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Qing H, Chi Y, Hong Y, Zhao Y, Qi F, Li Y, Yin J. Fully 3D-Printed Miniature Soft Hydraulic Actuators with Shape Memory Effect for Morphing and Manipulation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2402517. [PMID: 38808656 DOI: 10.1002/adma.202402517] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/18/2024] [Revised: 05/16/2024] [Indexed: 05/30/2024]
Abstract
Miniature shape-morphing soft actuators driven by external stimuli and fluidic pressure hold great promise in morphing matter and small-scale soft robotics. However, it remains challenging to achieve both rich shape morphing and shape locking in a fast and controlled way due to the limitations of actuation reversibility and fabrication. Here, fully 3D-printed, sub-millimeter thin-plate-like miniature soft hydraulic actuators with shape memory effect (SME) for programable fast shape morphing and shape locking, are reported. It combines commercial high-resolution multi-material 3D printing of stiff shape memory polymers (SMPs) and soft elastomers and direct printing of microfluidic channels and 2D/3D channel networks embedded in elastomers in a single print run. Leveraging spatial patterning of hybrid compositions and expansion heterogeneity of microfluidic channel networks for versatile hydraulically actuated shape morphing, including circular, wavy, helical, saddle, and warping shapes with various curvatures, are demonstrated. The morphed shapes can be temporarily locked and recover to their original planar forms repeatedly by activating SME of the SMPs. Utilizing the fast shape morphing and locking in the miniature actuators, their potential applications in non-invasive manipulation of small-scale objects and fragile living organisms, multimodal entanglement grasping, and energy-saving manipulators, are demonstrated.
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Affiliation(s)
- Haitao Qing
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Fangjie Qi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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Mutlutürk E, Özbek D, Özcan O, Birlik Demirel G, Baytekin B. Single-Material Solvent-Driven Polydimethylsiloxane Sponge Bending Actuators. Soft Robot 2024. [PMID: 38669096 DOI: 10.1089/soro.2023.0147] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/28/2024] Open
Abstract
Soft robots mimic the agility of living organisms without rigid joints and muscles. Continuum bending (CB) is one type of motion living organisms can display. CB can be achieved using pneumatic, electroactive, or thermal actuators prepared by casting an active layer on a passive layer. The corresponding input actuates only the active layer in the assembly resulting in the bending of the structure. These two different layers must be laminated well during manufacturing. However, the formed bilayer can still delaminate later, and the detachment hampers the actuator's reversible, long-time use. An approach to creating a single material bending actuator was previously reported, for which spatial gradient swelling was used. This authentic approach allows a single material to be manufactured as a bending actuator, allowing easy access to such actuators without lamination. In this study, we show spatial porosity differences in the sponges of polydimethylsiloxane (PDMS) (a common material in soft robotics) can be used to create the required anisotropy for bending. The spongy polymers are manufactured through table sugar templates and actuated by (organic) solvent absorption/desorption. This enables some versatility in the mechanical properties, shape, actuation force, and actuation speed. The one-material system's straightforward production and seamless nature are advantageous for reversible and repetitive bending. This simple method can further be developed in hydrogels and polymers for soft robotics and functional materials.
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Affiliation(s)
- Esma Mutlutürk
- Department of Chemistry, Polatlı Faculty of Arts and Sciences, Ankara Hacı Bayram Veli University, Ankara, Turkey
| | - Doğa Özbek
- Department of Mechanical Engineering, Bilkent University, Ankara, Turkey
| | - Onur Özcan
- Department of Mechanical Engineering, Bilkent University, Ankara, Turkey
| | - Gokcen Birlik Demirel
- Department of Chemistry, Polatlı Faculty of Arts and Sciences, Ankara Hacı Bayram Veli University, Ankara, Turkey
| | - Bilge Baytekin
- Department of Chemistry, Bilkent University, Ankara, Turkey
- National Nanotechnology Research Center UNAM, Bilkent University, Ankara, Turkey
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Jin L, Yang S. Engineering Kirigami Frameworks Toward Real-World Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308560. [PMID: 37983878 DOI: 10.1002/adma.202308560] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 11/05/2023] [Indexed: 11/22/2023]
Abstract
The surge in advanced manufacturing techniques has led to a paradigm shift in the realm of material design from developing completely new chemistry to tailoring geometry within existing materials. Kirigami, evolved from a traditional cultural and artistic craft of cutting and folding, has emerged as a powerful framework that endows simple 2D sheets with unique mechanical, thermal, optical, and acoustic properties, as well as shape-shifting capabilities. Given its flexibility, versatility, and ease of fabrication, there are significant efforts in developing kirigami algorithms to create various architectured materials for a wide range of applications. This review summarizes the fundamental mechanisms that govern the transformation of kirigami structures and elucidates how these mechanisms contribute to their distinctive properties, including high stretchability and adaptability, tunable surface topography, programmable shape morphing, and characteristics of bistability and multistability. It then highlights several promising applications enabled by the unique kirigami designs and concludes with an outlook on the future challenges and perspectives of kirigami-inspired metamaterials toward real-world applications.
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Affiliation(s)
- Lishuai Jin
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA, 19104, USA
| | - Shu Yang
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA, 19104, USA
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Armanini C, Junge K, Johnson P, Whitfield C, Renda F, Calisti M, Hughes J. Soft robotics for farm to fork: applications in agriculture & farming. BIOINSPIRATION & BIOMIMETICS 2024; 19:021002. [PMID: 38250751 DOI: 10.1088/1748-3190/ad2084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/17/2023] [Accepted: 01/19/2024] [Indexed: 01/23/2024]
Abstract
Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a plethora of potential uses. Robust yet compliant interactions between farm produce and machines will enable new capabilities and optimize existing processes. There is also an opportunity to explore how modeling tools used in soft robotics can be applied to improve our representation and understanding of the soft and compliant structures common in agriculture. In this review, we seek to highlight the potential for soft robotics technologies within the food system, and also the unique challenges that must be addressed when developing soft robotics systems for this problem domain. We conclude with an outlook on potential directions for meaningful and sustainable impact, and also how our outlook on both soft robotics and agriculture must evolve in order to achieve the required paradigm shift.
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Affiliation(s)
- Costanza Armanini
- Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Kai Junge
- CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland
| | - Philip Johnson
- Lincoln Institute for Agri-Food Tech, University of Lincoln, Lincoln, United Kingdom
| | | | - Federico Renda
- Department of Mechanical Engineering, Khalifa University, Abu Dhabi, United Arab Emirates
| | - Marcello Calisti
- Lincoln Institute for Agri-Food Tech, University of Lincoln, Lincoln, United Kingdom
| | - Josie Hughes
- CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland
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Qiao C, Agnelli F, Pokkalla DK, D'Ambrosio N, Pasini D. Anisotropic Morphing in Bistable Kirigami through Symmetry Breaking and Geometric Frustration. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2313198. [PMID: 38413013 DOI: 10.1002/adma.202313198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/05/2023] [Revised: 02/24/2024] [Indexed: 02/29/2024]
Abstract
Shape morphing in bistable kirigami enables remarkable functionalities appealing to a diverse range of applications across the spectrum of length scale. At the core of their shape shifting lies the architecture of their repeating unit, where highly deformable slits and quasi-rigid rotating units often exhibit multiple symmetries that confer isotropic deployment obeying uniform scaling transformation. In this work, symmetry breaking in bistable kirigami is investigated to access geometric frustration and anisotropic morphing, enabling arbitrarily scaled deployment in planar and spatial bistable domains. With an analysis on their symmetry properties complemented by a systematic investigation integrating semi-analytical derivations, numerical simulations, and experiments on elastic kirigami sheets, this work unveils the fundamental relations between slit symmetry, geometric frustration, and anisotropic bistable deployment. Furthermore, asymmetric kirigami units are leveraged in planar and flat-to-3D demonstrations to showcase the pivotal role of shear deformation in achieving target shapes and functions so far unattainable with uniformly stretchable kirigami. The insights provided in this work unveil the role of slit symmetry breaking in controlling the anisotropic bistable deployment of soft kirigami metamaterials, enriching the range of achievable functionalities for applications spanning deployable space structures, wearable technologies, and soft machines.
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Affiliation(s)
- Chuan Qiao
- MOE Key Laboratory of Deep Earth Science and Engineering, College of Architecture and Environment, Sichuan University, Chengdu, 610065, China
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Filippo Agnelli
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Deepak Kumar Pokkalla
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Nicholas D'Ambrosio
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Damiano Pasini
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
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Feng H, Zhou P, Peng Q, Weng M. Soft multi-layer actuators integrated with the functions of electrical energy harvest and storage. Chemistry 2024; 30:e202303378. [PMID: 38009845 DOI: 10.1002/chem.202303378] [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: 10/13/2023] [Revised: 11/25/2023] [Accepted: 11/27/2023] [Indexed: 11/29/2023]
Abstract
Soft multi-layer actuators are smart, lightweight, and flexible, which can be used in a wide range of fields such as artificial muscles, advanced medical devices, and wearable devices. The research on the actuation property of the soft actuators has made significant progress, paving the way for the controllable motions of the actuators. However, compared with the intelligence and adaptability of life in nature, these actuators still have the problem of insufficient intelligence. The phenomenon is reflected in a lack of continuous supply of energy. Therefore, it has become a development trend to combine functions such as energy harvesting, storage, and conversion with actuators to build intelligent actuators. This concept presents a synopsis of the advancements made in soft actuators that have been coupled with the capabilities of electrical energy harvesting and storage. The design concepts and typical applications of this soft smart actuators are introduced in detail. Finally, the future research directions and applications of smart actuators are prospected from our perspective.
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Affiliation(s)
- Haihang Feng
- School of Materials Science and Engineering, Fujian Provincial Key Laboratory of Advanced Materials Processing and Application, Key Laboratory of Polymer Materials and Products of Universities in Fujian, Fujian University of Technology, Fuzhou, Fujian, 350118, China
| | - Peidi Zhou
- Institute of Smart Marine and Engineering, Fujian Provincial Key Laboratory of Marine Smart Equipment, Fujian University of Technology, Fuzhou, Fujian, 350118, China
| | - Qinglu Peng
- School of Materials Science and Engineering, Fujian Provincial Key Laboratory of Advanced Materials Processing and Application, Key Laboratory of Polymer Materials and Products of Universities in Fujian, Fujian University of Technology, Fuzhou, Fujian, 350118, China
| | - Mingcen Weng
- School of Materials Science and Engineering, Fujian Provincial Key Laboratory of Advanced Materials Processing and Application, Key Laboratory of Polymer Materials and Products of Universities in Fujian, Fujian University of Technology, Fuzhou, Fujian, 350118, China
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