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Wang X, Pan C, Xia N, Zhang C, Hao B, Jin D, Su L, Zhao J, Majidi C, Zhang L. Fracture-driven power amplification in a hydrogel launcher. NATURE MATERIALS 2024; 23:1428-1435. [PMID: 39043929 DOI: 10.1038/s41563-024-01955-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 06/25/2024] [Indexed: 07/25/2024]
Abstract
Robotic tasks that require robust propulsion abilities such as jumping, ejecting or catapulting require power-amplification strategies where kinetic energy is generated from pre-stored energy. Here we report an engineered accumulated strain energy-fracture power-amplification method that is inspired by the pressurized fluidic squirting mechanism of Ecballium elaterium (squirting cucumber plants). We realize a light-driven hydrogel launcher that harnesses fast liquid vapourization triggered by the photothermal response of an embedded graphene suspension. This vapourization leads to appreciable elastic energy storage within the surrounding hydrogel network, followed by rapid elastic energy release within 0.3 ms. These soft hydrogel robots achieve controlled launching at high velocity with a predictable trajectory. The accumulated strain energy-fracture method was used to create an artificial squirting cucumber that disperses artificial seeds over metres, which can further achieve smart seeding through an integrated radio-frequency identification chip. This power-amplification strategy provides a basis for propulsive motion to advance the capabilities of miniaturized soft robotic systems.
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Affiliation(s)
- Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
| | - Chengfeng Pan
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, People's Republic of China.
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
| | - Chong Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
| | - Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, People's Republic of China
| | - Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
| | - Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
| | - Carmel Majidi
- Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China.
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong, People's Republic of China.
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, People's Republic of China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, People's Republic of China.
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, People's Republic of China.
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2
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Yao H, Zhao X, Shi K, Sun W, Mi S. Programmable and resilient metamaterials with anisotropic and non-linear mechanical responses composed exclusively of stiff constituents. MATERIALS HORIZONS 2024; 11:4689-4704. [PMID: 38984435 DOI: 10.1039/d4mh00628c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/11/2024]
Abstract
Recently, significant progress has been made in the field of flexible bulk metamaterials composed of soft and elastic materials, unlocking the potential for achieving programmable non-linear mechanical responses, such as shape morphing, energy absorption, and information processing. However, the majority of these metamaterials utilize expensive hyperelastic materials and require complex fabrication processes. Additionally, constructing eco-friendly stiff constituents for these metamaterials remains challenging due to their limited elastic limit strains (<0.1). Here, we propose a systematic design strategy by combining curved beams with chiral metastructures to generate a family of three-dimensional programmable resilient mechanical metamaterials without relying on flexible or hyperelastic constituents. These tiled metamaterials demonstrate robust, anisotropic and non-linear resilience under large elastic compression strains (>0.75), while exhibiting a programmable effective modulus reduction of nearly 6 orders of magnitude compared to the native stiff components. Furthermore, leveraging their stable resilience under high-frequency stimuli, we successfully developed a meter-scale soft robot capable of traversing complex narrow scenarios on demand without the need for flexible materials or sophisticated pipelines. We anticipate that these mechanical metamaterials could serve as a universal platform for programmable active dampers, modular flexible robots, and medical rehabilitation equipment at various scales.
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Affiliation(s)
- Hongyi Yao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Shenzhen, China
- Department of Mechanical Engineering, Tsinghua University, Beijing, China
| | - Xiaoyu Zhao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Shenzhen, China
| | - Kaiwen Shi
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Shenzhen, China
| | - Wei Sun
- Department of Mechanical Engineering, Tsinghua University, Beijing, China
| | - Shengli Mi
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Shenzhen, China
- Department of Mechanical Engineering, Tsinghua University, Beijing, China
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3
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Lee HC, Elder N, Leal M, Stantial S, Vergara Martinez E, Jos S, Cho H, Russo S. A fabrication strategy for millimeter-scale, self-sensing soft-rigid hybrid robots. Nat Commun 2024; 15:8456. [PMID: 39349426 DOI: 10.1038/s41467-024-51137-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/22/2023] [Accepted: 07/31/2024] [Indexed: 10/02/2024] Open
Abstract
Soft robots typically involve manual assembly of core hardware components like actuators, sensors, and controllers. This increases fabrication time and reduces consistency, especially in small-scale soft robots. We present a scalable monolithic fabrication method for millimeter-scale soft-rigid hybrid robots, simplifying the integration of core hardware components. Actuation is provided by soft-foldable polytetrafluoroethylene film-based actuators powered by ionic fluid injection. The desired motion is encoded by integrating a mechanical controller, comprised of rigid-flexible materials. The robot's motion can be self-sensed using an ionic resistive sensor by detecting electrical resistance changes across its body. Our approach is demonstrated by fabricating three distinct soft-rigid hybrid robotic modules, each with unique degrees of freedom: translational, bending, and roto-translational motions. These modules connect to form a soft-rigid hybrid continuum robot with real-time shape-sensing capabilities. We showcase the robot's capabilities by performing object pick-and-place, needle steering and tissue puncturing, and optical fiber steering tasks.
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Affiliation(s)
- Hun Chan Lee
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Nash Elder
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Matthew Leal
- Department of Biomedical Engineering, Boston University, Boston, MA, USA
| | - Sarah Stantial
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | | | - Sneha Jos
- Department of Physics, Boston University, Boston, MA, USA
| | - Hyunje Cho
- Department of Mechanical Engineering, Boston University, Boston, MA, USA
| | - Sheila Russo
- Department of Mechanical Engineering, Boston University, Boston, MA, USA.
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4
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Wang Q, Zhang Z, Wu Y, Li B, Li Y, Gu H, Gu Z. Magnetic Torque-Driven All-Terrain Microrobots. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024:e2405501. [PMID: 39254321 DOI: 10.1002/smll.202405501] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/03/2024] [Revised: 08/21/2024] [Indexed: 09/11/2024]
Abstract
All-terrain microrobots possess significant potential in modern medical applications due to their superior maneuverability in complex terrains and confined spaces. However, conventional microrobots often struggle with adaptability and operational difficulties in variable environments. This study introduces a magnetic torque-driven all-terrain multiped microrobot (MTMR) to address these challenges. By coupling the structure's multiple symmetries with different uniform magnetic fields, such as rotating and oscillating fields, the MTMR demonstrates various locomotion modes, including rolling, tumbling, walking, jumping, and their combinations. Experimental results indicate that the robot can navigate diverse terrains, including flat surfaces, steep slopes (up to 75°), and gaps over twice its body height. Additionally, the MTMR performs well in confined spaces, capable of passing through slits (0.1 body length) and low tunnels (0.25 body length). The robot shows potential for clinical applications like minimally invasive hemostasis in internal bleeding and thrombus removal from blood vessels through accurate cargo manipulation capability. Moreover, the MTMR can carry temperature sensors to monitor environmental temperature changes in real time while simultaneously manipulating objects, displaying its potential for in-situ sensing and parallel task implementation. This all-terrain microrobot technology demonstrates notable adaptability and versatility, providing a solid foundation for practical applications in interventional medicine.
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Affiliation(s)
- Qiong Wang
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Zhuhua Zhang
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Yuhua Wu
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Bingyan Li
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Yuchong Li
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China
| | - Hongcheng Gu
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Zhongze Gu
- State Key Laboratory of Digital Medical Engineering, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
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5
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Yang Z, Xu C, Lee JX, Lum GZ. Magnetic Miniature Soft Robot with Reprogrammable Drug-Dispensing Functionalities: Toward Advanced Targeted Combination Therapy. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2408750. [PMID: 39246210 DOI: 10.1002/adma.202408750] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2024] [Revised: 08/26/2024] [Indexed: 09/10/2024]
Abstract
Miniature robots are untethered actuators, which have great prospects to transform targeted drug delivery because they can potentially deliver high concentrations of medicine to the disease site(s) with minimal complications. However, existing miniature robots cannot perform advanced targeted combination therapy; majority of them can at most transport one type of drug, while those that can carry multiple drugs are unable to change their drug-dispensing sequence and dosage. Furthermore, the latter robots cannot transport more than three types of drugs, selectively dispense their drugs, maintain their mobility, or release their drugs at multiple sites. Here, a millimeter-scale soft robot is proposed, which can be actuated by alternating magnetic fields to dispense four types of drugs with reprogrammable drug-dispensing sequence and dosage (dispensing rates: 0.0992-0.231 µL h-1). This robot has six degrees-of-freedom motions, and it can deliver its drugs to multiple desired sites by rolling and two-anchor crawling across unstructured environments with negligible drug leakage. Such dexterity is highly desirable and unprecedented for miniature robots with drug-dispensing capabilities. The soft robot therefore has great potential to enable advanced targeted combination therapy, where four types of drugs must be delivered to various disease sites, each with a specific sequence and dosage of drugs.
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Affiliation(s)
- Zilin Yang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Changyu Xu
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Jia Xin Lee
- Rehabilitation Research Institute of Singapore, Nanyang Technological University, 11 Mandalay Road, Singapore, 308232, Singapore
| | - Guo Zhan Lum
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
- Rehabilitation Research Institute of Singapore, Nanyang Technological University, 11 Mandalay Road, Singapore, 308232, Singapore
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6
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Ren A, Hu J, Qin C, Xia N, Yu M, Xu X, Yang H, Han M, Zhang L, Ma L. Oral administration microrobots for drug delivery. Bioact Mater 2024; 39:163-190. [PMID: 38808156 PMCID: PMC11130999 DOI: 10.1016/j.bioactmat.2024.05.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2024] [Revised: 05/02/2024] [Accepted: 05/03/2024] [Indexed: 05/30/2024] Open
Abstract
Oral administration is the most simple, noninvasive, convenient treatment. With the increasing demands on the targeted drug delivery, the traditional oral treatment now is facing some challenges: 1) biologics how to implement the oral treatment and ensure the bioavailability is not lower than the subcutaneous injections; 2) How to achieve targeted therapy of some drugs in the gastrointestinal tract? Based on these two issues, drug delivery microrobots have shown great application prospect in oral drug delivery due to their characteristics of flexible locomotion or driven ability. Therefore, this paper summarizes various drug delivery microrobots developed in recent years and divides them into four categories according to different driving modes: magnetic-controlled drug delivery microrobots, anchored drug delivery microrobots, self-propelled drug delivery microrobots and biohybrid drug delivery microrobots. As oral drug delivery microrobots involve disciplines such as materials science, mechanical engineering, medicine, and control systems, this paper begins by introducing the gastrointestinal barriers that oral drug delivery must overcome. Subsequently, it provides an overview of typical materials involved in the design process of oral drug delivery microrobots. To enhance readers' understanding of the working principles and design process of oral drug delivery microrobots, we present a guideline for designing such microrobots. Furthermore, the current development status of various types of oral drug delivery microrobots is reviewed, summarizing their respective advantages and limitations. Finally, considering the significant concerns regarding safety and clinical translation, we discuss the challenges and prospections of clinical translation for various oral drug delivery microrobots presented in this paper, providing corresponding suggestions for addressing some existing challenges.
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Affiliation(s)
- An Ren
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Jiarui Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Changwei Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Mengfei Yu
- The Affiliated Stomatologic Hospital, School of Medicine, Zhejiang University, Hangzhou 310003, China
| | - Xiaobin Xu
- Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education, Key Laboratory of D&A for Metal-Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804 China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Min Han
- Institute of Pharmaceutics, Zhejiang Province Key Laboratory of Anti-Cancer Drug Research, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou, 310058, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China
| | - Liang Ma
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
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7
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Dong X, Xiao B, Vu H, Lin H, Sitti M. Millimeter-scale soft capsules for sampling liquids in fluid-filled confined spaces. SCIENCE ADVANCES 2024; 10:eadp2758. [PMID: 39196937 PMCID: PMC11352903 DOI: 10.1126/sciadv.adp2758] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/16/2024] [Accepted: 07/23/2024] [Indexed: 08/30/2024]
Abstract
Sampling liquids in small and confined spaces to retrieve chemicals and microbiomes could enable minimally invasive monitoring human physiological conditions for understanding disease development and allowing early screening. However, existing tools are either invasive or too large for sampling liquids in tortuous and narrow spaces. Here we report a fundamental liquid sampling mechanism that enables millimeter-scale soft capsules for sampling liquids in confined spaces. The miniature capsule is enabled by flexible magnetic valves and superabsorbent polymer, fully wirelessly controlled for on-demand fluid sampling. A group of miniature capsules could navigate in fluid-filled and confined spaces safely using a rolling locomotion. The integration of on-demand triggering, sampling, and sealing mechanism and the agile group locomotion allows us to demonstrate precise control of the soft capsules, navigating and sampling body fluids in a phantom and animal organ ex vivo, guided by ultrasound and x-ray medical imaging. The proposed mechanism and wirelessly controlled devices spur the next-generation technologies for minimally invasive disease diagnosis.
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Affiliation(s)
- Xiaoguang Dong
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Boyang Xiao
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | - Hieu Vu
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | - Honglu Lin
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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8
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Kim S, Kang J, Yoo S, Cha Y. Spring toy-inspired soft robots with electrohydraulic actuators. Sci Rep 2024; 14:20011. [PMID: 39198636 PMCID: PMC11358452 DOI: 10.1038/s41598-024-71018-w] [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: 05/21/2024] [Accepted: 08/23/2024] [Indexed: 09/01/2024] Open
Abstract
Toys are useful resources for structural inspiration in science and engineering. Their fascinating structures provide new strategies for robotics, particularly in overcoming challenging obstacles and increasing adaptability to unstructured environments. Recent advances in actuators made of soft materials have enabled robots to exhibit safer and more adaptive behaviors during locomotion. However, it is still difficult to descend quickly without falling off at the drop point. In the same context, we recall playing with spring toys descending on stairs. In this paper, we introduce an electrohydraulic-based soft robot inspired by the structure of spring toys. The robot demonstrated a novel and previously unreported ability to descend a series of stairs. Specifically, the soft robot consisted of a helical structure and multiple electrohydraulic actuators. A helical structure was used to accommodate the expansion of the electrohydraulic actuators and to operate a wider range of bending motions. This design prevents unpredictable falls and achieves operation while maintaining a sufficient level of flexibility. We also experimentally investigated the actuation characteristics of the soft robot in terms of motion and force. Additionally, we demonstrated a soft gripper using the spring toy-inspired robot as another potential application.
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Affiliation(s)
- Sohyun Kim
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Joohyeon Kang
- Department of Smart Convergence, Korea University, Seoul, 02841, Republic of Korea
| | - Seunghoon Yoo
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Youngsu Cha
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea.
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9
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Wang S, Li S, Zhao W, Zhou Y, Wang L, Aizenberg J, Zhu P. Programming hierarchical anisotropy in microactuators for multimodal actuation. LAB ON A CHIP 2024; 24:4073-4084. [PMID: 39115160 DOI: 10.1039/d4lc00369a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/21/2024]
Abstract
Microactuators, capable of executing tasks typically repetitive, hazardous, or impossible for humans, hold great promise across fields such as precision medicine, environmental remediation, and swarm intelligence. However, intricate motions of microactuators normally require high complexity in design, making it increasingly challenging to realize at small scales using existing fabrication techniques. Taking inspiration from the hierarchical-anisotropy principle found in nature, we program liquid crystalline elastomer (LCE) microactuators with multimodal actuation tailored to their molecular, shape, and architectural anisotropies at (sub)nanometer, micrometer, and (sub)millimeter scales, respectively. Our strategy enables diverse deformations with individual LCE microstructures, including expanding, contracting, twisting, bending, and unwinding, as well as re-programmable shape transformations of assembled LCE architectures with negative Poisson's ratios, locally adjustable actuation, and changing from two-dimensional (2D) to three-dimensional (3D) structures. Furthermore, we design tetrahedral microactuators with well-controlled mobility and precise manipulation of both solids and liquids in various environments. This study provides a paradigm shift in the development of microactuators, unlocking a vast array of complexities achievable through manipulation at each hierarchical level of anisotropy.
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Affiliation(s)
- Shiyu Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
| | - Shucong Li
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
| | - Wenchang Zhao
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
| | - Ying Zhou
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
| | - Liqiu Wang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China.
| | - Joanna Aizenberg
- Department of Chemistry and Chemical Biology, Harvard University, Cambridge, MA, USA.
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Pingan Zhu
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, China.
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen, China
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10
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Yang Y, Xie Y, Liu J, Li Y, Chen F. 3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting. Soft Robot 2024; 11:650-669. [PMID: 38330424 DOI: 10.1089/soro.2023.0079] [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: 02/10/2024] Open
Abstract
The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.
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Affiliation(s)
- Yang Yang
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET), Nanjing University of Information Science and Technology, Nanjing, China
| | - Yuan Xie
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
| | - Jia Liu
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Tianchang Research Institute of NUIST, Tianchang, Anhui, China
| | - Yunquan Li
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China
| | - Feifei Chen
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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11
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Kobayashi H, Gholami F, Montgomery SM, Tanaka M, Yue L, Yuhn C, Sato Y, Kawamoto A, Qi HJ, Nomura T. Computational synthesis of locomotive soft robots by topology optimization. SCIENCE ADVANCES 2024; 10:eadn6129. [PMID: 39047101 PMCID: PMC11268422 DOI: 10.1126/sciadv.adn6129] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/18/2023] [Accepted: 06/18/2024] [Indexed: 07/27/2024]
Abstract
Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics, designed using evolutionary algorithms (EAs), have shown potential for automatic design. However, EA-based methods face the challenge of high computational cost when considering multiphysics in locomotion, including materials, actuations, and interactions with environments. Here, we present a design approach for pneumatic SoRos that integrates gradient-based topology optimization with multiphysics material point method (MPM) simulations. This approach starts with a simple initial shape (a cube with a central cavity). The topology optimization with MPM then automatically and iteratively designs the SoRo shape. We design two SoRos, one for walking and one for climbing. These SoRos are 3D printed and exhibit the same locomotion features as in the simulations. This study presents an efficient strategy for designing SoRos, demonstrating that a purely mathematical process can produce limb-like structures seen in biological organisms.
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Affiliation(s)
- Hiroki Kobayashi
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - Farzad Gholami
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - S. Macrae Montgomery
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Masato Tanaka
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI 48105, USA
| | - Liang Yue
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Changyoung Yuhn
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - Yuki Sato
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - Atsushi Kawamoto
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
| | - H. Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Tsuyoshi Nomura
- Toyota Central R&D Labs., Inc., Bunkyo-ku, Tokyo 112-0004, Japan
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12
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Zhao X, Yao H, Lv Y, Chen Z, Dong L, Huang J, Mi S. Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310009. [PMID: 38295155 DOI: 10.1002/smll.202310009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/02/2023] [Revised: 12/31/2023] [Indexed: 02/02/2024]
Abstract
Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications.
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Affiliation(s)
- Xiaoyu Zhao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Hongyi Yao
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Yaoyi Lv
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Zhixian Chen
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Lina Dong
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
| | - Jiajun Huang
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
| | - Shengli Mi
- Bio-manufacturing Engineering Laboratory, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong, 518000, China
- Optometry Advanced Medical Equipment R&D Center, Research Institute of Tsinghua University in Shenzhen, Shenzhen, Guangdong, 518000, China
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13
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Sun X, Yue L, Yu L, Forte CT, Armstrong CD, Zhou K, Demoly F, Zhao RR, Qi HJ. Machine learning-enabled forward prediction and inverse design of 4D-printed active plates. Nat Commun 2024; 15:5509. [PMID: 38951533 PMCID: PMC11217466 DOI: 10.1038/s41467-024-49775-z] [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: 09/01/2023] [Accepted: 06/13/2024] [Indexed: 07/03/2024] Open
Abstract
Shape transformations of active composites (ACs) depend on the spatial distribution of constituent materials. Voxel-level complex material distributions can be encoded by 3D printing, offering enormous freedom for possible shape-change 4D-printed ACs. However, efficiently designing the material distribution to achieve desired 3D shape changes is significantly challenging yet greatly needed. Here, we present an approach that combines machine learning (ML) with both gradient-descent (GD) and evolutionary algorithm (EA) to design AC plates with 3D shape changes. A residual network ML model is developed for the forward shape prediction. A global-subdomain design strategy with ML-GD and ML-EA is then used for the inverse material-distribution design. For a variety of numerically generated target shapes, both ML-GD and ML-EA demonstrate high efficiency. By further combining ML-EA with a normal distance-based loss function, optimized designs are achieved for multiple irregular target shapes. Our approach thus provides a highly efficient tool for the design of 4D-printed active composites.
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Affiliation(s)
- Xiaohao Sun
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Liang Yue
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Luxia Yu
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Connor T Forte
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Connor D Armstrong
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Kun Zhou
- Singapore Centre for 3D Printing, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Frédéric Demoly
- ICB UMR 6303 CNRS, Belfort-Montbeliard University of Technology, UTBM, Belfort, France
- Institut universitaire de France (IUF), Paris, France
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
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14
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Siebenmorgen C, Wang C, Navarro LB, Parisi D, Misra S, Venkiteswaran VK, van Rijn P. Minimally designed thermo-magnetic dual responsive soft robots for complex applications. J Mater Chem B 2024; 12:5339-5349. [PMID: 38597898 DOI: 10.1039/d3tb02839a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/11/2024]
Abstract
The fabrication of thermo-magnetic dual-responsive soft robots often requires intricate designs to implement complex locomotion patterns and utilize the implemented responsive behaviors. This work demonstrates a minimally designed soft robot based on poly-N-isopropylacrylamide (pNIPAM) and ferromagnetic particles, showcasing excellent control over both thermo- and magnetic responses. Free radical polymerization enables the magnetic particles to be entrapped homogeneously within the polymeric network. The integration of magnetic shape programming and temperature response allows the robot to perform various tasks including shaping, locomotion, pick-and-place, and release maneuvers of objects using independent triggers. The robot can be immobilized in a gripping state through magnetic actuation, and a subsequent increase in temperature transitions the robot from a swollen to a collapsed state. The temperature switch enables the robot to maintain a secured configuration while executing other movements via magnetic actuation. This approach offers a straightforward yet effective solution for achieving full control over both stimuli in dual-responsive soft robotics.
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Affiliation(s)
- Clio Siebenmorgen
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
| | - Chen Wang
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
| | - Laurens Bosscher Navarro
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
| | - Daniele Parisi
- University of Groningen, Faculty of Science and Engineering, Product Technology - Engineering and Technology Institute Groningen, Nijenborgh 4, 9747 AG Groningen, The Netherlands
| | - Sarthak Misra
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
- Surgical Robotics Laboratory, Department of Biomechanical Engineering University of Twente, Drienerlolaan 5, 7522 NB Enschede, The Netherlands.
| | | | - Patrick van Rijn
- University of Groningen, University Medical Center Groningen, Biomaterials & Biomedical Technology, Deusinglaan 1, Groningen 9713 AV, The Netherlands.
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15
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Tong D, Zhao Y, Wu Z, Chen Y, Xu X, Chen Q, Fan X, Yang Z. Octopus-Inspired Soft Robot for Slow Drug Release. Biomimetics (Basel) 2024; 9:340. [PMID: 38921220 PMCID: PMC11202092 DOI: 10.3390/biomimetics9060340] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2024] [Revised: 05/27/2024] [Accepted: 05/28/2024] [Indexed: 06/27/2024] Open
Abstract
Octopus tentacles are equipped with numerous suckers, wherein the muscles contract and expel air, creating a pressure difference. Subsequently, when the muscular tension is released, objects can be securely adhered to. This mechanism has been widely employed in the development of adhesive systems. However, most existing octopus-inspired structures are passive and static, lacking dynamic and controllable adhesive switching capabilities and excellent locomotion performance. Here, we present an octopus-inspired soft robot (OISR). Attracted by the magnetic gradient field, the suction cup structure inside the OISR can generate a strong adsorption force, producing dynamically controllable adsorption and separation in the gastrointestinal (GI) tract. The experimental results show that the OISR has a variety of controllable locomotion behaviors, including quick scrolling and rolling motions, generating fast locomotion responses, rolling over gastric folds, and tumbling and swimming inside liquids. By carrying drugs that are absorbable by GI epithelial cells to target areas, the OISR enables continuous drug delivery at lesions or inflamed regions of the GI tract. This research may be a potential approach for achieving localized slow drug release within the GI tract.
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Affiliation(s)
- Dingwen Tong
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Yiqun Zhao
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Yutan Chen
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Xinmiao Xu
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Qinkai Chen
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (D.T.); (Y.Z.); (Z.W.); (Q.C.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China (X.X.)
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16
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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17
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Zhao M, Tao Y, Guo W, Ge Z, Hu H, Yan Y, Zou C, Wang G, Ren Y. Multifunctional flexible magnetic drive gripper for target manipulation in complex constrained environments. LAB ON A CHIP 2024; 24:2122-2134. [PMID: 38456199 DOI: 10.1039/d3lc00945a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/09/2024]
Abstract
Soft actuators capable of remote-controlled guidance and manipulation within complex constrained spaces hold great promise in various fields, especially in medical fields such as minimally invasive surgery. However, most current magnetic drive soft actuators only have the functions of position control and guidance, and it is still challenging to achieve more flexible operations on different targets within constrained spaces. Herein, we propose a multifunctional flexible magnetic drive gripper that can be steered within complex constrained spaces and operate on targets of various shapes. On the one hand, changing the internal pressure of the magnetic gripper can achieve functions such as suction or injection of liquid and transportation of targets with smooth surfaces. On the other hand, with the help of slit structures in the constrained environment, by simply changing the position and orientation of the permanent magnet in the external environment, the magnetic gripper can be controlled to clamp and release targets of linear, flaked, and polyhedral shapes. The full flexibility and multifunctionality of the magnetic gripper suggest new possibilities for precise remote control and object transportation in constrained spaces, so it could serve as a direct contact operation tool for hazardous drugs in enclosed spaces or a surgical tool in human body cavities.
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Affiliation(s)
- Meiying Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Ye Tao
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Wenshang Guo
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Zhenyou Ge
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Hanqing Hu
- Colorectal Cancer Surgery Department, The Second Affiliated Hospital of Harbin Medical University, Harbin 150086, China.
| | - Ying Yan
- Department of Oncology, The First Hospital of Harbin, Harbin 150010, China
| | - Chaoxia Zou
- Department of Biochemistry and Molecular Biology, Harbin Medical University, Harbin 150081, China
| | - Guiyu Wang
- Colorectal Cancer Surgery Department, The Second Affiliated Hospital of Harbin Medical University, Harbin 150086, China.
| | - Yukun Ren
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
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18
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Tian Z, Xue J, Xiao X, Du C, Liu Y. Optomagnetic Coordination Helical Robot with Shape Transformation and Multimodal Motion Capabilities. NANO LETTERS 2024; 24:2885-2893. [PMID: 38407034 DOI: 10.1021/acs.nanolett.4c00047] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/27/2024]
Abstract
Soft robots with magnetic responsiveness exhibit diverse motion modes and programmable shape transformations. While the fixed magnetization configuration facilitates coupling control of robot posture and motion, it limits individual posture control to some extent. This poses a challenge in independently controlling the robot's transformation and motion, restricting its versatile applications. This research introduces a multifunctional helical robot responsive to both light and magnetism, segregating posture control from movements. Light fields assist in robot shaping, achieving a 78% maximum diameter shift. Magnetic fields guide helical robots in multimodal motions, encompassing rotation, flipping, rolling, and spinning-induced propulsion. By controlling multimodal locomotion and shape transformation on demand, helical robots gain enhanced flexibility. This innovation allows them to tightly grip and wirelessly transport designated payloads, showcasing potential applications in drug delivery, soft grippers, and chemical reaction platforms. The unique combination of structural design and control methods holds promise for intelligent robots in the future.
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Affiliation(s)
- Zhuangzhuang Tian
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Jingze Xue
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Xinze Xiao
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Chuankai Du
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
| | - Yan Liu
- Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun 130025, P. R. China
- Weihai Institute for Bionics, Jilin University, Weihai, 264402, China
- Institute of Structured and Architected Materials, Liaoning Academy of Materials, Shenyang 110167, China
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19
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Leanza S, Wu S, Sun X, Qi HJ, Zhao RR. Active Materials for Functional Origami. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2302066. [PMID: 37120795 DOI: 10.1002/adma.202302066] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/04/2023] [Revised: 04/13/2023] [Indexed: 06/19/2023]
Abstract
In recent decades, origami has been explored to aid in the design of engineering structures. These structures span multiple scales and have been demonstrated to be used toward various areas such as aerospace, metamaterial, biomedical, robotics, and architectural applications. Conventionally, origami or deployable structures have been actuated by hands, motors, or pneumatic actuators, which can result in heavy or bulky structures. On the other hand, active materials, which reconfigure in response to external stimulus, eliminate the need for external mechanical loads and bulky actuation systems. Thus, in recent years, active materials incorporated with deployable structures have shown promise for remote actuation of light weight, programmable origami. In this review, active materials such as shape memory polymers (SMPs) and alloys (SMAs), hydrogels, liquid crystal elastomers (LCEs), magnetic soft materials (MSMs), and covalent adaptable network (CAN) polymers, their actuation mechanisms, as well as how they have been utilized for active origami and where these structures are applicable is discussed. Additionally, the state-of-the-art fabrication methods to construct active origami are highlighted. The existing structural modeling strategies for origami, the constitutive models used to describe active materials, and the largest challenges and future directions for active origami research are summarized.
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Affiliation(s)
- Sophie Leanza
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Xiaohao Sun
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
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20
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Luan H, Wang M, Zhang Q, You Z, Jiao Z. Variable Stiffness Fibers Enabled Universal and Programmable Re-Foldability Strategy for Modular Soft Robotics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307350. [PMID: 38155496 PMCID: PMC10933646 DOI: 10.1002/advs.202307350] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Revised: 11/26/2023] [Indexed: 12/30/2023]
Abstract
Origami is a rich source of inspiration for creating soft actuators with complex deformations. However, implementing the re-foldability of origami on soft actuators remains a significant challenge. Herein, a universal and programmable re-foldability strategy is reported to integrate multiple origami patterns into a single soft origami actuator, thereby enabling multimode morphing capability. This strategy can selectively activate and deactivate origami creases through variable stiffness fibers. The utilization of these fibers enables the programmability of crease pattern quantity and types within a single actuator, which expands the morphing modes and deformation ranges without increasing their physical size and chamber number. The universality of this approach is demonstrated by developing a series of re-foldable soft origami actuators. Moreover, these soft origami actuators are utilized to construct a bidirectional crawling robot and a multimode soft gripper capable of adapting to object size, grasping orientation, and placing orientation. This work represents a significant step forward in the design of multifunctional soft actuators and holds great potential for the advancement of agile and versatile soft robots.
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Affiliation(s)
- Hengxuan Luan
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Meng Wang
- Shandong University of Science and TechnologyTaian271019China
| | - Qiang Zhang
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Zhong You
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
- Department of Engineering ScienceUniversity of OxfordParks RoadOxfordOX1 3PJUK
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
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21
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Sun Y, Zhang W, Gu J, Xia L, Cao Y, Zhu X, Wen H, Ouyang S, Liu R, Li J, Jiang Z, Cheng D, Lv Y, Han X, Qiu W, Cai K, Song E, Cao Q, Li L. Magnetically driven capsules with multimodal response and multifunctionality for biomedical applications. Nat Commun 2024; 15:1839. [PMID: 38424039 PMCID: PMC10904804 DOI: 10.1038/s41467-024-46046-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/17/2023] [Accepted: 02/12/2024] [Indexed: 03/02/2024] Open
Abstract
Untethered capsules hold clinical potential for the diagnosis and treatment of gastrointestinal diseases. Although considerable progress has been achieved recently in this field, the constraints imposed by the narrow spatial structure of the capsule and complex gastrointestinal tract environment cause many open-ended problems, such as poor active motion and limited medical functions. In this work, we describe the development of small-scale magnetically driven capsules with a distinct magnetic soft valve made of dual-layer ferromagnetic soft composite films. A core technological advancement achieved is the flexible opening and closing of the magnetic soft valve by using the competitive interactions between magnetic gradient force and magnetic torque, laying the foundation for the functional integration of both drug release and sampling. Meanwhile, we propose a magnetic actuation strategy based on multi-frequency response control and demonstrate that it can achieve effective decoupled regulation of the capsule's global motion and local responses. Finally, through a comprehensive approach encompassing ideal models, animal ex vivo models, and in vivo assessment, we demonstrate the versatility of the developed magnetic capsules and their multiple potential applications in the biomedical field, such as targeted drug delivery and sampling, selective dual-drug release, and light/thermal-assisted therapy.
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Affiliation(s)
- Yuxuan Sun
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Wang Zhang
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Junnan Gu
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Liangyu Xia
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Yinghao Cao
- Cancer Center, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Xinhui Zhu
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Hao Wen
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Shaowei Ouyang
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Ruiqi Liu
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Jialong Li
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Zhenxing Jiang
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Denglong Cheng
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Yiliang Lv
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Xiaotao Han
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Wu Qiu
- School of Life Science and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Kailin Cai
- Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China
| | - Enmin Song
- School of Computer and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Quanliang Cao
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China.
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
| | - Liang Li
- Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology, Wuhan, 430074, China.
- State Key Laboratory of Advanced Electromagnetic Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
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22
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Yang H, Ding S, Wang J, Sun S, Swaminathan R, Ng SWL, Pan X, Ho GW. Computational design of ultra-robust strain sensors for soft robot perception and autonomy. Nat Commun 2024; 15:1636. [PMID: 38388467 PMCID: PMC10883982 DOI: 10.1038/s41467-024-45786-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Accepted: 02/05/2024] [Indexed: 02/24/2024] Open
Abstract
Compliant strain sensors are crucial for soft robots' perception and autonomy. However, their deformable bodies and dynamic actuation pose challenges in predictive sensor manufacturing and long-term robustness. This necessitates accurate sensor modelling and well-controlled sensor structural changes under strain. Here, we present a computational sensor design featuring a programmed crack array within micro-crumples strategy. By controlling the user-defined structure, the sensing performance becomes highly tunable and can be accurately modelled by physical models. Moreover, they maintain robust responsiveness under various demanding conditions including noise interruptions (50% strain), intermittent cyclic loadings (100,000 cycles), and dynamic frequencies (0-23 Hz), satisfying soft robots of diverse scaling from macro to micro. Finally, machine intelligence is applied to a sensor-integrated origami robot, enabling robotic trajectory prediction (<4% error) and topographical altitude awareness (<10% error). This strategy holds promise for advancing soft robotic capabilities in exploration, rescue operations, and swarming behaviors in complex environments.
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Affiliation(s)
- Haitao Yang
- Institute of Flexible Electronics (IFE) & Frontiers Science Center for Flexible Electronics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Shuo Ding
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
- Department of Biomedical Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Jiahao Wang
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Shuo Sun
- Department of Mechanical Engineering, National University of Singapore, Singapore, 9 Engineering Drive 1, Singapore, 117575, Singapore
| | - Ruphan Swaminathan
- Department of Computer Science, Columbia University, New York, NY, 10027, USA
| | - Serene Wen Ling Ng
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Xinglong Pan
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore
| | - Ghim Wei Ho
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 4 Engineering Drive 3, Singapore, 117583, Singapore.
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23
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Ren Z, Sitti M. Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion. Nat Protoc 2024; 19:441-486. [PMID: 38097687 DOI: 10.1038/s41596-023-00916-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Accepted: 09/21/2023] [Indexed: 02/12/2024]
Abstract
Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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24
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Chen Z, Wang Y, Chen H, Law J, Pu H, Xie S, Duan F, Sun Y, Liu N, Yu J. A magnetic multi-layer soft robot for on-demand targeted adhesion. Nat Commun 2024; 15:644. [PMID: 38245517 PMCID: PMC10799857 DOI: 10.1038/s41467-024-44995-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/22/2023] [Accepted: 01/04/2024] [Indexed: 01/22/2024] Open
Abstract
Magnetic soft robots have shown great potential for biomedical applications due to their high shape reconfigurability, motion agility, and multi-functionality in physiological environments. Magnetic soft robots with multi-layer structures can enhance the loading capacity and function complexity for targeted delivery. However, the interactions between soft entities have yet to be fully investigated, and thus the assembly of magnetic soft robots with on-demand motion modes from multiple film-like layers is still challenging. Herein, we model and tailor the magnetic interaction between soft film-like layers with distinct in-plane structures, and then realize multi-layer soft robots that are capable of performing agile motions and targeted adhesion. Each layer of the robot consists of a soft magnetic substrate and an adhesive film. The mechanical properties and adhesion performance of the adhesive films are systematically characterized. The robot is capable of performing two locomotion modes, i.e., translational motion and tumbling motion, and also the on-demand separation with one side layer adhered to tissues. Simulation results are presented, which have a good qualitative agreement with the experimental results. The feasibility of using the robot to perform multi-target adhesion in a stomach is validated in both ex-vivo and in-vivo experiments.
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Affiliation(s)
- Ziheng Chen
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Junhui Law
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Huayan Pu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Shaorong Xie
- School of Computer Engineering and Science, Shanghai University, Shanghai, 200444, China
| | - Feng Duan
- Department of Interventional Radiology, Chinese PLA General Hospital, Beijing, 100853, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Na Liu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China.
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China.
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China.
- School of Medicine, The Chinese University of Hong Kong, Shenzhen, 518172, China.
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25
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Zhong S, Xin Z, Hou Y, Li Y, Huang HW, Sun T, Shi Q, Wang H. Double-Modal Locomotion of a Hydrogel Ultra-Soft Magnetic Miniature Robot with Switchable Forms. CYBORG AND BIONIC SYSTEMS 2024; 6:0077. [PMID: 38435709 PMCID: PMC10907021 DOI: 10.34133/cbsystems.0077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Accepted: 11/09/2023] [Indexed: 03/05/2024] Open
Abstract
Flexible miniature robots are expected to enter difficult-to-reach areas in vivo to carry out targeted operations, attracting widespread attention. However, it is challenging for the existing soft miniature robots to substantially alter their stable shape once the structure is designed. This limitation leads to a fixed motion mode, which subsequently restricts their operating environment. In this study, we designed a biocompatible flexible miniature robot with a variable stable form that is capable of adapting to complex terrain environments through multiple movement modes. Inspired by the reversible stretching reaction of alginate saline gel stimulated by changes in environmental ion concentration, we manufactured a morphologically changeable super-soft hydrogel miniature robot body. According to the stretch and contraction shapes of the flexible hydrogel miniature robot, we designed magnetic fields for swing and rolling motion modes to realize multi-shape movement. The experimental results demonstrate that the deflection angle of the designed flexible miniature robot is reversible and can reach a maximum of 180°. The flexible miniature robot can complete forward swinging in the bar stretch state and tumbling motion in the spherical state. We anticipate that flexible hydrogel miniature robots with multiple morphologies and multimodal motion have great potential for biomedical applications in complex, unstructured, and enclosed living environments.
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Affiliation(s)
- Shihao Zhong
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Zhengyuan Xin
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yaozhen Hou
- Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yang Li
- Peking University First Hospital, Beijing 100034, China
| | - Hen-Wei Huang
- Laboratory for Translational Engineering,
Harvard Medical School, Cambridge, MA 02139, USA
| | - Tao Sun
- Beijing Advanced Innovation Center for Intelligent Robots and Systems,
Beijing Institute of Technology, Beijing 100081, China
| | - Qing Shi
- Beijing Advanced Innovation Center for Intelligent Robots and Systems,
Beijing Institute of Technology, Beijing 100081, China
| | - Huaping Wang
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
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26
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Choe JK, Yi J, Jang H, Won H, Lee S, Lee H, Jang Y, Song H, Kim J. Digital Mechanical Metamaterial: Encoding Mechanical Information with Graphical Stiffness Pattern for Adaptive Soft Machines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2304302. [PMID: 37850948 DOI: 10.1002/adma.202304302] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Revised: 09/15/2023] [Indexed: 10/19/2023]
Abstract
Inspired by the adaptive features exhibited by biological organisms like the octopus, soft machines that can tune their shape and mechanical properties have shown great potential in applications involving unstructured and continuously changing environments. However, current soft machines are far from achieving the same level of adaptability as their biological counterparts, hampered by limited real-time tunability and severely deficient reprogrammable space of properties and functionalities. As a steppingstone toward fully adaptive soft robots and smart interactive machines, an encodable multifunctional material that uses graphical stiffness patterns is introduced here to in situ program versatile mechanical capabilities without requiring additional infrastructure. Through independently switching the digital binary stiffness states (soft or rigid) of individual constituent units of a simple auxetic structure with elliptical voids, in situ and gradational tunability is demonstrated here in various mechanical qualities such as shape-shifting and -memory, stress-strain response, and Poisson's ratio under compressive load as well as application-oriented functionalities such as tunable and reusable energy absorption and pressure delivery. This digitally programmable material is expected to pave the way toward multienvironment soft robots and interactive machines.
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Affiliation(s)
- Jun Kyu Choe
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Jiyoon Yi
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hanhyeok Jang
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Heejae Won
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Suwoo Lee
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hajun Lee
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Yeonwoo Jang
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hyeonseo Song
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Jiyun Kim
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
- Center for Multidimensional Programmable Matter, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea
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27
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Wang S, Fan J, Liu Y. CFD-Based Simulation Analysis for Motions through Multiphase Environments. Biomimetics (Basel) 2023; 8:505. [PMID: 37887636 PMCID: PMC10604648 DOI: 10.3390/biomimetics8060505] [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: 08/29/2023] [Revised: 09/26/2023] [Accepted: 10/13/2023] [Indexed: 10/28/2023] Open
Abstract
The motion process and force of the jumper crossing a multiphase environment are of great significance to the research of small amphibious robots. Here, CFD (Computational Fluid Dynamics)-based simulation analysis for motions through multiphase environments (water-air multiphase) is successfully realized by UDF (user-defined function). The analytical model is first established to investigate the jumping response of the jumpers with respect to the jump angle, force, and water depth. The numerical model of the jumper and its surrounding fluid domain is conducted to obtain various dynamic parameters in the jumping process, such as jumping height and speed. Satisfactory agreements are obtained by comparing the error of repeated simulation results (5%). Meanwhile, the influence of the jumper's own attributes, including mass and structural size, on the jumping performance is analyzed. The flow field information, such as wall shear and velocity when the jumper approaches and breaks through the water surface, is finally extracted, which lays a foundation for the structural design and dynamic underwater analysis of the amphibious robot.
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Affiliation(s)
| | | | - Yubin Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; (S.W.); (J.F.)
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28
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Lee JG, Raj RR, Day NB, Shields CW. Microrobots for Biomedicine: Unsolved Challenges and Opportunities for Translation. ACS NANO 2023; 17:14196-14204. [PMID: 37494584 PMCID: PMC10928690 DOI: 10.1021/acsnano.3c03723] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/28/2023]
Abstract
Microrobots are being explored for biomedical applications, such as drug delivery, biological cargo transport, and minimally invasive surgery. However, current efforts largely focus on proof-of-concept studies with nontranslatable materials through a "design-and-apply" approach, limiting the potential for clinical adaptation. While these proof-of-concept studies have been key to advancing microrobot technologies, we believe that the distinguishing capabilities of microrobots will be most readily brought to patient bedsides through a "design-by-problem" approach, which involves focusing on unsolved problems to inform the design of microrobots with practical capabilities. As outlined below, we propose that the clinical translation of microrobots will be accelerated by a judicious choice of target applications, improved delivery considerations, and the rational selection of translation-ready biomaterials, ultimately reducing patient burden and enhancing the efficacy of therapeutic drugs for difficult-to-treat diseases.
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Affiliation(s)
| | | | | | - C. Wyatt Shields
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, Colorado, 80303, USA
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29
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Richter M, Sikorski J, Makushko P, Zabila Y, Venkiteswaran VK, Makarov D, Misra S. Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302077. [PMID: 37330643 PMCID: PMC10460866 DOI: 10.1002/advs.202302077] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 05/21/2023] [Indexed: 06/19/2023]
Abstract
Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
| | - Jakub Sikorski
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
| | - Pavlo Makushko
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Yevhen Zabila
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
- The H. Niewodniczanski Institute of Nuclear Physics, Polish Academy of SciencesKrakow31‐342Poland
| | | | - Denys Makarov
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
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30
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Liu W, Choi SJ, George D, Li L, Zhong Z, Zhang R, Choi SY, Selaru FM, Gracias DH. Untethered shape-changing devices in the gastrointestinal tract. Expert Opin Drug Deliv 2023; 20:1801-1822. [PMID: 38044866 PMCID: PMC10872387 DOI: 10.1080/17425247.2023.2291450] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Accepted: 12/01/2023] [Indexed: 12/05/2023]
Abstract
INTRODUCTION Advances in microfabrication, automation, and computer engineering seek to revolutionize small-scale devices and machines. Emerging trends in medicine point to smart devices that emulate the motility, biosensing abilities, and intelligence of cells and pathogens that inhabit the human body. Two important characteristics of smart medical devices are the capability to be deployed in small conduits, which necessitates being untethered, and the capacity to perform mechanized functions, which requires autonomous shape-changing. AREAS COVERED We motivate the need for untethered shape-changing devices in the gastrointestinal tract for drug delivery, diagnosis, and targeted treatment. We survey existing structures and devices designed and utilized across length scales from the macro to the sub-millimeter. These devices range from triggerable pre-stressed thin film microgrippers and spring-loaded devices to shape-memory and differentially swelling structures. EXPERT OPINION Recent studies demonstrate that when fully enabled, tether-free and shape-changing devices, especially at sub-mm scales, could significantly advance the diagnosis and treatment of GI diseases ranging from cancer and inflammatory bowel disease (IBD) to irritable bowel syndrome (IBS) by improving treatment efficacy, reducing costs, and increasing medication compliance. We discuss the challenges and possibilities associated with ensuring safe, reliable, and autonomous operation of these smart devices.
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Affiliation(s)
- Wangqu Liu
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Soo Jin Choi
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Derosh George
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Ling Li
- Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University School of Medicine, Baltimore, MD 21287, USA
| | - Zijian Zhong
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Ruili Zhang
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Si Young Choi
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Florin M. Selaru
- Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University School of Medicine, Baltimore, MD 21287, USA
| | - David H. Gracias
- Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Chemistry, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Materials Science and Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
- Department of Oncology, Johns Hopkins University School of Medicine, Baltimore, MD 21205, USA
- Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21218, USA
- Sidney Kimmel Comprehensive Cancer Center (SKCCC), Johns Hopkins School of Medicine, Baltimore, MD 21205, USA
- Center for MicroPhysiological Systems (MPS), Johns Hopkins School of Medicine, Baltimore, MD 21205, USA
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31
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Chen E, Yang Y, Li M, Li B, Liu G, Mu W, Yin R. Bio-Mimic, Fast-Moving, and Flippable Soft Piezoelectric Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300673. [PMID: 37163730 PMCID: PMC10369280 DOI: 10.1002/advs.202300673] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/30/2023] [Revised: 04/09/2023] [Indexed: 05/12/2023]
Abstract
Cheetahs achieve high-speed movement and unique athletic gaits through the contraction and expansion of their limbs during the gallop. However, few soft robots can mimic their gaits and achieve the same speed of movement. Inspired by the motion gait of cheetahs, here the resonance of double spiral structure for amplified motion performance and environmental adaptability in a soft-bodied hopping micro-robot is exploited. The 0.058 g, 10 mm long tethered soft robot is capable of achieving a maximum motion speed of 42.8 body lengths per second (BL/s) and a maximum average turning speed of 482° s-1 . In addition, this robot can maintain high speed movement even after flipping. The soft robot's ability to move over complex terrain, climb hills, and carry heavy loads as well as temperature sensors is demonstrated. This research opens a new structural design for soft robots: a double spiral configuration that efficiently translates the deformation of soft actuators into swift motion of the robot with high environmental adaptability.
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Affiliation(s)
- Erdong Chen
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Yiduo Yang
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Mengjiao Li
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Binghang Li
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Guijie Liu
- College of EngineeringOcean University of ChinaQingdao266100China
| | - Weilei Mu
- College of EngineeringOcean University of ChinaQingdao266100China
| | - Rong Yin
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
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32
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Yue L, Su YL, Li M, Yu L, Montgomery SM, Sun X, Finn MG, Gutekunst WR, Ramprasad R, Qi HJ. One-Pot Synthesis of Depolymerizable δ-Lactone Based Vitrimers. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023:e2300954. [PMID: 37060583 DOI: 10.1002/adma.202300954] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2023] [Revised: 04/10/2023] [Indexed: 06/04/2023]
Abstract
A depolymerizable vitrimer that allows both reprocessability and monomer recovery by a simple and scalable one-pot two-step synthesis of vitrimers from cyclic lactones is reported. Biobased δ-valerolactone with alkyl substituents (δ-lactone) has low ceiling temperature; thus, their ring-opening-polymerized aliphatic polyesters are capable of depolymerizing back to monomers. In this work, the amorphous poly(δ-lactone) is solidified into an elastomer (i.e., δ-lactone vitrimer) by a vinyl ether cross-linker with dynamic acetal linkages, giving the merits of reprocessing and healing. Thermolysis of the bulk δ-lactone vitrimer at 200 °C can recover 85-90 wt% of the material, allowing reuse without losing value and achieving a successful closed-loop life cycle. It further demonstrates that the new vitrimer has excellent properties, with the potential to serve as a biobased and sustainable replacement of conventional soft elastomers for various applications such as lenses, mold materials, soft robots, and microfluidic devices.
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Affiliation(s)
- Liang Yue
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Yong-Liang Su
- School of Chemistry and Biochemistry, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Mingzhe Li
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Luxia Yu
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - S Macrae Montgomery
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Xiaohao Sun
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - M G Finn
- School of Chemistry and Biochemistry, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Will R Gutekunst
- School of Chemistry and Biochemistry, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Rampi Ramprasad
- School of Materials Science and Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - H Jerry Qi
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
- Rewable Bioproduct Institute, Georgia Institute of Technology, Atlanta, GA, 30332, USA
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33
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Zhang Z, Long Y, Chen G, Wu Q, Wang H, Jiang H. Soft and lightweight fabric enables powerful and high-range pneumatic actuation. SCIENCE ADVANCES 2023; 9:eadg1203. [PMID: 37043577 PMCID: PMC10096572 DOI: 10.1126/sciadv.adg1203] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 03/14/2023] [Indexed: 06/19/2023]
Abstract
Soft structures and actuation allow robots, conventionally consisting of rigid components, to perform more compliant, adaptive interactions similar to living creatures. Although numerous functions of these types of actuators have been demonstrated in the literature, their hyperelastic designs generally suffer from limited workspaces and load-carrying capabilities primarily due to their structural stretchability factor. Here, we describe a series of pneumatic actuators based on soft but less stretchable fabric that can simultaneously perform tunable workspace and bear a high payload. The motion mode of the actuator is programmable, combinable, and predictable and is informed by rapid response to low input pressure. A robotic gripper using three fabric actuators is also presented. The gripper demonstrates a grasping force of over 150 N and a grasping range from 70 to 350 millimeters. The design concept and comprehensive guidelines presented would provide design and analysis foundations for applying less stretchable yet soft materials in soft robots to further enhance their practicality.
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Affiliation(s)
- Zhuang Zhang
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
| | - Yongzhou Long
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Genliang Chen
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Qichen Wu
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hao Wang
- State Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang 310030, China
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34
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Su J, Zhang Y, Cheng L, Zhu L, Yang R, Niu F, Yang K, Duan Y. Oribron: An Origami-Inspired Deformable Rigid Bronchoscope for Radial Support. MICROMACHINES 2023; 14:822. [PMID: 37421055 DOI: 10.3390/mi14040822] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/12/2023] [Revised: 03/29/2023] [Accepted: 04/04/2023] [Indexed: 07/09/2023]
Abstract
The structure of a traditional rigid bronchoscope includes proximal, distal, and body, representing an important means to treat hypoxic diseases. However, the body structure is too simple, resulting in the utilization rate of oxygen being usually low. In this work, we reported a deformable rigid bronchoscope (named Oribron) by adding a Waterbomb origami structure to the body. The Waterbomb's backbone is made of films, and the pneumatic actuators are placed inside it to achieve rapid deformation at low pressure. Experiments showed that Waterbomb has a unique deformation mechanism, which can transform from a small-diameter configuration (#1) to a large-diameter configuration (#2), showing excellent radial support capability. When Oribron entered or left the trachea, the Waterbomb remained in #1. When Oribron is working, the Waterbomb transforms from #1 to #2. Since #2 reduces the gap between the bronchoscope and the tracheal wall, it effectively slows down the rate of oxygen loss, thus promoting the absorption of oxygen by the patient. Therefore, we believe that this work will provide a new strategy for the integrated development of origami and medical devices.
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Affiliation(s)
- Junjie Su
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Yangyang Zhang
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Liang Cheng
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Ling Zhu
- Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
| | - Runhuai Yang
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Fuzhou Niu
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
| | - Ke Yang
- Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
| | - Yuping Duan
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
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35
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Huang H, Lyu Y, Nan K. Soft robot-enabled controlled release of oral drug formulations. SOFT MATTER 2023; 19:1269-1281. [PMID: 36723379 DOI: 10.1039/d2sm01624a] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
The creation of highly effective oral drug delivery systems (ODDSs) has long been the main objective of pharmaceutical research. Multidisciplinary efforts involving materials, electronics, control, and pharmaceutical sciences encourage the development of robot-enabled ODDSs. Compared with conventional rigid robots, soft robots potentially offer better mechanical compliance and biocompatibility with biological tissues, more versatile shape control and maneuverability, and multifunctionality. In this paper, we first describe and highlight the importance of manipulating drug release kinetics, i.e. pharmaceutical kinetics. We then introduce an overview of state-of-the-art soft robot-based ODDSs comprising resident, shape-programming, locomotive, and integrated soft robots. Finally, the challenges and outlook regarding future soft robot-based ODDS development are discussed.
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Affiliation(s)
- Hao Huang
- College of Chemical and Biological Engineering, Zhejiang University, Hangzhou 310058, China
| | - Yidan Lyu
- College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China.
| | - Kewang Nan
- College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, China.
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36
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Wang Y, Shen J, Handschuh-Wang S, Qiu M, Du S, Wang B. Microrobots for Targeted Delivery and Therapy in Digestive System. ACS NANO 2023; 17:27-50. [PMID: 36534488 DOI: 10.1021/acsnano.2c04716] [Citation(s) in RCA: 19] [Impact Index Per Article: 19.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems and imaging tools, significant progress has been made toward the development of functional microrobots. These robots can be actuated by external fields and fuels while featuring real-time tracking feedback toward certain regions and can perform the therapeutic process by rational exertion of the local environment of the gastrointestinal tract (e.g., pH, enzyme). Compared with conventional surgical tools, such as endoscopic devices and catheters, miniature robots feature minimally invasive diagnosis and treatment, multifunctionality, high safety and adaptivity, embodied intelligence, and easy access to tortuous and narrow lumens. In addition, the active motion of microrobots enhances local penetration and retention of drugs in tissues compared to common passive oral drug delivery. Based on the dissimilar microenvironments in the various sections of the gastrointestinal tract, this review introduces the advances of miniature robots for minimally invasive targeted delivery and therapy of diseases along the gastrointestinal tract. The imaging modalities for the tracking and their application scenarios are also discussed. We finally evaluate the challenges and barriers that retard their applications and hint on future research directions in this field.
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Affiliation(s)
- Yun Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen518036, P.R. China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Ming Qiu
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
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37
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Guo P, Tao S. Chirality enhanced shear‐free mixing of highly viscous fluids in an origami reactor. AIChE J 2022. [DOI: 10.1002/aic.18002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
Affiliation(s)
- Pengfei Guo
- State Key Laboratory of Fine Chemicals, Frontier Science Center for Smart Materials, School of Chemical Engineering Dalian University of Technology Dalian China
- Department of Chemistry, School of Chemical Engineering Dalian University of Technology Dalian Liaoning China
| | - Shengyang Tao
- State Key Laboratory of Fine Chemicals, Frontier Science Center for Smart Materials, School of Chemical Engineering Dalian University of Technology Dalian China
- Department of Chemistry, School of Chemical Engineering Dalian University of Technology Dalian Liaoning China
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Zhang S, Ke X, Jiang Q, Chai Z, Wu Z, Ding H. Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200671. [PMID: 35732070 DOI: 10.1002/adma.202200671] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Revised: 06/12/2022] [Indexed: 06/15/2023]
Abstract
Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.
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Affiliation(s)
- Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
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Greenwood TE, Cagle H, Pulver B, Pak OS, Lin Kong Y. Ingestible Functional Magnetic Robot with Localized Flexibility (MR-LF). ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 4:2200166. [PMID: 37994359 PMCID: PMC10665024 DOI: 10.1002/aisy.202200166] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/16/2022] [Indexed: 11/24/2023]
Abstract
The integration of an ingestible dosage form with sensing, actuation, and drug delivery capabilities can enable a broad range of surgical-free diagnostic and treatment strategies. However, the gastrointestinal (GI) tract is a highly constrained and complex luminal construct that fundamentally limits the size of an ingestible system. Recent advancements in mesoscale magnetic crawlers have demonstrated the ability to effectively traverse complex and confined systems by leveraging magnetic fields to induce contraction and bending-based locomotion. However, the integration of functional components (e.g., electronics) in the proposed ingestible system remains fundamentally challenging. Herein, the creation of a centralized compartment in a magnetic robot by imparting localized flexibility (MR-LF) is demonstrated. The centralized compartment enables MR-LF to be readily integrated with modular functional components and payloads, such as commercial off-the-shelf electronics and medication, while preserving its bidirectionality in an ingestible form factor. The ability of MR-LF to incorporate electronics, perform drug delivery, guide continuum devices such as catheters, and navigate air-water environments in confined lumens is demonstrated. The MR-LF enables functional integration to create a highly-integrated ingestible system that can ultimately address a broad range of unmet clinical needs.
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Affiliation(s)
- Taylor E Greenwood
- Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112 (USA)
| | - Henry Cagle
- Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112 (USA)
| | - Benson Pulver
- Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112 (USA)
| | - On Shun Pak
- Department of Mechanical Engineering, Santa Clara University, Santa Clara, CA 95053 (USA)
| | - Yong Lin Kong
- Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112 (USA)
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40
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Wang D, Liu Y, Deng J, Zhang S, Li J, Wang W, Liu J, Chen W, Quan Q, Liu G, Xie H, Zhao J. Miniature Amphibious Robot Actuated by Rigid-Flexible Hybrid Vibration Modules. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2203054. [PMID: 35981889 PMCID: PMC9561757 DOI: 10.1002/advs.202203054] [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: 05/24/2022] [Revised: 07/24/2022] [Indexed: 06/15/2023]
Abstract
Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi-locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration-driven locomotion mechanism is developed. The robot has two unique rigid-flexible hybrid modules (RFH-modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration-induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s-1 on ground and 171 mm s-1 on water. The robot, actuated by the RFH-modules based on vibration-driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.
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Affiliation(s)
- Dehong Wang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Deng
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Shijing Zhang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jing Li
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weiyi Wang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Junkao Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weishan Chen
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Qiquan Quan
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Gangfeng Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Hui Xie
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Zhao
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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41
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Wang Z, Shi D, Wang X, Chen Y, Yuan Z, Li Y, Ge Z, Yang W. A Multifunctional Light-Driven Swimming Soft Robot for Various Application Scenarios. Int J Mol Sci 2022; 23:ijms23179609. [PMID: 36077007 PMCID: PMC9455906 DOI: 10.3390/ijms23179609] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/02/2022] [Revised: 08/19/2022] [Accepted: 08/23/2022] [Indexed: 11/16/2022] Open
Abstract
The locomotor behavior of creatures in nature can bring a lot of inspiration for the fabrication of soft actuators. In this paper, we fabricated a bionic light-driven swimming soft robot that can perform grasping of tiny objects and achieve the task of object transfer. By adding carbon nanotubes (CNTs), the temperature-sensitive hydrogels can be endowed with light-responsive properties. The fabricated composite hydrogel structure can control the contraction and expansion of volume by light, which is similar to the contraction and diastole behavior of muscles. The oscillation of the fish tail and the grasping action of the normally closed micromanipulator can be achieved by the control of the irradiation of the xenon light source. The bending of the bionic arm can be controlled by the irradiation of a near-infrared (NIR) laser, which transforms the spatial position and posture of the micromanipulator. The proposed scheme is feasible for miniaturized fabrication and application of flexible actuators. This work provides some important insights for the study of light-driven microrobots and light-driven flexible actuators.
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Affiliation(s)
- Zhen Wang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Dongni Shi
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Xiaowen Wang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Yibao Chen
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Zheng Yuan
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
| | - Yan Li
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
- Correspondence: (Y.L.); (W.Y.)
| | - Zhixing Ge
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
| | - Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
- Correspondence: (Y.L.); (W.Y.)
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42
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Origami mini-robot does gymnastics for a good cause. Nature 2022. [DOI: 10.1038/d41586-022-01649-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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