Continuous, autonomous subsurface cargo shuttling by nature-inspired meniscus-climbing systems

Adhesion performance of magnetically responsive surfaces under wet conditions

Adhesion is the key functionality to pick-and-place objects in wet environments. Recently, various micropillars and external stimuli have been proposed to achieve reversible wet adhesion. However, their underlying mechanisms of liquid/solid regulations have not been sufficiently revealed. Herein, two kinds of magnetically responsive micropillar arrays with different terminals (pointed and flat) are developed using a spray self-assembly method. The coupling effect of geometric structures and external stimuli on the wet adhesion performance between a solid substrate and the developed surface is discussed. In situ observation and analysis of theoretical models demonstrate that changes in adhesive forces are mainly caused by the length of the liquid bridge and the apparent contact angle of the developed surface. The adhesion conversion efficiency in the presence of an on/off magnetic field can achieve a highest value of 72% for the micropillar arrays with flat terminals, which exceeds 3 times that of the micropillar arrays with pointed terminals. In addition, wet adhesion measurements during the process of repeatedly switching the magnetic field demonstrate the durability and cyclic reversibility of the magnetically responsive surface. Furthermore, the transportation of microcomponents verifies the application potential of the magnetically responsive surface, which may provide inspiration for transfer printing systems and wet climbing robots.

Heterogenous Slippery Surfaces: Enabling Spontaneous and Rapid Transport of Viscous Liquids with Viscosities Exceeding 10 000 mPa s

Superhydrophobic and slippery lubricant-infused surfaces have garnered significant attention for their potential to passively transport low-viscosity liquids like water (1 mPa s). Despite exciting progress, these designs have proven ineffective for transporting high-viscosity liquids such as polydimethylsiloxane (5500 mPa s) due to their inherent limitations imposed by the homogenous surface design, resulting in high viscous drags and compromised capillary forces. Here, a heterogenous water-infused divergent surface (WIDS) is proposed that achieves spontaneous, rapid, and long-distance transport of viscous liquids. WIDS reduces viscous drag by spatially isolating the viscous liquids and surface roughness through its heterogenous, slippery topological design, and generates capillary forces through its heterogenous wetting distributions. The essential role of surface heterogeneity in viscous liquid transport is theoretically and experimentally verified. Remarkably, such a heterogenous paradigm enables transporting liquids with viscosities exceeding 12 500 mPa s, which is two orders of magnitude higher than state-of-the-art techniques. Furthermore, this heterogenous design is generic for various viscous liquids and can be made flexible, making it promising for various systems that require viscous liquid management, such as micropatterning.

Droplet transportation on photosensitive lubricant-impregnated slippery surfaces in response to the light induced Marangoni effect and asymmetrical wetting ridges

Flexible control of droplet transportation is crucial in various applications but is constrained by liquid-solid friction. The development of biomimetic lubricant-impregnated slippery surfaces provides a new solution for flexible manipulation of droplet transportation. Herein, a light strategy is reported for flexibly controlling droplet transportation on photosensitive lubricant-impregnated slippery surfaces. Owing to the localized heating effect of a focused laser beam via photothermal conversion, the resultant thermal Marangoni flow and horizontal component of the surface tension associated with the asymmetric wetting ridges are together responsible for actuating droplet transportation. It is found that the asymmetry of the wetting ridge is dominated by the thickness of the infused oil layer, which directly affects the droplet transportation. The feasibility of this light strategy is also demonstrated by uphill movement, droplet coalescence, and chemical reaction. This study provides a new design for potential applications in open droplet microfluidics, analytical chemistry, diagnosis, etc.

Curvature Adjustable Liquid Transport on Anisotropic Microstructured Elastic Film

Directional liquid transport is expected via adjusting chemical components, surface morphology, and external stimuli and is critical for practical applications. Although many studies have been conducted, there are still challenges to achieving real-time transformation of liquid transport direction on the material surface. Herein, we demonstrate a strategy to achieve curvature responsive anisotropic wetting on the elastic film with V-shaped prism microarray (VPM) microstructure, which can be used to control the direction of liquid transport. The results reveal that the curvature change of an elastic film can adjust the arrangement of V-shaped prisms on the elastic film. Correspondingly, the liquid wetting trend will change and even the moving direction reverses with varying arrangements of the V-shaped prisms on the elastic film. Meanwhile, surface hydrophobicity of the VPM elastic film also affects the liquid wetting trend and even shows the opposite transport direction of the liquid, which is up to the water wetting state on the VPM elastic film. Based on these results, the VPM elastic film can serve as a valve to control the liquid transport direction and is promising in the application of liquid directional harvest, chemical reaction, microfluidic, etc.

Marangoni-induced reversal of meniscus-climbing microdroplets

Small water droplets or particles located at an oil meniscus typically climb the meniscus due to unbalanced capillary forces. Here, we introduce a size-dependent reversal of this meniscus-climbing behavior, where upon cooling of the underlying substrate, droplets of different sizes concurrently ascend and descend the meniscus. We show that microscopic Marangoni convection cells within the oil meniscus are responsible for this phenomenon. While dynamics of relatively larger water microdroplets are still dominated by unbalanced capillary forces and hence ascend the meniscus, smaller droplets are carried by the surface flow and consequently descend the meniscus. We further demonstrate that the magnitude and direction of the convection cells depend on the meniscus geometry and the substrate temperature and introduce a modified Marangoni number that well predicts their strength. Our findings provide a new approach to manipulating droplets on a liquid meniscus that could have applications in material self-assembly, biological sensing and testing, or phase change heat transfer.

Emergent microrobotic oscillators via asymmetry-induced order

Spontaneous oscillations on the order of several hertz are the drivers of many crucial processes in nature. From bacterial swimming to mammal gaits, converting static energy inputs into slowly oscillating power is key to the autonomy of organisms across scales. However, the fabrication of slow micrometre-scale oscillators remains a major roadblock towards fully-autonomous microrobots. Here, we study a low-frequency oscillator that emerges from a collective of active microparticles at the air-liquid interface of a hydrogen peroxide drop. Their interactions transduce ambient chemical energy into periodic mechanical motion and on-board electrical currents. Surprisingly, these oscillations persist at larger ensemble sizes only when a particle with modified reactivity is added to intentionally break permutation symmetry. We explain such emergent order through the discovery of a thermodynamic mechanism for asymmetry-induced order. The on-board power harvested from the stabilised oscillations enables the use of electronic components, which we demonstrate by cyclically and synchronously driving a microrobotic arm. This work highlights a new strategy for achieving low-frequency oscillations at the microscale, paving the way for future microrobotic autonomy.

Aquabots

Soft robots, made from elastomers, easily bend and flex, but deformability constraints severely limit navigation through and within narrow, confined spaces. Using aqueous two-phase systems we print water-in-water constructs that, by aqueous phase-separation-induced self-assembly, produce ultrasoft liquid robots, termed aquabots, comprised of hierarchical structures that span in length scale from the nanoscopic to microsciopic, that are beyond the resolution limits of printing and overcome the deformability barrier. The exterior of the compartmentalized membranes is easily functionalized, for example, by binding enzymes, catalytic nanoparticles, and magnetic nanoparticles that impart sensitive magnetic responsiveness. These ultrasoft aquabots can adapt their shape for gripping and transporting objects and can be used for targeted photocatalysis, delivery, and release in confined and tortuous spaces. These biocompatible, multicompartmental, and multifunctional aquabots can be readily applied to medical micromanipulation, targeted cargo delivery, tissue engineering, and biomimetics.