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Li N, Zhou Y, Li Y, Li C, Xiang W, Chen X, Zhang P, Zhang Q, Su J, Jin B, Song H, Cheng C, Guo M, Wang L, Liu J. Transformable 3D curved high-density liquid metal coils - an integrated unit for general soft actuation, sensing and communication. Nat Commun 2024; 15:7679. [PMID: 39237505 DOI: 10.1038/s41467-024-51648-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/09/2024] [Accepted: 08/15/2024] [Indexed: 09/07/2024] Open
Abstract
Rigid solenoid coils have long been indispensable in modern intelligent devices. However, their sparse structure and challenging preparation of flexible coils for soft robots impose limitations. Here, a transformable 3D curved high-density liquid metal coil (HD-LMC) is introduced that surpasses the structural density level of enameled wire. The fabrication technique employed for high-density channels in elastomers is universally applicable. Such HD-LMCs demonstrated excellent performance in pressure, temperature, non-contact distance sensors, and near-field communication. Soft electromagnetic actuators thus achieved significantly improved the electromagnetic force and power density. Moreover, precise control of swinging tail motion enables a bionic pufferfish to swim. Finally, HD-LMC is further utilized to successfully implement a soft rotary robot with integrated sensing and actuation capabilities. This groundbreaking research provides a theoretical and experimental basis for expanding the applications of liquid metal-based multi-dimensional complex flexible electronics and is expected to be widely used in liquid metal-integrated robotic systems.
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Affiliation(s)
- Nan Li
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Yingxin Zhou
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Yuqing Li
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Chunwei Li
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Wentao Xiang
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Xueqing Chen
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Pan Zhang
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
| | - Qi Zhang
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Jun Su
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Bohao Jin
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Huize Song
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Cai Cheng
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Minghui Guo
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
| | - Lei Wang
- Beijing Key Laboratory of Lignocellulosic Chemistry, Beijing Forestry University, Beijing, China.
| | - Jing Liu
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, China.
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China.
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2
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Shao B, Lu TC, Lu MH, Chen YT, Wu TC, Peng WC, Ko TY, Chen JY, Sun B, Chen CY, Liu R, Hsu FC, Lai YC. Efficient Permeable Monolithic Hybrid Tribo-Piezo-Electromagnetic Nanogenerator Based on Topological-Insulator-Composite. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2408936. [PMID: 39221549 DOI: 10.1002/adma.202408936] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2024] [Revised: 08/21/2024] [Indexed: 09/04/2024]
Abstract
Escalating energy demands of self-independent on-skin/wearable electronics impose challenges on corresponding power sources to offer greater power density, permeability, and stretchability. Here, a high-efficient breathable and stretchable monolithic hybrid triboelectric-piezoelectric-electromagnetic nanogenerator-based electronic skin (TPEG-skin) is reported via sandwiching a liquid metal mesh with two-layer topological insulator-piezoelectric polymer composite nanofibers. TPEG-skin concurrently extracts biomechanical energy (from body motions) and electromagnetic radiations (from adjacent appliances), operating as epidermal power sources and whole-body self-powered sensors. Topological insulators with conductive surface states supply notably enhanced triboelectric and piezoelectric effects, endowing TPEG-skin with a 288 V output voltage (10 N, 4 Hz), ∼3 times that of state-of-the-art devices. Liquid metal meshes serve as breathable electrodes and extract ambient electromagnetic pollution (±60 V, ±1.6 µA cm-2). TPEG-skin implements self-powered physiological and body motion monitoring and system-level human-machine interactions. This study provides compatible energy strategies for on-skin/wearable electronics with high power density, monolithic device integration, and multifunctionality.
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Affiliation(s)
- Beibei Shao
- Soochow Institute of Energy and Material Innovations, Key Laboratory for Advanced Carbon Materials and Wearable Energy Technologies of Jiangsu Province, Institute of Functional Nano & Soft Materials (FUNSOM) and College of Energy, Soochow University, Suzhou, 215006, P. R. China
- Jiangsu Key Laboratory of Advanced Negative Carbon Technologies, Soochow University, Suzhou, 215123, P. R. China
| | - Tzu-Ching Lu
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
- Department of Materials Science and Engineering, National United University, Miaoli, 360, Taiwan
| | - Ming-Han Lu
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
| | - Yi-Ting Chen
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
| | - Tai-Chen Wu
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
| | - Wei-Chen Peng
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
| | - Tien-Yu Ko
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
| | - Jiann-Yeu Chen
- Innovation and Development Center of Sustainable Agriculture, i-Center for Advanced Science and Technology, National Chung Hsing University, Taichung, 40227, Taiwan
| | - Baoquan Sun
- Soochow Institute of Energy and Material Innovations, Key Laboratory for Advanced Carbon Materials and Wearable Energy Technologies of Jiangsu Province, Institute of Functional Nano & Soft Materials (FUNSOM) and College of Energy, Soochow University, Suzhou, 215006, P. R. China
- Jiangsu Key Laboratory of Advanced Negative Carbon Technologies, Soochow University, Suzhou, 215123, P. R. China
| | - Chih-Yen Chen
- Department of Electrophysics, National Yang Ming Chiao Tung University, Hsinchu, 30010, Taiwan
| | - Ruiyuan Liu
- Soochow Institute of Energy and Material Innovations, Key Laboratory for Advanced Carbon Materials and Wearable Energy Technologies of Jiangsu Province, Institute of Functional Nano & Soft Materials (FUNSOM) and College of Energy, Soochow University, Suzhou, 215006, P. R. China
- Jiangsu Key Laboratory of Advanced Negative Carbon Technologies, Soochow University, Suzhou, 215123, P. R. China
| | - Fang-Chi Hsu
- Department of Materials Science and Engineering, National United University, Miaoli, 360, Taiwan
| | - Ying-Chih Lai
- Department of Materials Science and Engineering, National Chung Hsing University, Taichung, 40227, Taiwan
- Innovation and Development Center of Sustainable Agriculture, i-Center for Advanced Science and Technology, National Chung Hsing University, Taichung, 40227, Taiwan
- Department of Physics, National Chung Hsing University, Taichung, 40227, Taiwan
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3
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Shen Y, Jin D, Li T, Yang X, Ma X. Magnetically Responsive Gallium-Based Liquid Metal: Preparation, Property and Application. ACS NANO 2024. [PMID: 39073895 DOI: 10.1021/acsnano.4c07051] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/31/2024]
Abstract
Magnetically responsive soft smart materials have garnered significant academic attention due to their flexibility, remote controllability, and reconfigurability. However, traditional soft materials used in the construction of these magnetically responsive systems typically exhibit low density and poor thermal and electrical conductivities. These limitations result in suboptimal performance in applications such as medical radiography, high-performance electronic devices, and thermal management. To address these challenges, magnetically responsive gallium-based liquid metals have emerged as promising alternatives. In this review, we summarize the methodologies for achieving magnetically responsive liquid metals, including the integration of magnetic agents into the liquid metal matrix and the utilization of induced Lorentz forces. We then provide a comprehensive discussion of the key physicochemical properties of these materials and the factors influencing them. Additionally, we explore the advanced and potential applications of magnetically responsive liquid metals. Finally, we discuss the current challenges in this field and present an outlook on future developments and research directions.
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Affiliation(s)
- Yifeng Shen
- Sauvage Laboratory for Smart Materials, School of Integrated Circuits, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou 310058, China
| | - Dongdong Jin
- Sauvage Laboratory for Smart Materials, School of Integrated Circuits, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Tiefeng Li
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou 310058, China
| | - Xuxu Yang
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou 310058, China
| | - Xing Ma
- Sauvage Laboratory for Smart Materials, School of Integrated Circuits, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
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4
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Jiang H, Yuan B, Guo H, Pan F, Meng F, Wu Y, Wang X, Ruan L, Zheng S, Yang Y, Xiu Z, Li L, Wu C, Gong Y, Yang M, Lu W. Malleable, printable, bondable, and highly conductive MXene/liquid metal plasticine with improved wettability. Nat Commun 2024; 15:6138. [PMID: 39033166 PMCID: PMC11271265 DOI: 10.1038/s41467-024-50541-4] [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: 12/29/2023] [Accepted: 07/09/2024] [Indexed: 07/23/2024] Open
Abstract
Integration of functional fillers into liquid metals (LM) induces rheology modification, enabling the free-form shaping of LM at the micrometer scale. However, integrating non-chemically modified low-dimensional materials with LM to form stable and uniform dispersions remain a great challenge. Herein, we propose a solvent-assisted dispersion (SAD) method that utilizes the fragmentation and reintegration of LM in volatile solvents to engulf and disperse fillers. This method successfully integrates MXene uniformly into LM, achieving better internal connectivity than the conventional dry powder mixing (DPM) method. Consequently, the MXene/LM (MLM) coating exhibits high electromagnetic interference (EMI) shielding performance (105 dB at 20 μm, which is 1.6 times that of coatings prepared by DPM). Moreover, the rheological characteristic of MLM render it malleable and facilitates direct printing and adaptation to diverse structures. This study offers a convenient method for assembling LM with low-dimensional materials, paving the way for the development of multifunctional soft devices.
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Affiliation(s)
- Haojie Jiang
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Bin Yuan
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Hongtao Guo
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Fei Pan
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Fanmao Meng
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Yongpeng Wu
- School of Materials and Chemistry, University of Shanghai for Science and Technology, Shanghai, 200093, China
| | - Xiao Wang
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Lingyang Ruan
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Shuhuai Zheng
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Yang Yang
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Zheng Xiu
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Lixin Li
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Changsheng Wu
- Department of Materials Science and Engineering, National University of Singapore, Singapore, 117575, Singapore
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore, 117583, Singapore
- Institute for Health Innovation and Technology, National University of Singapore, Singapore, 117599, Singapore
- The N.1 Institute for Health, National University of Singapore, Singapore, 117456, Singapore
| | - Yongqing Gong
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Menghao Yang
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China
| | - Wei Lu
- Shanghai Key Lab. of D&A for Metal Functional Materials, School of Materials Science & Engineering, Tongji University, Shanghai, 201804, China.
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5
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Kim HJ, Choi H, Kim DH, Son D. Stretchable Functional Nanocomposites for Soft Implantable Bioelectronics. NANO LETTERS 2024; 24:8453-8464. [PMID: 38771649 DOI: 10.1021/acs.nanolett.4c01163] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/23/2024]
Abstract
Material advances in soft bioelectronics, particularly those based on stretchable nanocomposites─functional nanomaterials embedded in viscoelastic polymers with irreversible or reversible bonds─have driven significant progress in translational medical device research. The unique mechanical properties inherent in the stretchable nanocomposites enable stiffness matching between tissue and device, as well as its spontaneous mechanical adaptation to in vivo environments, minimizing undesired mechanical stress and inflammation responses. Furthermore, these properties allow percolative networks of conducting fillers in the nanocomposites to be sustained even under repetitive tensile/compressive stresses, leading to stable tissue-device interfacing. Here, we present an in-depth review of materials strategies, fabrication/integration techniques, device designs, applications, and translational opportunities of nanocomposite-based soft bioelectronics, which feature intrinsic stretchability, self-healability, tissue adhesion, and/or syringe injectability. Among many, applications to brain, heart, and peripheral nerves are predominantly discussed, and translational studies in certain domains such as neuromuscular and cardiovascular engineering are particularly highlighted.
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Affiliation(s)
- Hye Jin Kim
- Department of Biomedical Engineering, Yonsei University, Wonju 26493, Republic of Korea
| | - Heewon Choi
- Center for Neuroscience Imaging Research, Institute for Basic Science, Suwon 16419, Republic of Korea
- Department of Electrical and Computer Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea
| | - Dae-Hyeong Kim
- Center for Nanoparticle Research, Institute for Basic Science, Seoul 08826, Republic of Korea
- School of Chemical and Biological Engineering, Institute of Chemical Processes, Seoul National University, Seoul 08826, Republic of Korea
| | - Donghee Son
- Center for Neuroscience Imaging Research, Institute for Basic Science, Suwon 16419, Republic of Korea
- Department of Electrical and Computer Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea
- Center for Nanoparticle Research, Institute for Basic Science, Seoul 08826, Republic of Korea
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6
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Huang S, Huang X, Liu Z, Yao C, Liu J, He M, Xu X, Zhang T, Wang J, Jiang L, Chen HJ, Xie X. Advances in Multifunctional Electronic Catheters for Precise and Intelligent Diagnosis and Therapy in Minimally Invasive Surgery. ACS NANO 2024; 18:18129-18150. [PMID: 38954632 DOI: 10.1021/acsnano.4c03871] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/04/2024]
Abstract
The advent of catheter-based minimally invasive surgical instruments has provided an effective means of diagnosing and treating human disease. However, conventional medical catheter devices are limited in functionalities, hindering their ability to gather tissue information or perform precise treatment during surgery. Recently, electronic catheters have integrated various sensing and therapeutic technologies through micro/nanoelectronics, expanding their capabilities. As micro/nanoelectronic devices become more miniaturized, flexible, and stable, electronic surgical catheters are evolving from simple tools to multiplexed sensing and theranostics for surgical applications. The review on multifunctional electronic surgical catheters is lacking and thus is not conducive to the reader's comprehensive understanding of the development trend in this field. This review covers the advances in multifunctional electronic catheters for precise and intelligent diagnosis and therapy in minimally invasive surgery. It starts with the summary of clinical minimally invasive surgical instruments, followed by the background of current clinical catheter devices for sensing and therapeutic applications. Next, intelligent electronic catheters with integrated electronic components are reviewed in terms of electronic catheters for diagnosis, therapy, and multifunctional applications. It highlights the present status and development potential of catheter-based minimally invasive surgical devices, while also illustrating several significant challenges that remain to be overcome.
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Affiliation(s)
- Shuang Huang
- Guangdong Provincial Key Laboratory of Sensor Technology and Biomedical Instrument, School of Biomedical Engineering, Sun Yat-Sen University, Shenzhen 518107, China
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Xinshuo Huang
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Zhengjie Liu
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Chuanjie Yao
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Jing Liu
- The First Affiliated Hospital of Sun Yat-sen University, Guangzhou 510080, China
| | - Mengyi He
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Xingyuan Xu
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Tao Zhang
- Guangdong Provincial Key Laboratory of Sensor Technology and Biomedical Instrument, School of Biomedical Engineering, Sun Yat-Sen University, Shenzhen 518107, China
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Ji Wang
- The First Affiliated Hospital of Sun Yat-sen University, Guangzhou 510080, China
| | - Lelun Jiang
- Guangdong Provincial Key Laboratory of Sensor Technology and Biomedical Instrument, School of Biomedical Engineering, Sun Yat-Sen University, Shenzhen 518107, China
| | - Hui-Jiuan Chen
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
| | - Xi Xie
- Guangdong Provincial Key Laboratory of Sensor Technology and Biomedical Instrument, School of Biomedical Engineering, Sun Yat-Sen University, Shenzhen 518107, China
- State Key Laboratory of Optoelectronic Materials and Technologies, Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou 510006, China
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7
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Zhao Y, Tong D, Chen Y, Chen Q, Wu Z, Xu X, Fan X, Xie H, Yang Z. Microgripper Robot with End Electropermanent Magnet Collaborative Actuation. MICROMACHINES 2024; 15:798. [PMID: 38930768 PMCID: PMC11205932 DOI: 10.3390/mi15060798] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/24/2024] [Revised: 06/12/2024] [Accepted: 06/13/2024] [Indexed: 06/28/2024]
Abstract
Magnetic microgrippers, with their miniaturized size, flexible movement, untethered actuation, and programmable deformation, can perform tasks such as cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery in hard-to-reach regions. However, common external magnetic-field-driving devices suffer from low efficiency and utilization due to the significant size disparity with magnetic microgrippers. Here, we introduce a microgripper robot (MGR) driven by end electromagnetic and permanent magnet collaboration. The magnetic field generated by the microcoils can be amplified by the permanent magnets and the direction can be controlled by changing the current, allowing for precise control over the opening and closing of the magnetic microgripper and enhancing its operational range. Experimental results demonstrate that the MGR can be flexibly controlled in complex constrained environments and is highly adaptable for manipulating objects. Furthermore, the MGR can achieve planar and antigravity object grasping and transportation within complex simulated human cavity pathways. The MGR's grasping capabilities can also be extended to specialized tasks, such as circuit connection in confined spaces. The MGR combines the required safety and controllability for in vivo operations, making it suitable for potential clinical applications such as tumor or abnormal tissue sampling and surgical assistance.
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Affiliation(s)
- Yiqun Zhao
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Dingwen Tong
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Yutan Chen
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Qinkai Chen
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Xinmiao Xu
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China; (Y.Z.); (D.T.); (Q.C.); (Z.W.); (Z.Y.)
- School of Future Science and Engineering, Soochow University, Suzhou 215222, China; (Y.C.)
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8
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Han W, Gao W, Wang X. Enhanced Magnetic Soft Robotics: Integrating Fiber Optics and 3D Printing for Rapid Actuation and Precision Sensing. ACS APPLIED MATERIALS & INTERFACES 2024; 16:30396-30407. [PMID: 38820388 DOI: 10.1021/acsami.4c04586] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/02/2024]
Abstract
Timely, accurate, and rapid grasping of dynamic change information in magnetic actuation soft robots is essential for advancing their evolution toward intelligent, integrated, and multifunctional systems. However, existing magnetic-actuation soft robots lack effective functions for integrating sensing and actuation. Herein, we demonstrate the integration of distributed fiber optics technology with advanced-programming 3D printing techniques. This integration provides our soft robots unique capabilities such as integrated sensing, precise shape reconstruction, controlled deformation, and sophisticated magnetic navigation. By utilizing an improved magneto-mechanical coupling model and an advanced inversion algorithm, we successfully achieved real-time reconstruction of complex structures, such as 'V', 'N', and 'M' shapes and gripper designs, with a notable response time of 34 ms. Additionally, our robots demonstrate proficiency in magnetic navigation and closed-loop deformation control, making them ideal for operation in confined or obscured environments. This work thus provides a transformative strategy to meet unmet demands in the rapidly growing field of soft robotics, especially in establishing the theoretical and technological foundation for constructing digitized robots.
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Affiliation(s)
- Wenheng Han
- Key Laboratory of Mechanics on Western Disaster and Environment, MoE, College of Civil Engineering and Mechanic, Key Laboratory of Special Function Materials and Structure Design of Ministry of Education, Lanzhou University, Lanzhou 730000, PR China
| | - Wei Gao
- School of Science, Lanzhou University of Technology, Lanzhou 730050, PR China
| | - Xingzhe Wang
- Key Laboratory of Mechanics on Western Disaster and Environment, MoE, College of Civil Engineering and Mechanic, Key Laboratory of Special Function Materials and Structure Design of Ministry of Education, Lanzhou University, Lanzhou 730000, PR China
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9
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Fu X, Tee BCK. A nerve-like self-healable conductive wire. Natl Sci Rev 2024; 11:nwae139. [PMID: 38736976 PMCID: PMC11088440 DOI: 10.1093/nsr/nwae139] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/27/2024] [Revised: 04/04/2024] [Accepted: 04/07/2024] [Indexed: 05/14/2024] Open
Affiliation(s)
- Xuemei Fu
- Department of Materials Science and Engineering, National University of Singapore, Singapore
- Institute for Health Innovation and Technology, National University of Singapore, Singapore
| | - Benjamin C K Tee
- Department of Materials Science and Engineering, National University of Singapore, Singapore
- Institute for Health Innovation and Technology, National University of Singapore, Singapore
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10
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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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Wang H, Li X, Wang X, Qin Y, Pan Y, Guo X. Somatosensory Electro-Thermal Actuator through the Laser-Induced Graphene Technology. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310612. [PMID: 38087883 DOI: 10.1002/smll.202310612] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/18/2023] [Indexed: 05/25/2024]
Abstract
The biological system realizes the unity of action and perception through the muscle tissue and nervous system. Correspondingly, artificial soft actuators realize the unity of sensing and actuating functions in a single functional material, which will have tremendous potential for developing intelligent and bionic soft robotics. This paper reports the design of a laser-induced graphene (LIG) electrothermal actuator with self-sensing capability. LIG, a functional material formed by a one-step direct-write lasing procedure under ambient air, is used as electrothermal conversion materials and piezoresistive sensing materials. By transferring LIG to a flexible silicone substrate, the design ability of the LIG-based actuator unit is enriched, along with an effectively improved sensing sensitivity. Through the integration of different types of well-designed LIG-based actuator units, the transformations from multidimensional precursors to 2D and 3D structures are realized. According to the piezoresistive effect of the LIG units during the deformation process, the visual synchronous deformation state feedback of the LIG-based actuator is proposed. The multimodal crawling soft robotics and the switchable electromagnetic shielding cloak serve as the demonstrations of the self-sensing LIG-based actuator, showing the advantage of the design in remote control of the soft robot without relying on the assistance of visual devices.
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Affiliation(s)
- Hao Wang
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xuyang Li
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xiaoyue Wang
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yong Qin
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yang Pan
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xiaogang Guo
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
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12
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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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13
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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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Yang Y, Liu J, Chen G, Gao A, Wang J, Wang J. Stretchable Fibers with Highly Conductive Surfaces and Robust Electromechanical Performances for Electronic Textiles. ACS APPLIED MATERIALS & INTERFACES 2024; 16:6122-6132. [PMID: 38272468 DOI: 10.1021/acsami.3c16819] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/27/2024]
Abstract
One-dimensional conductive fibers that can simultaneously accommodate multiple deformations are crucial materials to enable next-generation electronic textile technologies for applications in the fields of healthcare, energy harvesting, human-machine interactions, etc. Stretchable conductive fibers (SCFs) with high conductivity on their external structure are important for their direct integration with other electronic components. However, the dilemma to achieve high conductivity and concurrently large stretchability is still quite challenging to resolve among conductive fibers with a conductive surface. Here, a three-layer coaxial conductive fiber, which can provide robust electrical performance under various deformations, is reported. A dual conducting structure with a semisolid metallic layer and a stretchable composite layer was designed in the fibers, providing exceptional conductivity and mechanical stability under mechanical strains. The conductive fiber achieved an initial conductivity of 2291.83 S cm-1 on the entire fiber and could be stretched up to 600% strains. With the excellent electromechanical properties of the SCF, we were able to demonstrate different electronic textile applications including physiological monitoring, neuromuscular electrical stimulation, and energy harvesting.
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Affiliation(s)
- Yan Yang
- School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
| | - Jiawei Liu
- School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
| | - Guangchuan Chen
- School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
| | - Ang Gao
- School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
| | - Jinhui Wang
- School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
| | - Jiangxin Wang
- School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
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Li W, Sang M, Lou C, Liao G, Liu S, Wu J, Gong X, Ma Q, Xuan S. Triple-Responsive Soft Actuator with Plastically Retentive Deformation and Magnetically Programmable Recovery. ACS NANO 2023. [PMID: 37987998 DOI: 10.1021/acsnano.3c08888] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/22/2023]
Abstract
Multistimuli responsiveness and programmable shape recovery are crucial for soft actuators in soft robotics, electronics, and wearables. However, existing strategies for actuation cannot attain power-free shape retention after removing the external energy supply. Here, a self-assembled density deposition method was developed to fabricate an electrothermal-NIR-magnetic triple-response actuator which was composed of cellulose nanofiber/poly(vinyl alcohol)/liquid metal (CNF/PVA/LM) and magnetic polydimethylsiloxane (MPDMS) layer. Interestingly, the large deformation can be controllably fixed and the temporary configuration will be programmable recovered under a magnetic field due to the thermal-plastic transferring behavior of the CNF/PVA/LM. Rolling robot prepared based on soft actuators exhibits good ability to avoid obstacles. In addition, the object handling and programmable release capabilities of the carrier robots demonstrate that this actuation approach will contribute to a better understanding of how to more rationally utilize various stimuli for application purposes.
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Affiliation(s)
- Wenwen Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Min Sang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Congcong Lou
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Guojiang Liao
- Science and Technology on Reactor System Design Technology Laboratory, Nuclear Power Institute of China, Chengdu Sichuan 610213, PR China
| | - Shuai Liu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Jianpeng Wu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
| | - Xinglong Gong
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
- State Key Laboratory of Fire Science, University of Science and Technology of China, 96 Jinzhai Road, Hefei, Anhui 230026, PR China
| | - Qian Ma
- BASF Advanced Chemicals Co., Ltd. 333 Jiang Xin Sha Road, Pudong, Shanghai 200137, PR China
| | - Shouhu Xuan
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui 230027, PR China
- State Key Laboratory of Fire Science, University of Science and Technology of China, 96 Jinzhai Road, Hefei, Anhui 230026, PR China
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