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Yu J, Xu Z, Wan Q, Shuai Y, Wang J, Mao C, Yang M. Ultrafast Bi-Directional Bending Moisture-Responsive Soft Actuators through Superfine Silk Rod Modified Bio-Mimicking Hierarchical Layered Structure. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2309364. [PMID: 38225691 DOI: 10.1002/smll.202309364] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/28/2023] [Revised: 01/02/2024] [Indexed: 01/17/2024]
Abstract
Development of stimulus-responsive materials is crucial for novel soft actuators. Among these actuators, the moisture-responsive actuators are known for their accessibility, eco-friendliness, and robust regenerative attributes. A major challenge of moisture-responsive soft actuators (MRSAs) is achieving significant bending curvature within short response times. Many plants naturally perform large deformation through a layered hierarchical structure in response to moisture stimuli. Drawing inspiration from the bionic structure of Delosperma nakurense (D. nakurense) seed capsule, here the fabrication of an ultrafast bi-directional bending MRSAs is reported. Combining a superfine silk fibroin rod (SFR) modified graphene oxide (GO) moisture-responsive layer with a moisture-inert layer of reduced graphene oxide (RGO), this actuator demonstrated large bi-directional bending deformation (-4.06 ± 0.09 to 10.44 ± 0.00 cm-1) and ultrafast bending rates (7.06 cm-1 s-1). The high deformation rate is achieved by incorporating the SFR into the moisture-responsive layers, facilitating rapid water transmission within the interlayer structure. The complex yet predictable deformations of this actuator are demonstrated that can be utilized in smart switch, robotic arms, and walking device. The proposed SFR modification method is simple and versatile, enhancing the functionality of hierarchical layered actuators. It holds the potential to advance intelligent soft robots for application in confined environments.
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Affiliation(s)
- Jing Yu
- Key Laboratory of Silkworm and Bee Resource Utilization and Innovation of Zhejiang Province, Institute of Applied Bioresource Research, College of Animal Science, Zhejiang University, Hangzhou, 310058, P. R. China
| | - Zongpu Xu
- Key Laboratory of Silkworm and Bee Resource Utilization and Innovation of Zhejiang Province, Institute of Applied Bioresource Research, College of Animal Science, Zhejiang University, Hangzhou, 310058, P. R. China
| | - Quan Wan
- Key Laboratory of Silkworm and Bee Resource Utilization and Innovation of Zhejiang Province, Institute of Applied Bioresource Research, College of Animal Science, Zhejiang University, Hangzhou, 310058, P. R. China
| | - Yajun Shuai
- Key Laboratory of Silkworm and Bee Resource Utilization and Innovation of Zhejiang Province, Institute of Applied Bioresource Research, College of Animal Science, Zhejiang University, Hangzhou, 310058, P. R. China
| | - Jie Wang
- Key Laboratory of Silkworm and Bee Resource Utilization and Innovation of Zhejiang Province, Institute of Applied Bioresource Research, College of Animal Science, Zhejiang University, Hangzhou, 310058, P. R. China
| | - Chuanbin Mao
- School of Materials Science & Engineering, Zhejiang University, Hangzhou, 310027, P. R. China
- Department of Biomedical Engineering, The Chinese University of Hong Kong, ShaTin, Hong Kong, SAR, P. R. China
| | - Mingying Yang
- Key Laboratory of Silkworm and Bee Resource Utilization and Innovation of Zhejiang Province, Institute of Applied Bioresource Research, College of Animal Science, Zhejiang University, Hangzhou, 310058, P. R. China
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2
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Ayyanar C, Rakshit S, Sarkar K, Pramanik S. Unprecedented Approach of Fabrication and Analysis of a Bioactive PDMS/Hydroxyapatite/Graphene Nanocomposite Scaffold with a Vascular Channel to Combat Carcinogenesis. ACS APPLIED BIO MATERIALS 2024; 7:3388-3402. [PMID: 38660938 DOI: 10.1021/acsabm.4c00299] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/26/2024]
Abstract
In the present investigation, natural bone-derived hydroxyapatite (HA, 2 wt %) and/or exfoliated graphene (Gr, 0.1 wt %)-embedded polydimethylsiloxane (PDMS) elastomeric films were prepared using a vascular method. The morphology, mechanical properties, crystallinity, and chemical structure of the composite films were evaluated. The in vitro biodegradation kinetics of the films indicates their adequate physiological stability. Most of the results favored PDMS/HA/Gr as a best composite scaffold having more than 703% elongation. A simulation study of the microfluidic vascular channel of the PDMS/HA/Gr scaffold suggests that the pressure drop at the outlet became greater (from 1.19 to 0.067 Pa) unlike velocity output (from 0.071 to 0.089 m/s), suggesting a turbulence-free laminar flow. Our bioactive scaffold material, PDMS/HA/Gr, showed highest cytotoxicity toward the lung cancer and breast cancer cells through Runx3 protein-mediated cytotoxic T lymphocyte (CTL) generation. Our data and predicted mechanism also suggested that the PDMS/HA/Gr-supported peripheral blood mononuclear cells (PBMCs) not only increased the generation of CTL but also upregulated the expression of RUNX3. Since the PDMS/HA/Gr scaffold-supported Runx3 induced CTL generation caused maximum cell cytotoxicity of breast cancer (MCF-7) and lung cancer (A549) cells, PDMS/HA/Gr can be treated as an excellent potential candidate for CTL-mediated cancer therapy.
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Affiliation(s)
- Chellaiah Ayyanar
- Functional and Biomaterials Engineering Lab, Department of Mechanical Engineering, College of Engineering and Technology, SRM Institute of Science and Technology, Kattankulathur, Chennai 603203, Tamil Nadu, India
| | - Sudeshna Rakshit
- Cancer Immunology and Gene Editing Technology Lab, Department of Biotechnology, College of Engineering and Technology, SRM Institute of Science and Technology, Kattankulathur, Chennai 603203, Tamil Nadu, India
| | - Koustav Sarkar
- Cancer Immunology and Gene Editing Technology Lab, Department of Biotechnology, College of Engineering and Technology, SRM Institute of Science and Technology, Kattankulathur, Chennai 603203, Tamil Nadu, India
| | - Sumit Pramanik
- Functional and Biomaterials Engineering Lab, Department of Mechanical Engineering, College of Engineering and Technology, SRM Institute of Science and Technology, Kattankulathur, Chennai 603203, Tamil Nadu, India
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3
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Yang Z, Wang Y, Lan L, Wang Y, Zhang X. Bioinspired H-Bonding Connected Gradient Nanostructure Actuators Based on Cellulose Nanofibrils and Graphene. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2401580. [PMID: 38708893 DOI: 10.1002/smll.202401580] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/28/2024] [Revised: 04/15/2024] [Indexed: 05/07/2024]
Abstract
The construction of flexible actuators with ultra-fast actuation and robust mechanical properties is crucial for soft robotics and smart devices, but still remains a challenge. Inspired by the unique mechanism of pinecones dispersing seeds in nature, a hygroscopic actuator with interlayer network-bonding connected gradient structure is fabricated. Unlike most conventional bilayer actuator designs, the strategy leverages biobased polyphenols to construct strong interfacial H-bonding networks between 1D cellulose nanofibers and 2D graphene oxide, endowing the materials with high tensile strength (172 MPa) and excellent toughness (6.64 MJ m-3). Furthermore, the significant difference in hydrophilicity between GO and rGO, along with the dense interlayer H-bonding, enables ultra-fast water exchange during water absorption and desorption processes. The resulted actuator exhibits ultra-fast driving speed (154° s-1), excellent pressure-resistant and cyclic stability. Taking advantages of these benefits, the actuator can be fabricated into smart devices (such as smart grippers, humidity control switches) with significant potential for practical applications. The presented approach to constructing interlayer H-bonding in gradient structures is instructive for achieving high performance and functionalization of biomass nanomaterials and the complex of 1D/2D nanomaterials.
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Affiliation(s)
- Zhangqin Yang
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Yuting Wang
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Lidan Lan
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
| | - Yuyan Wang
- Max Planck Institute for Polymer Research, Ackermannweg 10, 55128, Mainz, Germany
| | - Xinxing Zhang
- State Key Laboratory of Polymer Materials Engineering, Polymer Research Institute, Sichuan University, Chengdu, 610065, China
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4
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Choi M, Shin B, Kim HY. Hygromachines: Humidity-Powered Wheels, Seesaws, and Vehicles. Soft Robot 2023; 10:1171-1180. [PMID: 37339438 DOI: 10.1089/soro.2022.0218] [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: 06/22/2023] Open
Abstract
Hygroscopic soft actuators offer an attractive means to convert environmental energy to mechanical motions as they use water vapor, a ubiquitous substance in the atmosphere. To overcome the limits of existing hygroactuators, such as simplistic actuation mode, slow response, and low efficiency, here we present three kinds of humidity-powered soft machines adopting directionally electrospun hygroresponsive nanofibrous sheets. The wheels, seesaws, and vehicles developed in this work utilize spatial humidity gradient naturally established near moist surfaces such as human skin, so that they operate spontaneously, realizing energy scavenging or harvesting. We also constructed a theoretical framework to mechanically analyze their dynamics, which allowed us to optimize their design to obtain the highest motion speed physically possible.
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Affiliation(s)
- Munkyeong Choi
- Department of Mechanical Engineering, Seoul National University, Seoul, South Korea
| | - Beomjune Shin
- Department of Mechanical Engineering, Seoul National University, Seoul, South Korea
| | - Ho-Young Kim
- Department of Mechanical Engineering, Seoul National University, Seoul, South Korea
- Seoul National University, Institute of Advanced Machines and Design, Seoul, South Korea
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5
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García Díez A, Pereira N, Tubio CR, Vilas-Vilela JL, Costa CM, Lanceros-Mendez S. Magnetic Polymer Actuators with Self-Sensing Resistive Bending Response Based on Ternary Polymer Composites. ACS APPLIED ELECTRONIC MATERIALS 2023; 5:3426-3435. [PMID: 37396056 PMCID: PMC10308843 DOI: 10.1021/acsaelm.3c00432] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 04/01/2023] [Accepted: 05/17/2023] [Indexed: 07/04/2023]
Abstract
A multifunctional polymer-based composite has been designed based on poly(vinylidene fluoride) (PVDF) as polymer matrix and cobalt ferrite (CoFe2O4, CFO) and multiwalled carbon nanotubes (MWCNTs) as fillers, allowing to combine magnetic and electrical responses. The composites were prepared by solvent casting with a fixed 20 wt % concentration of CFO and varying the MWCNTs content between 0 and 3 wt %, allowing to tailor the electrical behavior. The morphology, polymer phase, and thermal and magnetic properties are nearly independent of the MWCNT filler content within the polymer matrix. On the other hand, the mechanical and electrical properties strongly depend on the MWCNT content and a maximum d.c. electrical conductivity value of 4 × 10-4 S·cm-1 has been obtained for the 20 wt %CFO-3 wt %MWCNT/PVDF sample, which is accompanied by an 11.1 emu·g-1 magnetization. The suitability of this composite for magnetic actuators with self-sensing strain characteristics is demonstrated with excellent response and reproducibility.
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Affiliation(s)
- Ander García Díez
- BCMaterials,
Basque Center for Materials, Applications and Nanostructures, UPV/EHU Science Park, 48940 Leioa, Spain
| | - Nelson Pereira
- Centre
of Physics Universities of Minho and Porto and Laboratory of Physics
for Materials and Emergent Technologies, LapMET, University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal
| | - Carmen R. Tubio
- BCMaterials,
Basque Center for Materials, Applications and Nanostructures, UPV/EHU Science Park, 48940 Leioa, Spain
| | - Jose Luis Vilas-Vilela
- BCMaterials,
Basque Center for Materials, Applications and Nanostructures, UPV/EHU Science Park, 48940 Leioa, Spain
- Departamento
de Química Física, Facultad de Ciencia y Tecnología, Universidad del País Vasco (UPV/EHU), Apdo. 644, 48080 Bilbao, Spain
| | - Carlos M. Costa
- Centre
of Physics Universities of Minho and Porto and Laboratory of Physics
for Materials and Emergent Technologies, LapMET, University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal
| | - Senentxu Lanceros-Mendez
- BCMaterials,
Basque Center for Materials, Applications and Nanostructures, UPV/EHU Science Park, 48940 Leioa, Spain
- Centre
of Physics Universities of Minho and Porto and Laboratory of Physics
for Materials and Emergent Technologies, LapMET, University of Minho, Campus de Gualtar, 4710-057 Braga, Portugal
- Ikerbasque,
Basque Foundation for Science, 48009 Bilbao, Spain
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6
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Wang W, Liu S, Wang S, Xiang C, Huang Y, Li M, Wang D. Silicon Distribution-Induced Actuation Film with Bidirectional Bending Deformation and Versatile Bionic Applications. ACS APPLIED MATERIALS & INTERFACES 2022; 14:55264-55276. [PMID: 36464856 DOI: 10.1021/acsami.2c18295] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
As an important branch of intelligent materials, the research and development of stimulus-responsive flexible intelligent actuation materials is of great significance to promote the industrialization of intelligent materials. In this study, the asymmetric PVA-co-PE/silicon nanoparticle (PPSN) composite films and PVA-co-PE/silicon sol (PPSS) composite film with different silicon distributions were prepared by a simple spraying method. The silicon nanoparticle layer in the PPSN composite film was similar to the sand-like water-absorbing layer, which can quickly absorb water and permeate it into the interior region, leading to the hygroscopic expansion behavior on one side of the nanofiber film. Then, the PPSN composite film would quickly bend and deform to the silicon nanoparticle side. However, in the PPSS composite film, due to the excellent hygroscopicity and swelling characteristics of the silica sol layer, the composite film can be rapidly deformed to the PVA-co-PE nanofiber film side under moisture stimulation. The above results subvert the traditional asymmetric actuation film, which mainly depends on the hydrophilicity difference to determine the hygroscopic responsiveness and deformation direction, and ignore that the swelling degree is the main factor determining the bending direction of actuator. In addition, both the composite films can quickly respond to moisture stimulation (<1 s) and produce large-scale bending deformation (180°). Furthermore, due to the excellent interface adhesion formed by the continuity structure in the PPSS composite film, it has better actuation stability than the PPSN composite film. The excellent actuation characteristics and different bending directions of the PPSN and PPSS composite films make it a great application prospect in the field of bionics in the future.
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Affiliation(s)
- Wen Wang
- Key Laboratory of Textile Fiber and Products (Wuhan Textile University), Ministry of Education, Wuhan 430200, China
| | - Shuying Liu
- Key Laboratory of Textile Fiber and Products (Wuhan Textile University), Ministry of Education, Wuhan 430200, China
| | - Shuang Wang
- Key Laboratory of Textile Fiber and Products (Wuhan Textile University), Ministry of Education, Wuhan 430200, China
| | - Chenxue Xiang
- College of Chemistry, Chemical Engineering and Biotechnology, Donghua University, Shanghai 201620, China
| | - Yangjie Huang
- Key Laboratory of Textile Fiber and Products (Wuhan Textile University), Ministry of Education, Wuhan 430200, China
| | - Mufang Li
- Key Laboratory of Textile Fiber and Products (Wuhan Textile University), Ministry of Education, Wuhan 430200, China
| | - Dong Wang
- Key Laboratory of Textile Fiber and Products (Wuhan Textile University), Ministry of Education, Wuhan 430200, China
- College of Chemistry, Chemical Engineering and Biotechnology, Donghua University, Shanghai 201620, China
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7
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Alleviation of Residual Vibrations in Hard-Magnetic Soft Actuators Using a Command-Shaping Scheme. Polymers (Basel) 2022; 14:polym14153037. [PMID: 35956552 PMCID: PMC9370298 DOI: 10.3390/polym14153037] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/21/2022] [Revised: 07/21/2022] [Accepted: 07/23/2022] [Indexed: 02/01/2023] Open
Abstract
Hard-magnetic soft materials belong to a class of the highly deformable magneto-active elastomer family of smart materials and provide a promising technology for flexible electronics, soft robots, and functional metamaterials. When hard-magnetic soft actuators are driven by a multiple-step input signal (Heaviside magnetic field signal), the residual oscillations exhibited by the actuator about equilibrium positions may limit their performance and accuracy in practical applications. This work aims at developing a command-shaping scheme for alleviating residual vibrations in a magnetically driven planar hard-magnetic soft actuator. The control scheme is based on the balance of magnetic and elastic forces at a critical point in an oscillation cycle. The equation governing the dynamics of the actuator is devised using the Euler–Lagrange equation. The constitutive behaviour of the hard-magnetic soft material is modeled using the Gent model of hyperelasticity, which accounts for the strain-stiffening effects. The dynamic response of the actuator under a step input signal is obtained by numerically solving the devised dynamic governing equation using MATLAB ODE solver. To demonstrate the applicability of the developed command-shaping scheme, a thorough investigation showing the effect of various parameters such as material damping, the sequence of desired equilibrium positions, and polymer chain extensibility on the performance of the proposed scheme is performed. The designed control scheme is found to be effective in controlling the motion of the hard-magnetic soft actuator at any desired equilibrium position. The present study can find its potential application in the design and development of an open-loop controller for hard-magnetic soft actuators.
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8
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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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9
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Tang XY, Liu Z, Xie R, Ju XJ, Wang W, Chu LY. Humidity-Responsive Actuators Based on Firm Heterojunction of Glycerol-Cross-linked Polyvinyl Alcohol and Porous Polyvinylidene Fluoride as Smart Gates for Anti-condensation. Ind Eng Chem Res 2022. [DOI: 10.1021/acs.iecr.2c01289] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Affiliation(s)
- Xin-Yu Tang
- School of Chemical Engineering, Sichuan University, Chengdu, Sichuan 610065, China
| | - Zhuang Liu
- School of Chemical Engineering, Sichuan University, Chengdu, Sichuan 610065, China
- State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu, Sichuan 610065, China
| | - Rui Xie
- School of Chemical Engineering, Sichuan University, Chengdu, Sichuan 610065, China
- State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu, Sichuan 610065, China
| | - Xiao-Jie Ju
- School of Chemical Engineering, Sichuan University, Chengdu, Sichuan 610065, China
- State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu, Sichuan 610065, China
| | - Wei Wang
- School of Chemical Engineering, Sichuan University, Chengdu, Sichuan 610065, China
- State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu, Sichuan 610065, China
| | - Liang-Yin Chu
- School of Chemical Engineering, Sichuan University, Chengdu, Sichuan 610065, China
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10
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Fang J, Zhuang Y, Liu K, Chen Z, Liu Z, Kong T, Xu J, Qi C. A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2104347. [PMID: 35072360 PMCID: PMC8922102 DOI: 10.1002/advs.202104347] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/29/2021] [Revised: 11/30/2021] [Indexed: 05/07/2023]
Abstract
Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.
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Affiliation(s)
- Jielun Fang
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Yanfeng Zhuang
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Kailang Liu
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Zhuo Chen
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Zhou Liu
- College of Chemistry and Environmental EngineeringShenzhen UniversityShenzhenGuangdong518000China
| | - Tiantian Kong
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Jianhong Xu
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Cheng Qi
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
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11
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Wang M, Zhou L, Deng W, Hou Y, He W, Yu L, Sun H, Ren L, Hou X. Ultrafast Response and Programmable Locomotion of Liquid/Vapor/Light-Driven Soft Multifunctional Actuators. ACS NANO 2022; 16:2672-2681. [PMID: 35040625 DOI: 10.1021/acsnano.1c09477] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
External-stimuli-driven soft actuators overcome several limitations inherent in traditional mechanical-driven technology considering the coming age of flexible robots, which might face harsh working conditions and rigorous multifunctional requirements. However, how to achieve multi-external-stimuli response, fast speed, and precise control of the position and angle of the actuator, especially working in a toxic liquid or vapor environment, still requires long-term efforts. Here, we report a multi-external-stimuli-driven sandwich actuator with aligned carbon nanotubes as the constructive subject, which can respond to various types of liquids (organic solvents), vapor, and solar light. The actuator has an ultrafast response speed (<10 ms) and can accurately adjust the bending angle range from 0° to 180°. Through manipulating the stimuli positions, actuators can be wound into varied turns when simulating a flexible robotic arm. Hence, liquid/vapor/light-driven actuators are able to support diverse programmable motions, such as periodic blooming, gesture variations, caterpillar crawling, toxic surface evading, and bionic phototaxis. We believe that this multifunctional actuator is promising in supporting a complex scenario to complete a variety of tasks in the fields of healthcare, bioengineering, chip technology, and mobile sensors.
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Affiliation(s)
- Miao Wang
- The Higher Educational Key Laboratory for Biomedical Engineering of Fujian Province, Research Center of Biomedical Engineering of Xiamen, Department of Biomaterials, College of Materials, Xiamen University, 422 Siming Nan Road, Xiamen 361005, China
| | - Lei Zhou
- Research Institute for Soft Matter and Biomimetics, College of Physical Science and Technology, Xiamen University, Xiamen 361005, China
| | - Wenyan Deng
- Research Institute for Soft Matter and Biomimetics, College of Physical Science and Technology, Xiamen University, Xiamen 361005, China
| | - Yaqi Hou
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
| | - Wen He
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
| | - Lejian Yu
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
| | - Hao Sun
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China
| | - Lei Ren
- The Higher Educational Key Laboratory for Biomedical Engineering of Fujian Province, Research Center of Biomedical Engineering of Xiamen, Department of Biomaterials, College of Materials, Xiamen University, 422 Siming Nan Road, Xiamen 361005, China
| | - Xu Hou
- Research Institute for Soft Matter and Biomimetics, College of Physical Science and Technology, Xiamen University, Xiamen 361005, China
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen 361005, China
- Collaborative Innovation Centre of Chemistry for Energy Materials, Xiamen University, Xiamen 361005, China
- Innovation Laboratory for Sciences and Technologies of Energy Materials of Fujian Province (IKKEM), Xiamen 361102, China
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12
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Wang R, Han L, Wu C, Dong Y, Zhao X. Localizable, Identifiable, and Perceptive Untethered Light-Driven Soft Crawling Robot. ACS APPLIED MATERIALS & INTERFACES 2022; 14:6138-6147. [PMID: 35050581 DOI: 10.1021/acsami.1c20539] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Soft robots based on bionics have attracted extensive attention in recent years. However, most of previous works focused on the motion of robots that were incapable of communication and perception. In this work, an untethered crawling robot is proposed with integration of motion, communication, and location based entirely on a flexible material, which is capable of being utilized as a sensing platform. The hydrophilic graphene oxide film, capable of photothermal conversion, allows the robot to undergo a large deformation stimulated by near-infrared light. Conductive fabric with low resistivity and high mechanical strength, replacing the traditional rigid circuit, is utilized to complete the communication of the robot. The designed communication module allows an electrical signal to be inductively coupled to the soft robot instead of being generated by batteries or through transmission lines. The perception of the robot is demonstrated by covering sensitive materials. Furthermore, the positioning and identification of the robot are verified by an external coil array. The proposed soft crawling robot provides an innovative strategy for the integration of multifunctional robots and shows great potential in bionic devices, intelligent robots, and advanced sensors.
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Affiliation(s)
- Rui Wang
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Lei Han
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Chenggen Wu
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Yupeng Dong
- Key Laboratory of MEMS of the Ministry of Education, Southeast University, Nanjing 210096, China
| | - Xiaoguang Zhao
- Department of Precision Instruments, Tsinghua University, Beijing 100084, China
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13
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Xie W, Li L, Wang X, Yuan L, Zhu Z. Crosslinking structures of POD membranes copolymerized with nitrilotriacetic acid and their properties. POLYMER 2022. [DOI: 10.1016/j.polymer.2021.124484] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022]
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14
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Kim K, Guo Y, Bae J, Choi S, Song HY, Park S, Hyun K, Ahn SK. 4D Printing of Hygroscopic Liquid Crystal Elastomer Actuators. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2021; 17:e2100910. [PMID: 33938152 DOI: 10.1002/smll.202100910] [Citation(s) in RCA: 39] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/07/2021] [Revised: 03/16/2021] [Indexed: 06/12/2023]
Abstract
Liquid crystal elastomers (LCEs) are broadly recognized as programmable actuating materials that are responsive to external stimuli, typically heat or light. Yet, soft LCEs that respond to changes in environmental humidity are not reported, except a few examples based on rigid liquid crystal networks with limited processing. Herein, a new class of highly deformable hygroscopic LCE actuators that can be prepared by versatile processing methods, including surface alignment as well as 3D printing is presented. The dimethylamino-functionalized LCE is prepared by the aza-Michael addition reaction between a reactive LC monomer and N,N'-dimethylethylenediamine as a chain extender, followed by photopolymerization. The humidity-responsive properties are introduced by activating one of the LCE surfaces with an acidic solution, which generates cations on the surface and provides asymmetric hydrophilicity to the LCE. The resulting humidity-responsive LCE undergoes programmed and reversible hygroscopic actuation, and its shape transformation can be directed by the cut angle with respect to a nematic director or by localizing activation regions in the LCE. Most importantly, various hygroscopic LCE actuators, including (porous) bilayers, a flower, a concentric square array, and a soft gripper, are successfully fabricated by using LC inks in UV-assisted direct-ink-writing-based 3D printing.
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Affiliation(s)
- Keumbee Kim
- Department of Polymer Science and Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Yuanhang Guo
- Department of Polymer Science and Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Jaehee Bae
- Department of Polymer Science and Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Subi Choi
- Department of Polymer Science and Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Hyeong Yong Song
- Institute for Environment and Energy, Pusan National University, Busan, 46241, Republic of Korea
- School of Chemical Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Sungmin Park
- Advanced Materials Division, Korea Research Institute of Chemical Technology, Daejeon, 34114, Republic of Korea
| | - Kyu Hyun
- School of Chemical Engineering, Pusan National University, Busan, 46241, Republic of Korea
| | - Suk-Kyun Ahn
- Department of Polymer Science and Engineering, Pusan National University, Busan, 46241, Republic of Korea
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15
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Jin X, Feng C, Ponnamma D, Yi Z, Parameswaranpillai J, Thomas S, Salim NV. Review on exploration of graphene in the design and engineering of smart sensors, actuators and soft robotics. CHEMICAL ENGINEERING JOURNAL ADVANCES 2020. [DOI: 10.1016/j.ceja.2020.100034] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/25/2023] Open
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16
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Abstract
Hybrid stimuli-responsive soft robots have been extensively developed by incorporating multi-functional materials, such as carbon-based nanoparticles, nanowires, low-dimensional materials, and liquid crystals. In addition to the general functions of conventional soft robots, hybrid stimuli-responsive soft robots have displayed significantly advanced multi-mechanical, electrical, or/and optical properties accompanied with smart shape transformation in response to external stimuli, such as heat, light, and even biomaterials. This review surveys the current enhanced scientific methods to synthesize the integration of multi-functional materials within stimuli-responsive soft robots. Furthermore, this review focuses on the applications of hybrid stimuli-responsive soft robots in the forms of actuators and sensors that display multi-responsive and highly sensitive properties. Finally, it highlights the current challenges of stimuli-responsive soft robots and suggests perspectives on future directions for achieving intelligent hybrid stimuli-responsive soft robots applicable in real environments.
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17
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Qin J, Feng P, Wang Y, Du X, Song B. Nanofibrous Actuator with an Alignment Gradient for Millisecond-Responsive, Multidirectional, Multimodal, and Multidimensional Large Deformation. ACS APPLIED MATERIALS & INTERFACES 2020; 12:46719-46732. [PMID: 32945656 DOI: 10.1021/acsami.0c13594] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Although progress has been made in the construction of stimulus-responsive actuators, the performance of these smart materials is still unsatisfactory, owing to their slow response, small deformation amplitude, uncontrollable bending direction, and unidirectional (2D to 3D) transformation. Herein, we employ a structural bionic strategy to design and fabricate a novel water/moisture responsive nanofibrous actuator with an alignment degree gradient. Owing to its different contraction gradient amplitudes along the thickness direction and the unique physical property of the nanofibrous material, the prepared actuator exhibits excellent shape deformation performance, including superfast response (less than 150 ms), controllable deformation directions, multiple actuation models, multiple dimensional deformation (0D-3D, 1D-3D, 2D-3D, and 3D-3D), large bending curvature (25.3 cm-1), and a repeatability rate of at least 1000. The actuation performance of the nanofibrous actuator is superior to the currently reported actuators. The nanofibers are integrated into layer-by-layer and side-by-side structures to achieve competitive and independent actuation, respectively. The outstanding shape-changing properties of the nanofibrous actuator result in the construction of practical intelligent devices for applications such as amphibious movement, intelligent protection, and cargo transportation. The nanofibrous actuator designed herein exhibits tremendous potential in soft robotics, sensors, and biomedicine.
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Affiliation(s)
- Juanrong Qin
- Key Laboratory of Synthetic and Natural Functional Molecule of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi'an 710069 Shaanxi, People's Republic of China
| | - Pingping Feng
- Key Laboratory of Synthetic and Natural Functional Molecule of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi'an 710069 Shaanxi, People's Republic of China
| | - Yaru Wang
- Key Laboratory of Synthetic and Natural Functional Molecule of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi'an 710069 Shaanxi, People's Republic of China
| | - Xiaolong Du
- Key Laboratory of Synthetic and Natural Functional Molecule of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi'an 710069 Shaanxi, People's Republic of China
| | - Botao Song
- Key Laboratory of Synthetic and Natural Functional Molecule of the Ministry of Education, College of Chemistry and Materials Science, Northwest University, Xi'an 710069 Shaanxi, People's Republic of China
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18
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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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