-742, Republic of Korea
| | - Chenzhe Li
- School of Aerospace Engineering and Applied Mechanics, Tongji University, 100 Zhangwu Road, Shanghai, 200092, China
- Institute of Advanced Machines and Design, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 151-742, Republic of Korea
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16
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Sun M, Wang P, Zheng G, Dai K, Liu C, Shen C. Multi-stimuli-responsive actuator based on bilayered thermoplastic film. SOFT MATTER 2022; 18:5052-5059. [PMID: 35758137 DOI: 10.1039/d2sm00605g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Recently, soft actuators have attracted considerable interest owing to their biomimetic performance. Unfortunately, it remains a great challenge to fabricate multi-stimuli-responsive soft actuators by a facile but low-cost method. Herein, a thermoplastic film with bilayered architecture was designed and fabricated by a one-step method. This bilayered thermoplastic film can act as a soft actuator, demonstrating versatile shape-programmable performance in response to acetone vapor exposure and temperature change. Interestingly, diverse biomimetic devices including a worm-like self-walker, crawler-type robot and soft gripper can be realized, which highlights its promising applications in biomimetic robots, artificial muscles and automatic devices. Considering the one-step preparation process and the low-cost raw materials, this approach can be cost-effectively scaled up for practical production.
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Affiliation(s)
- Mengdi Sun
- College of Materials Science and Engineering, Key Laboratory of Material Processing and Mold (Ministry of Education), Henan Key Laboratory of Advanced Nylon Materials and Application, Zhengzhou University, Zhengzhou 450001, China.
| | - Panlong Wang
- College of Materials Science and Engineering, Key Laboratory of Material Processing and Mold (Ministry of Education), Henan Key Laboratory of Advanced Nylon Materials and Application, Zhengzhou University, Zhengzhou 450001, China.
| | - Guoqiang Zheng
- College of Materials Science and Engineering, Key Laboratory of Material Processing and Mold (Ministry of Education), Henan Key Laboratory of Advanced Nylon Materials and Application, Zhengzhou University, Zhengzhou 450001, China.
| | - Kun Dai
- College of Materials Science and Engineering, Key Laboratory of Material Processing and Mold (Ministry of Education), Henan Key Laboratory of Advanced Nylon Materials and Application, Zhengzhou University, Zhengzhou 450001, China.
| | - Chuntai Liu
- College of Materials Science and Engineering, Key Laboratory of Material Processing and Mold (Ministry of Education), Henan Key Laboratory of Advanced Nylon Materials and Application, Zhengzhou University, Zhengzhou 450001, China.
| | - Changyu Shen
- College of Materials Science and Engineering, Key Laboratory of Material Processing and Mold (Ministry of Education), Henan Key Laboratory of Advanced Nylon Materials and Application, Zhengzhou University, Zhengzhou 450001, China.
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17
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Tanaka M, Wang X, Mishra CK, Cai J, Feng J, Kamien RD, Yodh AG. Ratchetlike motion of helical bilayers induced by boundary constraints. Phys Rev E 2022; 106:L012605. [PMID: 35974533 DOI: 10.1103/physreve.106.l012605] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/21/2021] [Accepted: 06/23/2022] [Indexed: 06/15/2023]
Abstract
We show that application of boundary constraints generates unusual folding behaviors in responsive (swellable) helical bilayer strips. Unlike the smooth folding trajectories typical of free helical bilayers, the boundary-constrained bilayers exhibit intermittent folding behaviors characterized by rapid, steplike movements. We experimentally study bilayer strips as they swell and fold, and we propose a simple model to explain the emergence of ratchetlike behavior. Experiments and model predictions are then compared to simulations, which enable calculation of elastic energy during swelling. We investigate the dependence of this steplike behavior as a function of elastic boundary condition strength, strip length, and strip shape; interestingly, "V-shape" strips with the same boundary conditions fold smoothly.
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Affiliation(s)
- Michio Tanaka
- Department of Physics and Astronomy, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
| | - Xinyu Wang
- Department of Physics and Astronomy, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
- Department of Civil Engineering, Southeast University, Nanjing 210096, China
| | - Chandan K Mishra
- Department of Physics and Astronomy, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
- Discipline of Physics, Indian Institute of Technology (IIT) Gandhinagar Palaj, Gandhinagar, Gujarat 382355, India
| | - Jianguo Cai
- Department of Civil Engineering, Southeast University, Nanjing 210096, China
| | - Jian Feng
- Department of Civil Engineering, Southeast University, Nanjing 210096, China
| | - Randall D Kamien
- Department of Physics and Astronomy, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
| | - A G Yodh
- Department of Physics and Astronomy, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA
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18
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Twisting for soft intelligent autonomous robot in unstructured environments. Proc Natl Acad Sci U S A 2022; 119:e2200265119. [PMID: 35605115 DOI: 10.1073/pnas.2200265119] [Citation(s) in RCA: 50] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
SignificanceAutonomy is crucial for soft robotics that are constructed of soft materials. It remains challenging to create autonomous soft robots that can intelligently interact with and adapt to changing environments without external controls. To do so, it often requires an analogical soft "brain" that integrates on-board sensing, control, computation, and decision-making. Here, we report an autonomous soft robot embodied with physical intelligence for decision-making via adaptive soft body-environment interactions and snap-through instability, without integrated sensing and external controls. This study harnesses physical intelligence as a new paradigm for designing autonomous soft robots that can interact intelligently with their environments, thus potentially reducing the burdens on the conventional integrated sensing, control, computations, and decision-making systems in designing intelligent soft robots.
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19
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Meder F, Murali Babu SP, Mazzolai B. A Plant Tendril-Like Soft Robot That Grasps and Anchors by Exploiting its Material Arrangement. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3153713] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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20
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21
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Affiliation(s)
- Patrick Imrie
- School of Chemical Sciences The University of Auckland Auckland New Zealand
- Dodd‐Walls Centre for Quantum and Photonic Technologies Dunedin New Zealand
| | - Jianyong Jin
- School of Chemical Sciences The University of Auckland Auckland New Zealand
- Dodd‐Walls Centre for Quantum and Photonic Technologies Dunedin New Zealand
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22
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Patdiya J, Kandasubramanian B. Progress in 4D printing of stimuli responsive materials. POLYM-PLAST TECH MAT 2021. [DOI: 10.1080/25740881.2021.1934016] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/18/2023]
Affiliation(s)
- Jigar Patdiya
- Rapid Prototyping Laboratory, Department of Metallurgical and Materials Engineering,Defence Institute of Advanced Technology (DU), Ministry of Defence, Girinagar, Pune India
| | - Balasubramanian Kandasubramanian
- Rapid Prototyping Laboratory, Department of Metallurgical and Materials Engineering,Defence Institute of Advanced Technology (DU), Ministry of Defence, Girinagar, Pune India
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23
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Roh Y, Kim M, Won SM, Lim D, Hong I, Lee S, Kim T, Kim C, Lee D, Im S, Lee G, Kim D, Shin D, Gong D, Kim B, Kim S, Kim S, Kim HK, Koo BK, Seo S, Koh JS, Kang D, Han S. Vital signal sensing and manipulation of a microscale organ with a multifunctional soft gripper. Sci Robot 2021; 6:eabi6774. [PMID: 34644158 DOI: 10.1126/scirobotics.abi6774] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
[Figure: see text].
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Affiliation(s)
- Yeonwook Roh
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Minho Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Sang Min Won
- Department of Electrical and Computer Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea
| | - Daseul Lim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Insic Hong
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Seunggon Lee
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Taewi Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Changhwan Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Doohoe Lee
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Sunghoon Im
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Gunhee Lee
- Department of Environment Machinery, Korea Institute of Machinery and Materials, Daejeon 34103, Republic of Korea
| | - Dongjin Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Dongwook Shin
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Dohyeon Gong
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Baekgyeom Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Seongyeon Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Sungyeong Kim
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Hyun Kuk Kim
- Department of Internal Medicine and Cardiovascular Center, Chosun University Hospital, University of Chosun College of Medicine, Gwangju 61453, Republic of Korea
| | - Bon-Kwon Koo
- Department of Internal Medicine and Cardiovascular Center, Seoul National University Hospital, Seoul 03080, Republic of Korea
| | - Sungchul Seo
- Department of Environmental Health and Safety, EulJi University, Seoul 11759, Republic of Korea
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Daeshik Kang
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
| | - Seungyong Han
- Department of Mechanical Engineering, Ajou University, Multiscale Bio-inspired Technology Lab, Suwon 16499, Republic of Korea
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24
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Cheng M, Li Q. Left-Handed or Right-Handed? Determinants of the Chirality of Helically Deformable Soft Actuators. Soft Robot 2021; 9:850-860. [PMID: 34582707 DOI: 10.1089/soro.2021.0067] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Helical curling and spiral structure are very common in nature, which inspire researchers to create various forms of helical configurations and actuators. The helically deformable actuators perform asymmetric deformations and show different chirality, which means that they can be left handed or right handed. However, the mechanism of helical curling and especially how the key factors influence the chirality of the actuator have not been systematically explained and well understood. In this study, we focus on the typical double-layer soft actuator composed of an active (expansion) layer and a passive (supporting) layer and investigate the effect of key factors (expansion coefficient, Young's modulus, relative thickness) on the chirality of the helical actuation or morphing by comprehensive finite element analyses. It was found that (i) the anisotropic expansion of the active layer or (ii) the anisotropic Young's modulus of the active or the passive layer is indispensable for helical curling. In Case (i), the actuator curls along the direction of greater expansion of the active layer. In Case (ii), the actuator curls along the direction of closer moduli match of the active and passive layers, and their relative thickness also affects the helical morphing of the actuator. In practice, the above two factors may cooperate or compete with each other, and the dominant one determines the chirality. This work gives the general rules for helical morphing forms and can provide guidance for the design and preparation of spiral actuators and soft robots in the future.
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Affiliation(s)
- Mingxing Cheng
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
| | - Qingwei Li
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
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25
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Hu Z, Li Y, Lv JA. Phototunable self-oscillating system driven by a self-winding fiber actuator. Nat Commun 2021; 12:3211. [PMID: 34050179 PMCID: PMC8163889 DOI: 10.1038/s41467-021-23562-6] [Citation(s) in RCA: 41] [Impact Index Per Article: 13.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/08/2021] [Accepted: 04/22/2021] [Indexed: 02/06/2023] Open
Abstract
Self-oscillating systems that enable autonomous, continuous motions driven by an unchanging, constant stimulus would have significant applications in intelligent machines, advanced robotics, and biomedical devices. Despite efforts to gain self-oscillations have been made through artificial systems using responsive soft materials of gels or liquid crystal polymers, these systems are plagued with problems that restrict their practical applicability: few available oscillation modes due to limited degrees of freedom, inability to control the evolution between different modes, and failure under loading. Here we create a phototunable self-oscillating system that possesses a broad range of oscillation modes, controllable evolution between diverse modes, and loading capability. This self-oscillating system is driven by a photoactive self-winding fiber actuator designed and prepared through a twistless strategy inspired by the helix formation of plant-tendrils, which endows the system with high degrees of freedom. It enables not only controllable generation of three basic self-oscillations but also production of diverse complex oscillatory motions. Moreover, it can work continuously over 1270000 cycles without obvious fatigue, exhibiting high robustness. We envision that this system with controllable self-oscillations, loading capability, and mechanical robustness will be useful in autonomous, self-sustained machines and devices with the core feature of photo-mechanical transduction. Self-oscillating systems that enable autonomous motions driven by a constant stimulus find applications in numerous fields but these systems are plagued with problems that restrict their practical applicability. Here, the authors create a photoactive self-winding fiber actuator that possesses a broad range of oscillation modes, controllable evolution between diverse modes, and loading capability.
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Affiliation(s)
- Zhiming Hu
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou, Zhejiang Province, China.,Institute of Advanced Technology, Westlake Institute for Advanced Study, Hangzhou, Zhejiang Province, China
| | - Yunlong Li
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou, Zhejiang Province, China.,Institute of Advanced Technology, Westlake Institute for Advanced Study, Hangzhou, Zhejiang Province, China
| | - Jiu-An Lv
- Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province, School of Engineering, Westlake University, Hangzhou, Zhejiang Province, China. .,Institute of Advanced Technology, Westlake Institute for Advanced Study, Hangzhou, Zhejiang Province, China.
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26
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Zhou L, Ren L, Chen Y, Niu S, Han Z, Ren L. Bio-Inspired Soft Grippers Based on Impactive Gripping. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:2002017. [PMID: 33977041 PMCID: PMC8097330 DOI: 10.1002/advs.202002017] [Citation(s) in RCA: 27] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/28/2020] [Revised: 12/17/2020] [Indexed: 05/23/2023]
Abstract
Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions. For example, human hands and bird feet are composed of rigid frames and soft joints. Compared with human hands, some plants like Drosera do not have rigid frames, so they can bend at arbitrary points of the body to capture their prey. Furthermore, many muscular hydrostat animals and plant tendrils can implement more complex twisting motions in 3D space. Recently, inspired by the flexible grasping methods present in nature, increasingly more bio-inspired soft grippers have been fabricated with compliant and soft materials. Based on this, the present review focuses on the recent research progress of bio-inspired soft grippers based on impactive gripping. According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum bending-type grippers, and continuum twisting-type grippers. An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years.
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Affiliation(s)
- Liang Zhou
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Lili Ren
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - You Chen
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Shichao Niu
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Zhiwu Han
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
| | - Luquan Ren
- Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchunJilin130022P. R. China
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27
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Xiong J, Chen J, Lee PS. Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human-Robot Interface. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2002640. [PMID: 33025662 DOI: 10.1002/adma.202002640] [Citation(s) in RCA: 126] [Impact Index Per Article: 42.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/18/2020] [Revised: 05/25/2020] [Indexed: 05/24/2023]
Abstract
Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actuators and their performances under various external stimuli are reviewed. Fiber/yarn-based artificial muscles for soft-robots manipulation and assistance in human motion are discussed, as well as smart clothes for improving human perception. Second, the geometric designs, fabrications, mechanisms, and functions of fibers/fabrics for sensing and energy harvesting from the human body and environments are summarized. Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine. Lastly, the relationships between robotic/wearable fibers/fabrics and the external stimuli, together with the challenges and possible routes for revolutionizing the robotic fibers/fabrics and wearables in this new era are proposed.
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Affiliation(s)
- Jiaqing Xiong
- School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Jian Chen
- School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, Singapore, 639798, Singapore
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Ding A, Jeon O, Tang R, Lee YB, Lee SJ, Alsberg E. Cell-Laden Multiple-Step and Reversible 4D Hydrogel Actuators to Mimic Dynamic Tissue Morphogenesis. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:2004616. [PMID: 33977070 PMCID: PMC8097354 DOI: 10.1002/advs.202004616] [Citation(s) in RCA: 27] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/29/2020] [Revised: 01/12/2021] [Indexed: 05/26/2023]
Abstract
Shape-morphing hydrogels bear promising prospects as soft actuators and for robotics. However, they are mostly restricted to applications in the abiotic domain due to the harsh physicochemical conditions typically necessary to induce shape morphing. Here, multilayer hydrogel actuator systems are developed using biocompatible and photocrosslinkable oxidized, methacrylated alginate and methacrylated gelatin that permit encapsulation and maintenance of living cells within the hydrogel actuators and implement programmed and controlled actuations with multiple shape changes. The hydrogel actuators encapsulating cells enable defined self-folding and/or user-regulated, on-demand-folding into specific 3D architectures under physiological conditions, with the capability to partially bioemulate complex developmental processes such as branching morphogenesis. The hydrogel actuator systems can be utilized as novel platforms for investigating the effect of programmed multiple-step and reversible shape morphing on cellular behaviors in 3D extracellular matrix and the role of recapitulating developmental and healing morphogenic processes on promoting new complex tissue formation.
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Affiliation(s)
- Aixiang Ding
- Department of Biomedical EngineeringCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Present address:
Richard and Loan Hill Department of Biomedical EngineeringUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
| | - Oju Jeon
- Department of Biomedical EngineeringCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Present address:
Richard and Loan Hill Department of Biomedical EngineeringUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
| | - Rui Tang
- Department of Biomedical EngineeringCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Present address:
Richard and Loan Hill Department of Biomedical EngineeringUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
| | - Yu Bin Lee
- Department of Biomedical EngineeringCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Present address:
Richard and Loan Hill Department of Biomedical EngineeringUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
| | - Sang Jin Lee
- Department of Biomedical EngineeringCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Present address:
Richard and Loan Hill Department of Biomedical EngineeringUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
| | - Eben Alsberg
- Department of Biomedical EngineeringCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Department of Orthopaedic SurgeryCase Western Reserve University10900 Euclid AvenueClevelandOH44106USA
- Present address:
Richard and Loan Hill Department of Biomedical EngineeringUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
- Present address:
Departments of Mechanical and Industrial Engineering, Orthopaedics, and PharmacologyUniversity of Illinois at Chicago909 S. Wolcott Ave.ChicagoIL60612USA
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Riccobelli D, Noselli G, DeSimone A. Rods coiling about a rigid constraint: helices and perversions. Proc Math Phys Eng Sci 2021. [DOI: 10.1098/rspa.2020.0817] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022] Open
Abstract
Mechanical instabilities can be exploited to design innovative structures, able to change their shape in the presence of external stimuli. In this work, we derive a mathematical model of an elastic beam subjected to an axial force and constrained to smoothly slide along a rigid support, where the distance between the rod midline and the constraint is fixed and finite. Using both theoretical and computational techniques, we characterize the bifurcations of such a mechanical system, in which the axial force and the natural curvature of the beam are used as control parameters. We show that, in the presence of a straight support, the rod can deform into shapes exhibiting helices and perversions, namely transition zones connecting together two helices with opposite chirality. The mathematical predictions of the proposed model are also compared with some experiments, showing a good quantitative agreement. In particular, we find that the buckled configurations may exhibit multiple perversions and we propose a possible explanation for this phenomenon based on the energy landscape of the mechanical system.
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Affiliation(s)
- D. Riccobelli
- SISSA – International School for Advanced Studies, 34136 Trieste, Italy
| | - G. Noselli
- SISSA – International School for Advanced Studies, 34136 Trieste, Italy
| | - A. DeSimone
- SISSA – International School for Advanced Studies, 34136 Trieste, Italy
- The BioRobotics Institute and Department of Excellence in Robotics and A.I., Sant’Anna School of Advanced Studies, 56127 Pisa, Italy
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30
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Esser FJ, Auth P, Speck T. Artificial Venus Flytraps: A Research Review and Outlook on Their Importance for Novel Bioinspired Materials Systems. Front Robot AI 2021; 7:75. [PMID: 33501242 PMCID: PMC7806029 DOI: 10.3389/frobt.2020.00075] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/27/2020] [Accepted: 05/05/2020] [Indexed: 01/19/2023] Open
Abstract
Bioinspired and biomimetic soft machines rely on functions and working principles that have been abstracted from biology but that have evolved over 3.5 billion years. So far, few examples from the huge pool of natural models have been examined and transferred to technical applications. Like living organisms, subsequent generations of soft machines will autonomously respond, sense, and adapt to the environment. Plants as concept generators remain relatively unexplored in biomimetic approaches to robotics and related technologies, despite being able to grow, and continuously adapt in response to environmental stimuli. In this research review, we highlight recent developments in plant-inspired soft machine systems based on movement principles. We focus on inspirations taken from fast active movements in the carnivorous Venus flytrap (Dionaea muscipula) and compare current developments in artificial Venus flytraps with their biological role model. The advantages and disadvantages of current systems are also analyzed and discussed, and a new state-of-the-art autonomous system is derived. Incorporation of the basic structural and functional principles of the Venus flytrap into novel autonomous applications in the field of robotics not only will inspire further plant-inspired biomimetic developments but might also advance contemporary plant-inspired robots, leading to fully autonomous systems utilizing bioinspired working concepts.
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Affiliation(s)
- Falk J Esser
- Plant Biomechanics Group and Botanic Garden, University of Freiburg, Freiburg, Germany.,Cluster of Excellence livMatS @FIT, Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany.,Freiburg Center for Interactive Materials and Bioinspired Technologies (FIT), Freiburg, Germany
| | - Philipp Auth
- Plant Biomechanics Group and Botanic Garden, University of Freiburg, Freiburg, Germany
| | - Thomas Speck
- Plant Biomechanics Group and Botanic Garden, University of Freiburg, Freiburg, Germany.,Cluster of Excellence livMatS @FIT, Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany.,Freiburg Center for Interactive Materials and Bioinspired Technologies (FIT), Freiburg, Germany.,FMF, Freiburg Materials Research Center, University of Freiburg, Freiburg, Germany
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31
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Ceccarini F, Guerra S, Peressotti A, Peressotti F, Bulgheroni M, Baccinelli W, Bonato B, Castiello U. Speed-accuracy trade-off in plants. Psychon Bull Rev 2020; 27:966-973. [PMID: 32542481 DOI: 10.3758/s13423-020-01753-4] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Speed-accuracy trade-off (SAT) is the tendency for decision speed to covary with decision accuracy. SAT is an inescapable property of aimed movements being present in a wide range of species, from insects to primates. An aspect that remains unsolved is whether SAT extends to plants' movement. Here, we tested this possibility by examining the swaying in circles of the tips of shoots exhibited by climbing plants (Pisum sativum L.) as they approach to grasp a potential support. In particular, by means of three-dimensional kinematical analysis, we investigated whether climbing plants scale movement velocity as a function of the difficulty to coil a support. Results showed that plants are able to process the properties of the support before contact and, similarly to animal species, strategically modulate movement velocity according to task difficulty.
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Affiliation(s)
| | - Silvia Guerra
- Department of General Psychology, University of Padova, Padova, Italy
| | - Alessandro Peressotti
- Dipartimento di Scienze Agroalimentari, Ambientali e Animali, Università degli studi di Udine, Udine, Italy
| | - Francesca Peressotti
- Dipartimento di Psicologia dello Sviluppo e della Socializzazione, Università degli studi di Padova, Padova, Italy
| | | | | | - Bianca Bonato
- Department of General Psychology, University of Padova, Padova, Italy
| | - Umberto Castiello
- Department of General Psychology, University of Padova, Padova, Italy.
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32
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Sun X, Guo R, Yuan B, Chen S, Wang H, Dou M, Liu J, He ZZ. Low-Temperature Triggered Shape Transformation of Liquid Metal Microdroplets. ACS APPLIED MATERIALS & INTERFACES 2020; 12:38386-38396. [PMID: 32846493 DOI: 10.1021/acsami.0c10409] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/20/2023]
Abstract
Shape transformable materials that can respond to external environments have attracted widespread interest over the fields of soft robotics, flexible electronics, and tissue engineering. Among stimuli-responsive materials, liquid metals exhibit rather unique characteristics of versatile morphological changes upon diverse stimuli, including chemicals, electrical field, and mechanical force, etc. Herein, a superfast (few milliseconds), large-scaled (13.8% deformation increase), and fierce (cracks formation) transformation of liquid metal microdroplets (LMMs) with strong impulse expanded force due to liquid-solid phase transition in a dual fluid system composed of LMMs and aqueous solution is reported. When subject to low-temperature stimulus, LMM would transform from ellipsoidal shape to amorphous shape induced by thermal stress, driving the shape morphing. Furthermore, the phase changes of LMMs as well as the formation of surrounding ice crystals are proven to be responsible for this phenomenal behavior. The densification of ice crystals is demonstrated to play a significant role in the transformable behavior. In particular, these nonconductive LMMs in aqueous solutions are discovered to turn into conducive materials with an impedance change of about 105 times. The present discovery is of fundamental and practical significance, and would open new venues in fields such as fluid mechanics, thermal science, flexible electronics, biomedicine, and so forth.
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Affiliation(s)
- Xuyang Sun
- Beijing Key Laboratory of Cryo-Biomedical Engineering and CAS Key Laboratory of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
| | - Rui Guo
- Department of Biomedical Engineering, School of Medicine, Tsinghua University Beijing 100084, P. R. China
| | - Bo Yuan
- Department of Biomedical Engineering, School of Medicine, Tsinghua University Beijing 100084, P. R. China
| | - Sen Chen
- Beijing Key Laboratory of Cryo-Biomedical Engineering and CAS Key Laboratory of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
| | - Hongzhang Wang
- Department of Biomedical Engineering, School of Medicine, Tsinghua University Beijing 100084, P. R. China
| | - Mengjia Dou
- Beijing Key Laboratory of Cryo-Biomedical Engineering and CAS Key Laboratory of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
| | - Jing Liu
- Beijing Key Laboratory of Cryo-Biomedical Engineering and CAS Key Laboratory of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
- Department of Biomedical Engineering, School of Medicine, Tsinghua University Beijing 100084, P. R. China
| | - Zhi-Zhu He
- Department of Vehicle Engineering College of Engineering China Agricultural University Beijing 100083, P. R. China
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33
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Wan X, Luo L, Liu Y, Leng J. Direct Ink Writing Based 4D Printing of Materials and Their Applications. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2020; 7:2001000. [PMID: 32832355 PMCID: PMC7435246 DOI: 10.1002/advs.202001000] [Citation(s) in RCA: 61] [Impact Index Per Article: 15.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2020] [Revised: 05/30/2020] [Indexed: 05/19/2023]
Abstract
4D printing has attracted academic interest in the recent years because it endows static printed structures with dynamic properties with the change of time. The shapes, functionalities, or properties of the 4D printed objects could alter under various stimuli such as heat, light, electric, and magnetic field. Briefly, 4D printing is the development of 3D printing with the fourth dimension of time. Among the fabrication techniques that have been employed for 4D printing, the direct ink writing technique shows superiority due to its open source for various types of materials. Herein, the state-of-the-art achievements about the topic of 4D printing through direct ink writing are summarized. The types of materials, printing strategies, actuated methods, and their potential applications are discussed in detail. To date, most efforts have been devoted to shape-shifting materials, including shape memory polymers, hydrogels, and liquid crystal elastomers, showing great prospects in areas ranging from the biomedical field to robotics. Finally, the current challenges and outlook toward 4D printing based on direct ink writing are also pointed out to leave open a significant space for future innovation.
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Affiliation(s)
- Xue Wan
- Center for Composite Materials and StructuresHarbin Institute of TechnologyHarbin150080P. R. China
| | - Lan Luo
- Center for Composite Materials and StructuresHarbin Institute of TechnologyHarbin150080P. R. China
| | - Yanju Liu
- Department of Astronautical Science and MechanicsHarbin Institute of TechnologyHarbin150001P. R. China
| | - Jinsong Leng
- Center for Composite Materials and StructuresHarbin Institute of TechnologyHarbin150080P. R. China
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34
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Wang M, Li Q, Shi J, Cao X, Min L, Li X, Zhu L, Lv Y, Qin Z, Chen X, Pan K. Bio-Inspired High Sensitivity of Moisture-Mechanical GO Films with Period-Gradient Structures. ACS APPLIED MATERIALS & INTERFACES 2020; 12:33104-33112. [PMID: 32573195 DOI: 10.1021/acsami.0c07956] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Moisture actuators can accomplish humidity-triggered energy-conversion process, through material screening and structural design. Inspired by natural caterpillars and the hydrophilic properties of graphene oxide (GO), this work proposes a geometrical design of period-gradient structures in GO films for fabricating moisture actuators. These novel period-gradient-structured GO films exhibit excellent dynamic performance that they could deform at 1000° with a small radius in several seconds at a high relative humidity (RH ≈ 80%). The properties of fast actuating speed and high response to deformation are achieved through the structural designing of the sole GO film by a one-step formation process. A mechanics-based theoretical model combined with the finite element simulation is presented to demonstrate the actuating mechanism in geometry, moisture, and mechanics, which lays the foundation for potential applications of GO films in remote control, environmental monitoring, and man-machine interactions.
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Affiliation(s)
- Mingti Wang
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Qicong Li
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310058, China
| | - Jiaxin Shi
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Xueyuan Cao
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Lizhen Min
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Xiaofeng Li
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Linli Zhu
- Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310058, China
| | - Yuhuan Lv
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Zhen Qin
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Xiangyang Chen
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
| | - Kai Pan
- Beijing Key Laboratory of Advanced Functional Polymer Composites, State Key Laboratory of Organic-Inorganic Composites, College of Materials Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, China
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35
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36
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Wang W, Yu CY, Abrego Serrano PA, Ahn SH. Shape Memory Alloy-Based Soft Finger with Changeable Bending Length Using Targeted Variable Stiffness. Soft Robot 2020; 7:283-291. [DOI: 10.1089/soro.2018.0166] [Citation(s) in RCA: 33] [Impact Index Per Article: 8.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022] Open
Affiliation(s)
- Wei Wang
- Department of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea
| | - Chak Yuk Yu
- Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Republic of Korea
| | | | - Sung-Hoon Ahn
- Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Republic of Korea
- Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
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37
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Deng Y, Li J, He Z, Hong J, Bao J. Urethane acrylate‐based photosensitive resin for three‐dimensional printing of stereolithographic elastomer. J Appl Polym Sci 2020. [DOI: 10.1002/app.49294] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/18/2023]
Affiliation(s)
- Yuhao Deng
- The State Key Laboratory of Polymer Materials EngineeringPolymer Research Institute of Sichuan University Chengdu People's Republic of China
| | - Jie Li
- The State Key Laboratory of Polymer Materials EngineeringPolymer Research Institute of Sichuan University Chengdu People's Republic of China
- Research Center for Application of GrapheneSichuan University Wuxi China
| | - Zuhan He
- The State Key Laboratory of Polymer Materials EngineeringPolymer Research Institute of Sichuan University Chengdu People's Republic of China
| | - Jiang Hong
- Institute of Advanced Polymer Materials TechnologyJiangsu Industrial Technology Research Institute Nanjing China
| | - Jianjun Bao
- The State Key Laboratory of Polymer Materials EngineeringPolymer Research Institute of Sichuan University Chengdu People's Republic of China
- Research Center for Application of GrapheneSichuan University Wuxi China
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38
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Fiorello I, Del Dottore E, Tramacere F, Mazzolai B. Taking inspiration from climbing plants: methodologies and benchmarks-a review. BIOINSPIRATION & BIOMIMETICS 2020; 15:031001. [PMID: 32045368 DOI: 10.1088/1748-3190/ab7416] [Citation(s) in RCA: 22] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
One of the major challenges in robotics and engineering is to develop efficient technological solutions that are able to cope with complex environments and unpredictable constraints. Taking inspiration from natural organisms is a well-known approach to tackling these issues. Climbing plants are an important, yet innovative, source of inspiration due to their ability to adapt to diverse habitats, and can be used as a model for developing robots and smart devices for exploration and monitoring, as well as for search and rescue operations. This review reports the main methodologies and approaches used by scientists to investigate and extract the features of climbing plants that are relevant to the artificial world in terms of adaptation, movement, and behaviour, and it summarizes the current available climbing plant-inspired engineering solutions.
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Affiliation(s)
- Isabella Fiorello
- The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy. Center for Micro-Biorobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
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39
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Verpaalen RCP, Pilz da Cunha M, Engels TAP, Debije MG, Schenning APHJ. Liquid Crystal Networks on Thermoplastics: Reprogrammable Photo-Responsive Actuators. Angew Chem Int Ed Engl 2020; 59:4532-4536. [PMID: 31922315 PMCID: PMC7065190 DOI: 10.1002/anie.201915147] [Citation(s) in RCA: 49] [Impact Index Per Article: 12.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2019] [Revised: 01/08/2020] [Indexed: 11/11/2022]
Abstract
Arbitrary shape (re)programming is appealing for fabricating untethered shape-morphing photo-actuators with intricate configurations and features. We present re-programmable light-responsive thermoplastic actuators with arbitrary initial shapes through spray-coating of polyethylene terephthalate (PET) with an azobenzene-doped light-responsive liquid crystal network (LCN). The initial geometry of the actuator is controlled by thermally shaping and fixing the thermoplastic PET, allowing arbitrary shapes, including origami-like folds and left- and right-handed helicity within a single sample. The thermally fixed geometries can be reversibly actuated through light exposure, with fast, reversible area-specific actuation such as winding, unwinding and unfolding. By shape re-programming, the same sample can be re-designed and light-actuated again. The strategy presented here demonstrates easy fabrication of mechanically robust, recyclable, photo-responsive actuators with highly tuneable geometries and actuation modes.
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Affiliation(s)
- Rob C. P. Verpaalen
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34Den Dolech 2, 5612 AZEindhovenThe Netherlands
- Technische Universiteit EindhovenFaculteit Scheikundige TechnologieThe Netherlands
| | - Marina Pilz da Cunha
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34Den Dolech 2, 5612 AZEindhovenThe Netherlands
| | - Tom A. P. Engels
- Technische Universiteit EindhovenFaculteit WerktuigbouwkundeThe Netherlands
- Technische Universiteit EindhovenFaculteit Scheikundige TechnologieThe Netherlands
| | - Michael G. Debije
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34Den Dolech 2, 5612 AZEindhovenThe Netherlands
| | - Albert P. H. J. Schenning
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34Den Dolech 2, 5612 AZEindhovenThe Netherlands
- Technische Universiteit EindhovenFaculteit Scheikundige TechnologieThe Netherlands
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40
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Verpaalen RCP, Pilz da Cunha M, Engels TAP, Debije MG, Schenning APHJ. Liquid Crystal Networks on Thermoplastics: Reprogrammable Photo‐Responsive Actuators. Angew Chem Int Ed Engl 2020. [DOI: 10.1002/ange.201915147] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2022]
Affiliation(s)
- Rob C. P. Verpaalen
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34 Den Dolech 2, 5612 AZ Eindhoven The Netherlands
- Technische Universiteit EindhovenFaculteit Scheikundige Technologie The Netherlands
| | - Marina Pilz da Cunha
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34 Den Dolech 2, 5612 AZ Eindhoven The Netherlands
| | - Tom A. P. Engels
- Technische Universiteit EindhovenFaculteit Werktuigbouwkunde The Netherlands
- Technische Universiteit EindhovenFaculteit Scheikundige Technologie The Netherlands
| | - Michael G. Debije
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34 Den Dolech 2, 5612 AZ Eindhoven The Netherlands
| | - Albert P. H. J. Schenning
- Eindhoven University of Technology, Chemical Engineering & ChemistryFunctional Organic Materials & Devices (SFD)Helix building STO 0.34 Den Dolech 2, 5612 AZ Eindhoven The Netherlands
- Technische Universiteit EindhovenFaculteit Scheikundige Technologie The Netherlands
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Fan W, Yin J, Yi C, Xia Y, Nie Z, Sui K. Nature-Inspired Sequential Shape Transformation of Energy-Patterned Hydrogel Sheets. ACS APPLIED MATERIALS & INTERFACES 2020; 12:4878-4886. [PMID: 31904933 DOI: 10.1021/acsami.9b19342] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
The design of materials that can mimic encoded shape evolution in nature is important but challenging. Here we present a simple yet versatile strategy for programming the sequential deformation of hydrogel sheets to acquire desired actuation motions and geometric shapes. The method relies on the dual-gradient structure-enabled snapping deformation of hydrogels through the accumulation and burst release of elastic energy, as well as the patterning of the prestored energy in gels. Pretreating distinct regions of the hydrogel sheets with different durations of the same stimulus (or with different stimuli) allows for locally prestoring chemical energy that can be converted to temporospatially patterned elastic energy and abruptly released to drive the successive snapping of different regions of hydrogels in predefined onset sequences. The sequence of energy release (i.e., the sequence of snapping deformation) of the local regions for hydrogels can be reprogrammed by different local prestimulation methods, which allows one gel to deform into various defined geometric configurations. The general mathematic criteria are developed to predict the energy release and snapping of the hydrogels. This work can provide guidance for the design of new-generation actuators and soft robotics.
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Affiliation(s)
- Wenxin Fan
- State Key Laboratory of Bio-fibers and Eco-textiles, School of Materials Science and Engineering, Collaborative Innovation Center of Marine Biobased Fibers and Ecological Textiles of Shandong Province, Institute of Marine Biobased Materials , Qingdao University , Qingdao 266071 , China
| | - Jincai Yin
- State Key Laboratory of Bio-fibers and Eco-textiles, School of Materials Science and Engineering, Collaborative Innovation Center of Marine Biobased Fibers and Ecological Textiles of Shandong Province, Institute of Marine Biobased Materials , Qingdao University , Qingdao 266071 , China
| | - Chenglin Yi
- State Key Laboratory of Molecular Engineering of Polymers, Department of Macromolecular Science , Fudan University , Shanghai 200438 , China
| | - Yanzhi Xia
- State Key Laboratory of Bio-fibers and Eco-textiles, School of Materials Science and Engineering, Collaborative Innovation Center of Marine Biobased Fibers and Ecological Textiles of Shandong Province, Institute of Marine Biobased Materials , Qingdao University , Qingdao 266071 , China
| | - Zhihong Nie
- State Key Laboratory of Molecular Engineering of Polymers, Department of Macromolecular Science , Fudan University , Shanghai 200438 , China
| | - Kunyan Sui
- State Key Laboratory of Bio-fibers and Eco-textiles, School of Materials Science and Engineering, Collaborative Innovation Center of Marine Biobased Fibers and Ecological Textiles of Shandong Province, Institute of Marine Biobased Materials , Qingdao University , Qingdao 266071 , China
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Li Q, Wang X, Dong L, Liu C, Fan S. Spirally deformable soft actuators and their designable helical actuations based on a highly oriented carbon nanotube film. SOFT MATTER 2019; 15:9788-9796. [PMID: 31746933 DOI: 10.1039/c9sm01966a] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Spiral configurations and helical curlings of plant tendrils and seed pods are very common in nature. Many researchers have tried to develop spirally deformable actuators to mimic these natural spirals through several approaches, such as preforming helical shapes, processing diagonal stripes and employing anisotropic organic layers. However, these methods are usually complex and time-consuming. Here, we used an efficient method to produce a highly oriented carbon nanotube (CNT) film and develop a series of spirally deformable soft actuators which perform various controllable helical actuations. The actuator consists of a CNT layer with strong anisotropy and a silicone layer. By simply adjusting the orientations of the aligned CNTs, the prepared actuators can accomplish left- or right-handed spiral deformations with different helical forms when driven by electricity. Finite element analyses and simulations were conducted to investigate the mechanism. It is confirmed that it is the anisotropic moduli of the CNT film that regulate the internal stress distributions of the actuators and lead to helical actuations. Moreover, complex actuator designs and functional applications were also carried out. A V-shaped actuator can simultaneously achieve left- and right-handed curling with large angles (630°), which vividly imitates the spiral winding of a tendril. A Y-shaped actuator performed three-dimensional movements, which can manipulate lightweight objects deftly. By virtue of easy preparation and flexible function design, the spirally deformable actuators based on the oriented CNT film will be very promising in artificial muscles and bionic soft robots.
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Affiliation(s)
- Qingwei Li
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
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Hu W, Alici G. Bioinspired Three-Dimensional-Printed Helical Soft Pneumatic Actuators and Their Characterization. Soft Robot 2019; 7:267-282. [PMID: 31687877 DOI: 10.1089/soro.2019.0015] [Citation(s) in RCA: 34] [Impact Index Per Article: 6.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/08/2023] Open
Abstract
Soft pneumatic actuators (SPAs) are widely studied and applied in the field of soft robotics. To expand their applications, the SPAs should be purpose-built to generate application-specific complex motions with multiple degrees of freedom. This article describes a new SPA consisting of a series of internal chambers with the same helix angle arranged in a row, which could generate bending and twisting motions simultaneously. The trajectory of the helical actuator was analyzed through the finite element method (FEM) by changing the angle of the chambers and the actuator length. We employed a three-dimensional printing method to directly fabricate the thin-walled and airtight helical actuators without applying any postfabrication process. The recorded trajectory of the actuator and the measured blocking force on the tipping point were compared with the corresponding simulation results from the FEM. The actuation behavior of the helical actuator has been compared with that of the actuator with zero chamber angle, but with the same size (i.e., a normal bending actuator generating a two-dimensional trajectory). It is found that the proposed helical actuator (with a maximum 2.10 N blocking force) had a higher mechanical output (or efficiency) than the normal bending actuator (with a maximum 1.19 N blocking force) under the same pressure input. We fabricated a soft helical actuator as the fingers of a four-finger gripper to grasp complex-shaped items. Furthermore, another four-finger gripper made of a hybrid actuator consisting of a half of the angled chambers and a half of the nonangled chambers was constructed to demonstrate that the proposed design and fabrication technique could be employed to establish application- and function-specific soft robotic systems.
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Affiliation(s)
- Weiping Hu
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, Australia.,Applied Mechatronics and Biomedical Engineering Research (AMBER) Group, University of Wollongong, Wollongong, Australia
| | - Gursel Alici
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, Australia.,Applied Mechatronics and Biomedical Engineering Research (AMBER) Group, University of Wollongong, Wollongong, Australia.,ARC Center of Excellence for Electromaterials Science (ACES), University of Wollongong, Wollongong, Australia
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Tawk C, Gillett A, in het Panhuis M, Spinks GM, Alici G. A 3D-Printed Omni-Purpose Soft Gripper. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2019.2924386] [Citation(s) in RCA: 52] [Impact Index Per Article: 10.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Tan H, Yu X, Tu Y, Zhang L. Humidity-Driven Soft Actuator Built up Layer-by-Layer and Theoretical Insight into Its Mechanism of Energy Conversion. J Phys Chem Lett 2019; 10:5542-5551. [PMID: 31475526 DOI: 10.1021/acs.jpclett.9b02249] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
An improved protocol is proposed for preparation of a humidity-sensitive soft actuator through the layer-by-layer assembling of weight-ratio-variable composites of sodium alginate (SA) and poly(vinyl alcohol) (PVA) into laminated structures. The design induces nonuniform hygroscopicity in the thickness direction and gives rise to strong interfacial interaction between layers, making the actuator have directional motility. A mathematical model reveals that the directional motion is driven by the chemical potential of humidity, and its energy conversion efficiency from humidity to mechanical work reaches 81.2% at 25 °C. By coating with CoCl2, the composite film of SA@PVA/CoCl2 can act as a warning sign that provides reminder information to prevent people from slipping or falling by a conspicuous red sign during a high-humidity environment. When the film is involved in a bidirectional switch, it is capable of turning on/off light-emitting diodes by humidity, showing promising potential in control over humidity-dependent devices.
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Affiliation(s)
- Huiyan Tan
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
| | - Xiunan Yu
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
| | - Yaqing Tu
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
| | - Lidong Zhang
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
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Yoon C. Advances in biomimetic stimuli responsive soft grippers. NANO CONVERGENCE 2019; 6:20. [PMID: 31257552 PMCID: PMC6599812 DOI: 10.1186/s40580-019-0191-4] [Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/15/2019] [Accepted: 06/05/2019] [Indexed: 05/28/2023]
Abstract
A variety of biomimetic stimuli-responsive soft grippers that can be utilized as intelligent actuators, sensors, or biomedical tools have been developed. This review covers stimuli-responsive materials, fabrication methods, and applications of soft grippers. This review specifically describes the current research progress in stimuli-responsive grippers composed of N-isopropylacrylamide hydrogel, thermal and light-responding liquid crystalline and/or pneumatic-driven shape-morphing elastomers. Furthermore, this article provides a brief overview of high-throughput assembly methods, such as photolithography and direct printing approaches, to create stimuli-responsive soft grippers. This review primarily focuses on stimuli-responsive soft gripping robots that can be utilized as tethered/untethered multiscale smart soft actuators, manipulators, or biomedical devices.
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Affiliation(s)
- ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, 04310, Republic of Korea.
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Wei J, Qiu X, Zhang L. Photocrosslinking Patterning of Single-Layered Polymer Actuators for Controllable Motility and Automatic Devices. ACS APPLIED MATERIALS & INTERFACES 2019; 11:16252-16259. [PMID: 30950596 DOI: 10.1021/acsami.9b04258] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Shape-programmed deformation of soft polymer films is essential for applications in robotics, self-adaptive devices, and sensors. In comparison to bilayer polymer actuators, the challenge remains to manipulate single-layered soft actuators for rapid, reversible, and shape-programmed deformations in response to external stimuli owing to their homogeneous composite structures. Herein, this work reports a soft polymer film actuator that has a single-layered structure, yet demonstrates the shape-programmed motility. The actuator is composed of polyvinylidene fluoride film as a matrix and patterned by photocrosslinking of acrylamide and N', N'-methylenebisacrylamide, which generates soft-hard alternating segments in the structure. As it is exposed to acetone vapors, the soft-hard structures lead to an unequal response that results in the shape-programmed deformation. The actuator is elastic (strain: 160%) and tough (stress: 40 MPa) and can maintain its rapid, reversible, and shape-programmed motions for a few hours, even longer. The soft-hard structure enables the film actuator (3.5 mg) to give a contracting stress of 4 MPa that is used in an automatic device able to lift a cargo of 5.09 g, ∼1453 times heavier than the film itself. The power output reaches 474 J kg-1, ∼100 times higher than the reported soft actuators. This simple application indicates a potential for the soft actuator used in acetone vapor sensing devices.
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Affiliation(s)
- Jiang Wei
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
| | - Xiaxin Qiu
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
| | - Lidong Zhang
- School of Chemistry and Molecular Engineering , East China Normal University , Shanghai 200241 , People's Republic of China
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Ji Z, Zhang X, Yan C, Jia X, Xia Y, Wang X, Zhou F. 3D Printing of Photocuring Elastomers with Excellent Mechanical Strength and Resilience. Macromol Rapid Commun 2019; 40:e1800873. [DOI: 10.1002/marc.201800873] [Citation(s) in RCA: 25] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2018] [Revised: 02/11/2019] [Indexed: 12/21/2022]
Affiliation(s)
- Zhongying Ji
- State Key Laboratory of Solid LubricationLanzhou Institute of Chemical PhysicsChinese Academy of Sciences Lanzhou 730000 China
- Center of Materials Science and Optoelectronics EngineeringUniversity of Chinese Academy of Sciences Beijing 100039 China
| | - Xiaoqin Zhang
- State Key Laboratory of Solid LubricationLanzhou Institute of Chemical PhysicsChinese Academy of Sciences Lanzhou 730000 China
| | - Changyou Yan
- State Key Laboratory of Solid LubricationLanzhou Institute of Chemical PhysicsChinese Academy of Sciences Lanzhou 730000 China
- Center of Materials Science and Optoelectronics EngineeringUniversity of Chinese Academy of Sciences Beijing 100039 China
| | - Xin Jia
- School of Chemistry and Chemical EngineeringShihezi University Shihezi 832003 China
| | - Yanqiu Xia
- School of EnergyPower and Mechanical EngineeringNorth China Electric Power University Beijing 102206 China
| | - Xiaolong Wang
- State Key Laboratory of Solid LubricationLanzhou Institute of Chemical PhysicsChinese Academy of Sciences Lanzhou 730000 China
- School of Chemistry and Chemical EngineeringShihezi University Shihezi 832003 China
| | - Feng Zhou
- State Key Laboratory of Solid LubricationLanzhou Institute of Chemical PhysicsChinese Academy of Sciences Lanzhou 730000 China
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Sol JAHP, Peeketi AR, Vyas N, Schenning APHJ, Annabattula RK, Debije MG. Butterfly proboscis-inspired tight rolling tapered soft actuators. Chem Commun (Camb) 2019; 55:1726-1729. [DOI: 10.1039/c8cc09915d] [Citation(s) in RCA: 31] [Impact Index Per Article: 6.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/30/2022]
Abstract
Tight bending bio-inspired soft actuators were fashioned in liquid crystalline networks by using a novel tapered film geometry.
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Affiliation(s)
- Jeroen A. H. P. Sol
- Laboratory of Stimuli-Responsive Functional Materials and Devices (SFD)
- Department of Chemical Engineering and Chemistry
- Eindhoven University of Technology (TU/e)
- 5600 MB Eindhoven
- The Netherlands
| | - Akhil R. Peeketi
- Stimuli-Responsive Systems Laboratory
- Department of Mechanical Engineering
- Indian Institute of Technology Madras (IITM)
- 600036 Chennai
- India
| | - Nihit Vyas
- Stimuli-Responsive Systems Laboratory
- Department of Mechanical Engineering
- Indian Institute of Technology Madras (IITM)
- 600036 Chennai
- India
| | - Albertus P. H. J. Schenning
- Laboratory of Stimuli-Responsive Functional Materials and Devices (SFD)
- Department of Chemical Engineering and Chemistry
- Eindhoven University of Technology (TU/e)
- 5600 MB Eindhoven
- The Netherlands
| | - Ratna K. Annabattula
- Stimuli-Responsive Systems Laboratory
- Department of Mechanical Engineering
- Indian Institute of Technology Madras (IITM)
- 600036 Chennai
- India
| | - Michael G. Debije
- Laboratory of Stimuli-Responsive Functional Materials and Devices (SFD)
- Department of Chemical Engineering and Chemistry
- Eindhoven University of Technology (TU/e)
- 5600 MB Eindhoven
- The Netherlands
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