Three-dimensional electronic microfliers inspired by wind-dispersed seeds

Recent advances in soft, implantable electronics for dynamic organs

Unlike conventional rigid counterparts, soft and stretchable electronics forms crack- or defect-free conformal interfaces with biological tissues, enabling precise and reliable interventions in diagnosis and treatment of human diseases. Intrinsically soft and elastic materials, and device designs of innovative configurations and structures leads to the emergence of such features, particularly, the mechanical compliance provides seamless integration into continuous movements and deformations of dynamic organs such as the bladder and heart, without disrupting natural physiological functions. This review introduces the development of soft, implantable electronics tailored for dynamic organs, covering various materials, mechanical design strategies, and representative applications for the bladder and heart, and concludes with insights into future directions toward clinically relevant tools.

CMOS-compatible reconstructive spectrometers with self-referencing integrated Fabry-Perot resonators

Miniaturized reconstructive spectrometers play a pivotal role in on-chip and portable devices, offering high-resolution spectral measurement through precalibrated spectral responses and AI-driven reconstruction. However, two key challenges persist for practical applications: artificial intervention in algorithm parameters and compatibility with complementary metal-oxide-semiconductor (CMOS) manufacturing. We present a cutting-edge miniaturized reconstructive spectrometer that incorporates a self-adaptive algorithm referenced with Fabry-Perot resonators, delivering precise spectral tests across the visible range. The spectrometers are fabricated with CMOS technology at the wafer scale, achieving a resolution of ~2.5 nm, an average wavelength deviation of ~0.27 nm, and a resolution-to-bandwidth ratio of ~0.46%. Our approach provides a path toward versatile and robust reconstructive miniaturized spectrometers and facilitates their commercialization.

Marangoni-driven deterministic formation of softer, hollow microstructures for sensitivity-enhanced tactile system

Microengineering the dielectric layers with three-dimensional microstructures has proven effective in enhancing the sensitivity of flexible pressure sensors. However, the widely employed geometrical designs of solid microstructures exhibit limited sensitivity over a wide range of pressures due to their inherent but undesired structural compressibility. Here, a Marangoni-driven deterministic formation approach is proposed for fabricating hollow microstructures, allowing for greater deformation while retarding structural stiffening during compression. Fluid convective deposition enables solute particles to reassemble in template microstructures, controlling the interior cavity with a void ratio exceeding 90%. The hollow micro-pyramid sensor exhibits a 10-fold sensitivity improvement across wider pressure ranges over the pressure sensor utilizing solid micro-pyramids, and an ultra-low detect limit of 0.21 Pa. With the advantages of facilitation, scalability, and large-area compatibility, such an approach for hollow microstructures can be expanded to other sensor types for superior performance and has considerable potential in robotic tactile and epidermal devices.

Reversible Solar Heating and Radiative Cooling Devices via Mechanically Guided Assembly of 3D Macro/Microstructures

Solar heating and radiative cooling are promising solutions for decreasing global energy consumption because these strategies use the Sun (≈5800 K) as a heating source and outer space (≈3 K) as a cooling source. Although high-performance thermal management can be achieved using these eco-friendly methods, they are limited by daily temperature fluctuations and seasonal changes because of single-mode actuation. Herein, reversible solar heating and radiative cooling devices formed via the mechanically guided assembly of 3D architectures are demonstrated. The fabricated devices exhibit the following properties: i) The devices reversibly change between solar heating and radiative cooling under uniaxial strain, called dual-mode actuation. ii) The 3D platforms in the devices can use rigid/soft materials for functional layers owing to the optimized designs. iii) The devices can be used for dual-mode thermal management on a macro/microscale. The devices use black paint-coated polyimide (PI) films as solar absorbers with multilayered films comprising thin layers of polydimethylsiloxane/silver/PI, achieving heating and cooling temperatures of 59.5 and -11.9 °C, respectively. Moreover, mode changes according to the angle of the 3D structures are demonstrated and the heating/cooling performance with skin, glass, steel, aluminum, copper, and PI substrates is investigated.

Photochemically responsive polymer films enable tunable gliding flights

Miniaturized passive fliers based on smart materials face challenges in precise control of shape-morphing for aerodynamics and contactless modulation of diverse gliding modes. Here, we present the optical control of gliding performances in azobenzene-crosslinked liquid crystal networks films through photochemical actuation, enabling reversible and bistable shape-morphing. First, an actuator film is integrated with additive constructs to form a rotating glider, inspired by the natural maple samara, surpassing natural counterparts in reversibly optical tuning of terminal velocity, rotational rate, and circling position. We demonstrate optical modulation dispersion of landing points for the photo-responsive microfliers indoors and outdoors. Secondly, we show the scalability of polymer film geometry for miniature gliders with similar light tunability. Thirdly, we extend the material platform to other three gliding modes: Javan cucumber seed-like glider, parachute and artificial dandelion seed. The findings pave the way for distributed microflier with contactless flight dynamics control.

Mechanomaterials and Nanomechanics: Toward Proactive Design of Material Properties and Functionalities

While conventional mechanics of materials offers a passive understanding of the mechanical properties of materials in existing forms, a paradigm shift, referred to as mechanomaterials, is emerging to enable the proactive programming of materials' properties and functionalities by leveraging force-geometry-property relationships. One of the foundations of this new paradigm is nanomechanics, which permits functional and structural materials to be designed based on principles from the nanoscale and beyond. Although the field of mechanomaterials is still in its infancy at the present time, we discuss the current progress in three specific directions closely linked to nanomechanics and provide perspectives on these research foci by considering the potential research directions, chances for success, and existing research capabilities. We believe this new research paradigm will provide future materials solutions for infrastructure, healthcare, energy, and environment.

Functional bio-inspired hybrid fliers with separated ring and leading edge vortices

Recent advances in passive flying systems inspired by wind-dispersed seeds contribute to increasing interest in their use for remote sensing applications across large spatial domains in the Lagrangian frame of reference. These concepts create possibilities for developing and studying structures with performance characteristics and operating mechanisms that lie beyond those found in nature. Here, we demonstrate a hybrid flier system, fabricated through a process of controlled buckling, to yield unusual geometries optimized for flight. Specifically, these constructs simultaneously exploit distinct fluid phenomena, including separated vortex rings from features that resemble those of dandelion seeds and the leading-edge vortices derived from behaviors of maple seeds. Advanced experimental measurements and computational simulations of the aerodynamics and induced flow physics of these hybrid fliers establish a concise, scalable analytical framework for understanding their flight mechanisms. Demonstrations with functional payloads in various forms, including bioresorbable, colorimetric, gas-sensing, and light-emitting platforms, illustrate examples with diverse capabilities in sensing and tracking.

Thermoelectric Generator Through Dual-Direction Thermal Regulation by Thermal Diodes for Waste Heat Harvesting

Thermal energy harvesting provides an opportunity for multi-node systems to achieve self-power autonomy. Thermoelectric generators (TEGs), either by thermocouple arrangement with higher-aspect-ratios or thermoelectric films overlay, are limited by the small temperature difference and its short-duration (less than dozens of minutes), hindering the harvesting efficiency. Here, by introducing thermal diodes with dual-direction thermal regulation ability to optimize the heat flux path, the proposed TEGs exhibit enhanced power-supply capability with unprecedented long-duration (more than hours). In contrast with conventional TEGs with fixed-leg dimensions enabled single output, these compact-TEGs can supply up to fourteen output-channels for selection, the produced power ranges from 1.11 to 921.99 µW, open circuit voltage ranges from 8.07 to 51.32 mV, when the natural temperature difference is 53.84 °C. Compared to the most recent TEGs, the proposed TEGs in this study indicate higher power (more than hundreds times) and much longer output duration (2.4-120 times) in a compact manner.

Bioinspired 3D flexible devices and functional systems

Flexible devices and functional systems with elaborated three-dimensional (3D) architectures can endow better mechanical/electrical performances, more design freedom, and unique functionalities, when compared to their two-dimensional (2D) counterparts. Such 3D flexible devices/systems are rapidly evolving in three primary directions, including the miniaturization, the increasingly merged physical/artificial intelligence and the enhanced adaptability and capabilities of heterogeneous integration. Intractable challenges exist in this emerging research area, such as relatively poor controllability in the locomotion of soft robotic systems, mismatch of bioelectronic interfaces, and signal coupling in multi-parameter sensing. By virtue of long-time-optimized materials, structures and processes, natural organisms provide rich sources of inspiration to address these challenges, enabling the design and manufacture of many bioinspired 3D flexible devices/systems. In this Review, we focus on bioinspired 3D flexible devices and functional systems, and summarize their representative design concepts, manufacturing methods, principles of structure-function relationship and broad-ranging applications. Discussions on existing challenges, potential solutions and future opportunities are also provided to usher in further research efforts toward realizing bioinspired 3D flexible devices/systems with precisely programmed shapes, enhanced mechanical/electrical performances, and high-level physical/artificial intelligence.

Active Materials for Functional Origami

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.

Enhancement of aerodynamic performance of a bristled wing by elliptic cylinders

Enhancing the aerodynamic performance of bristled wings is an important topic for small flying robotics. This paper numerically investigates this situation at very low Reynolds numbers by using elliptic cylinders as the bristles instead of circular cylinders. Optimal configuration of the bristled wing with five elliptic cylinders is obtained, which corresponds to the maximum lift. The results show that, compared with the case of circular cylindrical bristles, the aerodynamic performance of the elliptical bristles can be enhanced effectively. The enhancement can be more significant as the aspect ratio of the ellipses increases and the gap width decreases. The bristled wing generates more lift compared to a flat-plate wing with a length five times that of the major axis of an ellipse. For the cases that the attack angleαfor the whole wing is equal to those for the elliptical bristlesθ, the optimal attack angle for ellipses maximizing the total lift force of the five-bristle model is between 40° and 45°. Forα ≠θwith the Reynold numberRe≪ 0.1, the optimal ellipse attack angle is between 40° and 45°. Forα ≠θwithRe∼ 1, the optimal ellipse attack angle deviates heavier from the range between 40° and 45° at someαvalues and reaches approximately 32° atα= 20°. This paper can lay a foundation for optimal design of small flying robotics and enhancement of flow through porous structures in future.

Three-dimensional blueprinting of molecular patterns in liquid crystalline polymers

Exploiting the interplay of anisotropic diamagnetic susceptibility of liquid crystalline monomers and site selective photopolymerization enables the fabrication of 3D freeforms with highly refined microstructures. Utilizing chain transfer agents in the mesogenic inks presents a pathway for broadly tuning the mechanical properties of liquid crystalline polymers and their response to stimuli. In particular, the combination of 1,4-benzenedimethanethiol and tetrabromomethane is shown to enable voxelated blueprinting of molecular order, while allowing for a modulation of the crosslink density and the mechanical properties. The formulation of these monomers allows for the resolution of the voxels to approach the limits set by the coherence lengths defined by the anchoring from surfaces. These compositions demonstrate the expected thermotropic responses while allowing for their functionalization with photochromic switches to elicit photomechanical responses. Actuation strains are shown to outstrip that accomplished with prior systems that did not access chain transfer agents to modulate the structure of the macromolecular network. Test cases of this system are shown to create freeform actuators that exploit the refined director patterns during high-resolution printing. These include topological defects, hierarchically-structured light responsive grippers, and biomimetic flyers whose flight dynamics can be actively modulated via irradiation with light.

Flexible Actuators with Hygroscopic Adaptability for Smart Wearables and Soft Grippers

Flexible actuators have garnered significant interest in the domains of biomedical devices, human-machine interfaces, and smart wearables. However, the mechanical properties of existing materials are not sufficiently robust, and the expensive and time-consuming pretreatment process and the ambiguous high-degree-of-freedom deformation mechanism make it difficult to meet the demands of industrialized production. Hence, drawing inspiration from the adaptable movement of living organisms in the natural world, this research created and engineered a fully textile-based humidity-sensitive flexible actuator (TbHs-FA) using high-cost-effective viscose/PET fibers as raw materials. The breakthrough development in actuation performance is covered, including substantial contraction force (92.53 cN), high actuation curvature (16.78 cm-1), and fast response (264 cN s-1 and 46.61 cm-1 s-1). Additionally, the programmable stiffness system and weave structure give TbHs-FAs low hysteresis and fatigue resistance, narrowing the gap between the conceptual laboratory-scale design of existing fully textile-based humidity-sensitive flexible actuators and actual textiles. The high-degree-of-freedom and large bending deformation mechanisms are elucidated for the first time by combining microscopic mechanical structure simulation and macroscopic energy conversion analysis. The novel humidity-sensitive flexible actuator possesses strong mechanical qualities, making it suitable for applications such as flexible robots, medicinal devices, and smart wearables.

Understanding and Utilizing Droplet Impact on Superhydrophobic Surfaces: Phenomena, Mechanisms, Regulations, Applications, and Beyond

Droplet impact is a ubiquitous liquid behavior that closely tied to human life and production, making indispensable impacts on the big world. Nature-inspired superhydrophobic surfaces provide a powerful platform for regulating droplet impact dynamics. The collision between classic phenomena of droplet impact and the advanced manufacture of superhydrophobic surfaces is lighting up the future. Accurately understanding, predicting, and tailoring droplet dynamic behaviors on superhydrophobic surfaces are progressive steps to integrate the droplet impact into versatile applications and further improve the efficiency. In this review, the progress on phenomena, mechanisms, regulations, and applications of droplet impact on superhydrophobic surfaces, bridging the gap between droplet impact, superhydrophobic surfaces, and engineering applications are comprehensively summarized. It is highlighted that droplet contact and rebound are two focal points, and their fundamentals and dynamic regulations on elaborately designed superhydrophobic surfaces are discussed in detail. For the first time, diverse applications are classified into four categories according to the requirements for droplet contact and rebound. The remaining challenges are also pointed out and future directions to trigger subsequent research on droplet impact from both scientific and applied perspectives are outlined. The review is expected to provide a general framework for understanding and utilizing droplet impact.

Microelectronic Morphogenesis: Smart Materials with Electronics Assembling into Artificial Organisms

Microelectronic morphogenesis is the creation and maintenance of complex functional structures by microelectronic information within shape-changing materials. Only recently has in-built information technology begun to be used to reshape materials and their functions in three dimensions to form smart microdevices and microrobots. Electronic information that controls morphology is inheritable like its biological counterpart, genetic information, and is set to open new vistas of technology leading to artificial organisms when coupled with modular design and self-assembly that can make reversible microscopic electrical connections. Three core capabilities of cells in organisms, self-maintenance (homeostatic metabolism utilizing free energy), self-containment (distinguishing self from nonself), and self-reproduction (cell division with inherited properties), once well out of reach for technology, are now within the grasp of information-directed materials. Construction-aware electronics can be used to proof-read and initiate game-changing error correction in microelectronic self-assembly. Furthermore, noncontact communication and electronically supported learning enable one to implement guided self-assembly and enhance functionality. Here, the fundamental breakthroughs that have opened the pathway to this prospective path are reviewed, the extent and way in which the core properties of life can be addressed are analyzed, and the potential and indeed necessity of such technology for sustainable high technology in society is discussed.

A printed luminescent flier inspired by plant seeds for eco-friendly physical sensing

Continuous and distributed monitoring of environmental parameters may pave the way for developing sustainable strategies to tackle climate challenges. State-of-the-art technologies, made with electronic systems, are often costly, heavy, and generate e-waste. Here, we propose a new generation of self-deployable, biocompatible, and luminescent artificial flying seeds for wireless, optical, and eco-friendly monitoring of environmental parameters (i.e., temperature). Inspired by natural Acer campestre plant seeds, we developed three-dimensional functional printed luminescent seed-like fliers, selecting polylactic acid as a biocompatible matrix and temperature as a physical parameter to be monitored. The artificial seeds mimic the aerodynamic and wind dispersal performance of the natural ones. The sensing properties are given by the integration of fluorescent lanthanide-doped particles, whose photoluminescence properties depend on temperature. The luminescent artificial flying seeds can be optically read from a distance using eye-safe near-infrared wavelengths, thus acting as a deployable sensor for distributed monitoring of topsoil environmental temperatures.

Solar-powered shape-changing origami microfliers

Using wind to disperse microfliers that fall like seeds and leaves can help automate large-scale sensor deployments. Here, we present battery-free microfliers that can change shape in mid-air to vary their dispersal distance. We designed origami microfliers using bistable leaf-out structures and uncovered an important property: A simple change in the shape of these origami structures causes two dramatically different falling behaviors. When unfolded and flat, the microfliers exhibit a tumbling behavior that increases lateral displacement in the wind. When folded inward, their orientation is stabilized, resulting in a downward descent that is less influenced by wind. To electronically transition between these two shapes, we designed a low-power electromagnetic actuator that produces peak forces of up to 200 millinewtons within 25 milliseconds while powered by solar cells. We fabricated a circuit directly on the folded origami structure that includes a programmable microcontroller, a Bluetooth radio, a solar power-harvesting circuit, a pressure sensor to estimate altitude, and a temperature sensor. Outdoor evaluations show that our 414-milligram origami microfliers were able to electronically change their shape mid-air, travel up to 98 meters in a light breeze, and wirelessly transmit data via Bluetooth up to 60 meters away, using only power collected from the sun.

Mechanically-Guided 3D Assembly for Architected Flexible Electronics

Architected flexible electronic devices with rationally designed 3D geometries have found essential applications in biology, medicine, therapeutics, sensing/imaging, energy, robotics, and daily healthcare. Mechanically-guided 3D assembly methods, exploiting mechanics principles of materials and structures to transform planar electronic devices fabricated using mature semiconductor techniques into 3D architected ones, are promising routes to such architected flexible electronic devices. Here, we comprehensively review mechanically-guided 3D assembly methods for architected flexible electronics. Mainstream methods of mechanically-guided 3D assembly are classified and discussed on the basis of their fundamental deformation modes (i.e., rolling, folding, curving, and buckling). Diverse 3D interconnects and device forms are then summarized, which correspond to the two key components of an architected flexible electronic device. Afterward, structure-induced functionalities are highlighted to provide guidelines for function-driven structural designs of flexible electronics, followed by a collective summary of their resulting applications. Finally, conclusions and outlooks are given, covering routes to achieve extreme deformations and dimensions, inverse design methods, and encapsulation strategies of architected 3D flexible electronics, as well as perspectives on future applications.

Self-regulated underwater phototaxis of a photoresponsive hydrogel-based phototactic vehicle

Incorporating a negative feedback loop in a synthetic material to enable complex self-regulative behaviours akin to living organisms remains a design challenge. Here we show that a hydrogel-based vehicle can follow the directions of photonic illumination with directional regulation inside a constraint-free, fluidic space. By manipulating the customized photothermal nanoparticles and the microscale pores in the polymeric matrix, we achieved strong chemomechanical deformation of the soft material. The vehicle swiftly assumes an optimal pose and creates directional flow around itself, which it follows to achieve robust full-space phototaxis. In addition, this phototaxis enables a series of complex underwater locomotions. We demonstrate that this versatility is generated by the synergy of photothermofluidic interactions resulting in closed-loop self-control and fast reconfigurability. The untethered, electronics-free, ambient-powered hydrogel vehicle manoeuvres through obstacles agilely, following illumination cues of moderate intensities, similar to that of natural sunlight.

Bioinspired rotary flight of light-driven composite films

Light-driven actuators have great potential in different types of applications. However, it is still challenging to apply them in flying devices owing to their slow response, small deflection and force output and low frequency response. Herein, inspired by the structure of vine maple seeds, we report a helicopter-like rotary flying photoactuator (in response to 0.6 W/cm2 near-infrared (NIR) light) with ultrafast rotation (~7200 revolutions per minute) and rapid response (~650 ms). This photoactuator is operated based on a fundamentally different mechanism that depends on the synergistic interactions between the photothermal graphene and the hygroscopic agar/silk fibroin components, the subsequent aerodynamically favorable airscrew formation, the jet propulsion, and the aerodynamics-based flying. The soft helicopter-like photoactuator exhibits controlled flight and steering behaviors, making it promising for applications in soft robotics and other miniature devices.

Effects of inertia on conformation and dynamics of tangentially driven active filaments

Active filamentlike systems propelling along their backbone exist across scales ranging from motor-driven biofilaments to worms and robotic chains. In macroscopic active filaments such as a chain of robots, in contrast to their microscopic counterparts, inertial effects on their motion cannot be ignored. Nonetheless, the consequences of the interplay between inertia and flexibility on the shape and dynamics of active filaments remain unexplored. Here we examine inertial effects on a flexible tangentially driven active polymer model pertinent to the above examples and we determine the conditions under which inertia becomes important. Performing Langevin dynamics simulations of active polymers with underdamped and overdamped dynamics for a wide range of contour lengths and activities, we uncover striking inertial effects on conformation and dynamics for high levels of activities. Inertial collisions increase the persistence length of active polymers and remarkably alter their scaling behavior. In stark contrast to passive polymers, inertia leaves its fingerprint at long times by an enhanced diffusion of the center of mass. We rationalize inertia-induced enhanced dynamics by analytical calculations of center-of-mass velocity correlations, applicable to any active polymer model, which reveal significant contributions from active force fluctuations convoluted by inertial relaxation.

A Soft Reconfigurable Circulator Enabled by Magnetic Liquid Metal Droplet for Multifunctional Control of Soft Robots

Integrated control circuits with multiple computation functions are essential for soft robots to achieve diverse complex real tasks. However, designing compliant yet simple circuits to embed multiple computation functions in soft electronic systems above the centimeter scale is still a tough challenge. Herein, utilizing smooth cyclic motions of magnetic liquid metal droplets (MLMD) in specially designed and surface-modified circulating channels, a soft reconfigurable circulator (SRC) consisting of three simple and reconfigurable basic modules is described. Through these modules, MLMD can utilize their conductivity and extreme deformation capabilities to transfer their simple cyclic motions as input signals to programmable electrical output signals carrying computing information. The obtained SRCs make it possible for soft robots to perform complex computing tasks, such as logic, programming, and self-adaptive control (a combination of programming and feedback control). Following, a digital logic-based grasping function diagnosis, a locomotion reprogrammable soft car, and a self-adaptive control-based soft sorting gripper are demonstrated to verify SRCs' capabilities. The unique attributes of MLMD allow complex computations based on simple configurations and inputs, which provide new ways to enhance soft robots' computing capabilities.

Spontaneous Rising of a Whirling-Swimmer Driven by a Bubble

The wind-dispersed seeds can rotate and fall like small vehicles with the help of the wind to obtain a longer propagation distance. Inspired by this, we propose a novel bubble-driven three-bladed whirling-swimmer (WS) to travel in the fluid as a vehicle. Four types of WSs with blade folding angles (φ) ranging from 10 to 60° were designed, and their swimming performance was evaluated. Regardless of the WS shape, the velocity increases linearly with φ, while the angular frequency exhibits an asymptotic value. Further, both the St and rotational energy of the WS peak at 20° ≤ φ ≤ 30° for different WS shapes as well as the vertical force and the hydrodynamic torque were solved from a proposed mechanics model. This folding angle range is unexpectedly consistent with the coning angle during maple samaras' stable falling. The WS lift and drag forces greatly depend on the interaction between the leading-edge vortex and the hub vortex. The results showed that the WS-IV seems to have the highest performance. Our work may shed new light on developing unpowered wireless swimmers of high swimming performance to provide a new way for underwater information collection, information transmission, and enhanced mixing.

Light-driven dandelion-inspired microfliers

In nature, many plants have evolved diverse flight mechanisms to disperse seeds by wind and propagate their genetic information. Inspired by the flight mechanism of the dandelion seeds, we demonstrate light-driven dandelion-inspired microfliers based on ultralight and super-sensitive tubular-shaped bimorph soft actuator. Like dandelion seeds in nature, the falling velocity of the as-proposed microflier in air can be facilely controlled by tailoring the degree of deformation of the "pappus" under different light irradiations. Importantly, the resulting microflier is able to achieve a mid-air flight above a light source with a sustained flight time of ~8.9 s and a maximum flight height of ~350 mm thanks to the unique dandelion-like 3D structures. Unexpectedly, the resulting microflier is found to exhibit light-driven upward flight accompanied by autorotating motion, and the rotation mode can be customized in either a clockwise or counterclockwise direction by engineering the shape programmability of bimorph soft actuator films. The research disclosed herein can offer new insights into the development of untethered and energy-efficient artificial aerial vehicles that are of paramount significance for many applications from environmental monitoring and wireless communication to future solar sail and robotic spacecraft.

Natural Coumarin Isomers with Dramatically Different AIE Properties: Mechanism and Application

Aggregation-induced emission luminogens (AIEgens) are of great importance in optoelectronics and biomedical fields. However, the popular design philosophy by combining rotors with traditional fluorophores limits the imagination and structural diversity of AIEgens. Inspired by the fluorescent roots of the medicinal plant Toddalia asiatica, we discovered two unconventional rotor-free AIEgens, 5-methoxyseselin (5-MOS) and 6-methoxyseselin (6-MOS). Interestingly, a slight structural difference of the coumarin isomers leads to completely contrary fluorescent properties upon aggregation in aqueous media. Further mechanism investigation indicates that 5-MOS forms different extents of aggregates with the assistance of protonic solvents, leading to electron/energy transfer, which is responsible for its unique AIE feature, i.e., reduced emission in aqueous media but enhanced emission in crystal. Meanwhile, for 6-MOS, the conventional restriction of the intramolecular motion (RIM) mechanism is responsible for its AIE feature. More interestingly, the unique water-sensitive fluorescence property of 5-MOS enables its successful application for wash-free mitochondria imaging. This work not only demonstrates an ingenious tactic to seek new AIEgens from natural fluorescent species but also benefits the structure design and application exploration of next-generation AIEgens.

Ultra-stretchable and biodegradable elastomers for soft, transient electronics

As rubber-like elastomers have led to scientific breakthroughs in soft, stretchable characteristics-based wearable, implantable electronic devices or relevant research fields, developments of degradable elastomers with comparable mechanical properties could bring similar technological innovations in transient, bioresorbable electronics or expansion into unexplored areas. Here, we introduce ultra-stretchable, biodegradable elastomers capable of stretching up to ~1600% with outstanding properties in toughness, tear-tolerance, and storage stability, all of which are validated by comprehensive mechanical and biochemical studies. The facile formation of thin films enables the integration of almost any type of electronic device with tunable, suitable adhesive strengths. Conductive elastomers tolerant/sensitive to mechanical deformations highlight possibilities for versatile monitoring/sensing components, particularly the strain-tolerant composites retain high levels of conductivities even under tensile strains of ~550%. Demonstrations of soft electronic grippers and transient, suture-free cardiac jackets could be the cornerstone for sophisticated, multifunctional biodegradable electronics in the fields of soft robots and biomedical implants.

Multiresponsive Microactuator for Ultrafast Submillimeter Robots

Untethered submillimeter microrobots have significant application prospects in environment monitoring, reconnaissance, and biomedicine. However, they are practically limited to their slow movement. Here, an electrical/optical-actuated microactuator is reported and developed into several untethered ultrafast submillimeter robots. Composed of multilayer nanofilms with exquisitely designed patterns and high surface-to-volume ratios, the microrobot exhibits flexible, precise, and rapid response under voltages and lasers, resulting in controllable and ultrafast inchworm-type movement. The proposed design and microfabrication approach allows various improved and distinctive 3D microrobots simultaneously. The motion speed is highly related to the laser frequency and reaches 2.96 mm/s (3.66 body length/s) on the polished wafer surface. Excellent movement adaptability of the robot is also verified on other rough substrates. Moreover, directional locomotion can be realized simply by the bias of the irradiation of the laser spot, and the maximum angular speed reaches 167.3°/s. Benefiting from the bimorph film structure and symmetrical configuration, the microrobot is able to maintain functionalized after being crashed by a payload 67 000 times heavier than its weight, or at the unexpectedly reversed state. These results provide a strategy for 3D microactuators with precise and rapid response, and microrobots with fast movement for delicate tasks in narrow and restrictive scenarios.

Technology Roadmap for Flexible Sensors

Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative efforts, scientific breakthroughs can be made sooner and capitalized for the betterment of humanity.

Soft robotics towards sustainable development goals and climate actions

Soft robotics technology can aid in achieving United Nations’ Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.

4D Printing of Humidity-Driven Seed Inspired Soft Robots

Geraniaceae seeds represent a role model in soft robotics thanks to their ability to move autonomously across and into the soil driven by humidity changes. The secret behind their mobility and adaptivity is embodied in the hierarchical structures and anatomical features of the biological hygroscopic tissues, geometrically designed to be selectively responsive to environmental humidity. Following a bioinspired approach, the internal structure and biomechanics of Pelargonium appendiculatum (L.f.) Willd seeds are investigated to develop a model for the design of a soft robot. The authors exploit the re-shaping ability of 4D printed materials to fabricate a seed-like soft robot, according to the natural specifications and model, and using biodegradable and hygroscopic polymers. The robot mimics the movement and performances of the natural seed, reaching a torque value of ≈30 µN m, an extensional force of ≈2.5 mN and it is capable to lift ≈100 times its own weight. Driven by environmental humidity changes, the artificial seed is able to explore a sample soil, adapting its morphology to interact with soil roughness and cracks.

A review on microrobots driven by optical and magnetic fields

Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.

Dandelion-Inspired, Wind-Dispersed Polymer-Assembly Controlled by Light

The rise of stimuli-responsive polymers has brought about a wealth of materials for small-scale, wirelessly controlled soft-bodied robots. Thinking beyond conventional robotic mobilities already demonstrated in synthetic systems, such as walking, swimming and jumping, flying in air by dispersal, gliding, or even hovering is a frontier yet to be explored by responsive materials. The demanding requirements for actuator's performance, lightweight, and effective aerodynamic design underlie the grand challenges. Here, a soft matter-based porous structure capable of wind-assisted dispersal and lift-off/landing action under the control of a light beam is reported. The design is inspired by the seed of dandelion, resembling several biomimetic features, i.e., high porosity, lightweight, and separated vortex ring generation under a steady wind flow. Superior to its natural counterparts, this artificial seed is equipped with a soft actuator made of light-responsive liquid crystalline elastomer, which induces reversible opening/closing actions of the bristles upon visible light excitation. This shape-morphing enables manual tuning of terminal velocity, drag coefficient, and wind threshold for dispersal. Optically controlled wind-assisted lift-off and landing actions, and a light-induced local accumulation in descending structures are demonstrated. The results offer novel approaches for wirelessly controlled, miniatured devices that can passively navigate over a large aerial space.

Development and characterization of a passive, bio-inspired flow-tracking sensor

The effective natural transport of seeds in turbulent atmospheric flows is found across a myriad of shapes and sizes. However, to develop a sensitive passive sensor required for large-scale (in situ) flow tracking measurements, systems suffer from inertial lag due to the increased size and mass needed for optical visibility, or by carrying a sensor payload, such as an inertial measurement unit (IMU). While IMU-based flow sensing is promising for beyond visual line-of-sight applications, the size and mass of the sensor platform results in reduced flow fidelity and, hence, measurement error. Thus, to extract otherwise inaccessible flow information, a flow-physics-based tracer correction is developed through the application of a low-order unsteady aerodynamic model, inspired by the added-mass concept. The technique is evaluated using a sensor equipped with an IMU and magnetometer. A spherical sensor platform, selected for its symmetric geometry, was subject to two canonical test cases including an axial gust as well as the vortex shedding generated behind a cylinder. Using the measured sensor velocity and acceleration as inputs, an energized-mass-based dynamic model is used to back-calculate the instantaneous flow velocity from the sensor measurements. The sensor is also tracked optically via a high-speed camera while collecting the inertial data onboard. For the 1D test case (axial gust), the true (local) wind speed was estimated from the energized-mass-based model and validated against particle image velocimetry measurements, exhibiting good agreement with a maximum error of 10%. For the cylinder wake (second test case), the model-based correction enabled the extraction of the velocity oscillation amplitude and vortex-shedding frequency, which would have otherwise been inaccessible. The results of this study suggest that inertial (i.e. large and heavy) IMU-based flow sensors are viable for the extraction of Lagrangian tracking at large atmospheric scales and within highly-transient (turbulent) environments when coupled with a robust dynamic model for inertial correction.

Superhydrophobic Strategy for Nature-Inspired Rotating Microfliers: Enhancing Spreading, Reducing Contact Time, and Weakening Impact Force of Raindrops

Wind-dispersal of seeds is a remarkable strategy in nature, enlightening the construction of microfliers for environmental monitoring. However, the flight of these microfliers is greatly affected by climatic conditions, especially in rainy days, they suffer serious raindrop impact. Here, a hierarchical superhydrophobic surface is fabricated and a novel strategy is demonstrated that the superhydrophobic coating can enhance spreading while reduce contact time and impact force of raindrops, all of which are beneficial for the rotating microfliers. When the surface rotating speed exceeds a critical value, the effect of centrifugal force becomes considerable so that the droplet spreading is enhanced. The rotating superhydrophobic surface can rotate an impacting droplet by the tangential drag force from the air boundary layer, and the rotation of the droplet generates a negative pressure zone inside it, reducing the contact time by more than 30%. The impact force by the droplet on the rotating superhydrophobic surface also has a remarkable reduction of 53% compared to that on unprocessed hydrophilic surfaces, which helps maintain the flight stability of the microfliers. This work pioneers in revealing the droplet impact effect on rotating microflier surfaces and demonstrates the effectiveness of protecting microfliers with superhydrophobic coatings, which shall guide the manufacture and flight of microfliers in rainy conditions.

Biodegradable, three-dimensional colorimetric fliers for environmental monitoring

Recently reported winged microelectronic systems offer passive flight mechanisms as a dispersal strategy for purposes in environmental monitoring, population surveillance, pathogen tracking, and other applications. Initial studies indicate potential for technologies of this type, but advances in structural and responsive materials and in aerodynamically optimized geometries are necessary to improve the functionality and expand the modes of operation. Here, we introduce environmentally degradable materials as the basis of 3D fliers that allow remote, colorimetric assessments of multiple environmental parameters-pH, heavy metal concentrations, and ultraviolet exposure, along with humidity levels and temperature. Experimental and theoretical investigations of the aerodynamics of these systems reveal design considerations that include not only the geometries of the structures but also their mass distributions across a range of bioinspired designs. Preliminary field studies that rely on drones for deployment and for remote colorimetric analysis by machine learning interpretation of digital images illustrate scenarios for practical use.

Dynamic morphological transformations in soft architected materials via buckling instability encoded heterogeneous magnetization

The geometric reconfigurations in three-dimensional morphable structures have a wide range of applications in flexible electronic devices and smart systems with unusual mechanical, acoustic, and thermal properties. However, achieving the highly controllable anisotropic transformation and dynamic regulation of architected materials crossing different scales remains challenging. Herein, we develop a magnetic regulation approach that provides an enabling technology to achieve the controllable transformation of morphable structures and unveil their dynamic modulation mechanism as well as potential applications. With buckling instability encoded heterogeneous magnetization profiles inside soft architected materials, spatially and temporally programmed magnetic inputs drive the formation of a variety of anisotropic morphological transformations and dynamic geometric reconfiguration. The introduction of magnetic stimulation could help to predetermine the buckling states of soft architected materials, and enable the formation of definite and controllable buckling states without prolonged magnetic stimulation input. The dynamic modulations can be exploited to build systems with switchable fluidic properties and are demonstrated to achieve capabilities of fluidic manipulation, selective particle trapping, sensitivity-enhanced biomedical analysis, and soft robotics. The work provides new insights to harness the programmable and dynamic morphological transformation of soft architected materials and promises benefits in microfluidics, programmable metamaterials, and biomedical applications.

Shape morphing of plastic films

Three-dimensional (3D) architectures have qualitatively expanded the functions of materials and flexible electronics. However, current fabrication techniques for devices constrain their substrates to 2D geometries and current post-shape transformation strategies are limited to heterogenous or responsive materials and are not amenable to free-standing inert plastic films such as polyethylene terephthalate (PET) and polyimide (PI), which are vital substrates for flexible electronics. Here, we realize the shape morphing of homogeneous plastic films for various free-standing 3D frameworks from their 2D precursors by introducing a general strategy based on programming the plastic strain in films under peeling. By modulating the peeling parameters, previously inaccessible free-standing 3D geometries ranging from millimeter to micrometer were predicted theoretically and obtained experimentally. This strategy is applicable to most materials capable of plastic deformation, including polymers, metals, and composite materials, and can even enable 4D transformation with responsive plastic films. Enhanced performance of 3D circuits and piezoelectric systems demonstrates the enormous potential of peeling-induced shape morphing for 3D devices.

Recent Advances in Multifunctional Wearable Sensors and Systems: Design, Fabrication, and Applications

Multifunctional wearable sensors and systems are of growing interest over the past decades because of real-time health monitoring and disease diagnosis capability. Owing to the tremendous efforts of scientists, wearable sensors and systems with attractive advantages such as flexibility, comfort, and long-term stability have been developed, which are widely used in temperature monitoring, pulse wave detection, gait pattern analysis, etc. Due to the complexity of human physiological signals, it is necessary to measure multiple physiological information simultaneously to evaluate human health comprehensively. This review summarizes the recent advances in multifunctional wearable sensors, including single sensors with various functions, planar integrated sensors, three-dimensional assembled sensors, and stacked integrated sensors. The design strategy, manufacturing method, and potential application of each type of sensor are discussed. Finally, we offer an outlook on future developments and provide perspectives on the remaining challenges and opportunities of wearable multifunctional sensing technology.

Bio-inspired flapping wing robots with foldable or deformable wings: a review

Traditional flapping-wing robots (FWRs) obtain lift and thrust by relying on the passive deformation of their wings which cannot actively fold or deform. In contrast, flying creatures such as birds, bats, and insects can maneuver agilely through active folding or deforming their wings. Researchers have developed many bio-inspired foldable or deformable wings (FDWs) imitating the wings of flying creatures. The foldable wings refer to the wings like the creatures' wings that can fold in an orderly manner close to their bodies. Such wings have scattered feathers or distinct creases that can be stacked and folded to reduce the body envelope, which in nature is beneficial for these animals to prevent wing damage and ensure agility in crossing bushes. The deformable wings refer to the active deformation of the wings using active driving mechanisms and the passive deformation under the aerodynamic force, which functionally imitates the excellent hydrodynamic performance of the deformable body and wings of the creatures. However, the shape and external profile changes of deformable wings tend to be much smaller than that of folding wings. FDWs enable the FWRs to improve flight degree of flexibility, maneuverability, and efficiency and reduce flight energy consumption. However, FDWs still need to be studied, and a comprehensive review of the state-of-the-art progress of FDWs in FWR design is lacking. This paper analyzes the wing folding and deformation mechanisms of the creatures and reviews the latest progress of FWRs with FDWs. Furthermore, we summarize the current limitations and propose future directions in FDW design, which could help researchers to develop better FWRs for safe maneuvering in obstacle-dense environments.

Multicomponent and multifunctional integrated miniature soft robots

Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.

Aligned Magnetic Nanocomposites for Modularized and Recyclable Soft Microrobots

Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small scale. Here, we propose a facile technique to manufacture diverse soft microrobots (∼100 μm in all dimensions) by mechanically assembling modular magnetic microactuators into different three-dimensional (3D) configurations. The module is composed of a cubic micropillar supported on a square substrate, both made of elastomer matrix embedded with prealigned magnetic nanoparticle chains. By directionally bonding the sides or backs of identical modules together, we demonstrate that assemblies from only two and four modules can execute a wide range of locomotion, including gripping microscale objects, crawling and crossing solid obstacles, swimming within narrow and tortuous microchannels, and rolling along flat and inclined surfaces, upon applying proper magnetic fields. The assembled microrobots can additionally perform pick-transfer-place and cargo-release tasks at the microscale. More importantly, like the game of block-building, the microrobots can be disassembled back to separate modules and then reassembled to other configurations as demanded. The present study not only provides a versatile and economic manufacturing technique for reconfigurable and recyclable soft microrobots, enabling unlimited design space for diverse robotic locomotion from limited materials and module structures, but also extends the functionality and dexterity of existing soft robots to microscale that should facilitate practical applications at such small scale.

Application of Triboelectric Nanogenerator in Fluid Dynamics Sensing: Past and Future

The triboelectric nanogenerator (TENG) developed by Z. L. Wang's team to harvest random mechanical energy is a promising new energy source for distributed sensing systems in the new era of the internet of things (IoT) and artificial intelligence (AI) for a smart world. TENG has many advantages that make it suitable for a wide range of applications, including energy harvesting, environmental protection, wearable electronics, robotics, and self-powered sensors. Sensing as an important part of TENG applications is gradually expanding, with the in-depth study of TENG sensing in its working principle, material selection, processing technology, system integration, surface treatment, and back-end algorithms by researchers. In industry and academia, fluid dynamics sensing for liquid and air is urgently needed but lacking. In particular, local fluid sensing is difficult and limited to traditional sensors. Fortunately, with advantages for ordinary TENGs and TENGs as fluid dynamics sensors, fluid dynamics sensing can be better realized. Therefore, the paper summarizes the up-to-date work on TENGs as fluid dynamics sensors, discusses the advantages of TENGs as fluid dynamics sensors in-depth, and, most importantly, aims to explore possible new key areas to help guide the future direction of TENG in fluid dynamics sensing by addressing the key challenges.

WiFi Energy-Harvesting Antenna Inspired by the Resonant Magnetic Dipole Metamaterial

WiFi energy harvesting is a promising solution for powering microsensors and microsystems through collecting electromagnetic (EM) energies that exist everywhere in modern daily lives. In order to harvest EM energy, we proposed a metamaterial-inspired antenna (MIA) based on the resonant magnetic dipole operating in the WiFi bands. The MIA consists of two metallic split-ring resonators (SRRs), separated by an FR4 dielectric layer, in the broadside coupled configuration. The incident EM waves excite surface currents in the coupled SRRs, and the energy is oscillating between them due to near-field coupling. By varying the vertical distance of the two SRRs, we may achieve impedance matching without complicated matching networks. Collected EM energy can be converted to DC voltages via a rectifier circuit at the output of the coupling coil. Measured results demonstrate that the designed MIA may resonate at 2.4 GHz with a deep-subwavelength form factor (14 mm×14 mm×1.6 mm). The WiFi energy-harvesting capability of the proposed MIA with an embedded one-stage Dickson voltage multiplier has also been evaluated. A rectified DC voltage is approximately 500 mV when the MIA is placed at a distance of 2 cm from the WiFi transmit antenna with a 9 dBm transmitting power. The proposed compact MIA in this paper is of great importance for powering future distributed microsystems.

A Multifunctional Light-Driven Swimming Soft Robot for Various Application Scenarios

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.

Recent Advances in Flexible RF MEMS

Microelectromechanical systems (MEMS) that are based on flexible substrates are widely used in flexible, reconfigurable radio frequency (RF) systems, such as RF MEMS switches, phase shifters, reconfigurable antennas, phased array antennas and resonators, etc. When attempting to accommodate flexible deformation with the movable structures of MEMS, flexible RF MEMS are far more difficult to structurally design and fabricate than rigid MEMS devices or other types of flexible electronics. In this review, we survey flexible RF MEMS with different functions, their flexible film materials and their fabrication process technologies. In addition, a fabrication process for reconfigurable three-dimensional (3D) RF devices based on mechanically guided assembly is introduced. The review is very helpful to understand the overall advances in flexible RF MEMS, and serves the purpose of providing a reference source for innovative researchers working in this field.

Intrinsic equilibrium of stably autorotating samaras

During descent, a single-winged maple seed (samara) can naturally reach a delicate equilibrium state, stable autorotation, before landing. This article reveals the intrinsic equilibrium of a particular type of samaras in terms of measurable aerodynamic and geometric parameters. To this end, we conducted a series of in situ measurements for the rate of vertical descent (exclusive of crosswind) of an autorotating samara in a natural range of samara sizes and masses. We then extended the range of size and mass by introducing artificial samaras, with discrete mass elements purposely designed to approximate the asymmetrical and nonuniform distribution of mass found with natural samaras. Based on the widened range, a fundamental nondimensional correlation of dynamic pressure and disc loading was generalized, where all stable autorotation descent profiles collapse to a single descent characteristic curve, irrespective of the size and mass of the natural and artificial samara's specimens. Results reveal that for stably autorotating (both natural and artificial) samaras, their terminal descent velocity (expressed as dynamic pressure) and disc loading attained equilibrium at a value that is inversely proportional to the coefficient of lift.

Foundry Service of CMOS MEMS Processes and the Case Study of the Flow Sensor

The complementary metal-oxide-semiconductor (CMOS) process is the main stream to fabricate integrated circuits (ICs) in the semiconductor industry. Microelectromechanical systems (MEMS), when combined with CMOS electronics to form the CMOS MEMS process, have the merits of small features, low power consumption, on-chip circuitry, and high sensitivity to develop microsensors and micro actuators. Firstly, the authors review the educational CMOS MEMS foundry service provided by the Taiwan Semiconductor Research Institute (TSRI) allied with the United Microelectronics Corporation (UMC) and the Taiwan Semiconductor Manufacturing Company (TSMC). Taiwan’s foundry service of ICs is leading in the world. Secondly, the authors show the new flow sensor integrated with an instrumentation amplifier (IA) fabricated by the latest UMC 0.18 µm CMOS MEMS process as the case study. The new flow sensor adopted the self-heating resistive-thermal-detector (RTD) to sense the flow speed. This self-heating RTD half-bridge alone gives a normalized output sensitivity of 138 µV/V/(m/s)/mW only. After being integrated with an on-chip amplifier gain of 20 dB, the overall sensitivity of the flow sensor was measured and substantially improved to 1388 µV/V/(m/s)/mW for the flow speed range of 0–5 m/s. Finally, the advantages of the CMOS MEMS flow sensors are justified and discussed by the testing results.

Untethered small-scale magnetic soft robot with programmable magnetization and integrated multifunctional modules

Intelligent magnetic soft robots capable of programmable structural changes and multifunctionality modalities depend on material architectures and methods for controlling magnetization profiles. While some efforts have been made, there are still key challenges in achieving programmable magnetization profile and creating heterogeneous architectures. Here, we directly embed programmed magnetization patterns (magnetization modules) into the adhesive sticker layers to construct soft robots with programmable magnetization profiles and geometries and then integrate spatially distributed functional modules. Functional modules including temperature and ultraviolet light sensing particles, pH sensing sheets, oil sensing foams, positioning electronic component, circuit foils, and therapy patch films are integrated into soft robots. These test beds are used to explore multimodal robot locomotion and various applications related to environmental sensing and detection, circuit repairing, and gastric ulcer coating, respectively. This proposed approach to engineering modular soft material systems has the potential to expand the functionality, versatility, and adaptability of soft robots.

Wireless soft millirobots for climbing three-dimensional surfaces in confined spaces

Wireless soft-bodied robots at the millimeter scale allow traversing very confined unstructured terrains with minimal invasion and safely interacting with the surrounding environment. However, existing untethered soft millirobots still lack the ability of climbing, reversible controlled surface adhesion, and long-term retention on unstructured three-dimensional (3D) surfaces, limiting their use in biomedical and environmental applications. Here, we report a fundamental peeling-and-loading mechanism to allow untethered soft-bodied robots to climb 3D surfaces by using both the soft-body deformation and whole-body motion of the robot under external magnetic fields. This generic mechanism is implemented with different adhesive robot footpad designs, allowing vertical and inverted surface climbing on diverse 3D surfaces with complex geometries and different surface properties. With the unique robot footpad designs that integrate microstructured adhesives and tough bioadhesives, the soft climbing robot could achieve controllable adhesion and friction to climb 3D soft and wet surfaces including porcine tissues, which paves the way for future environmental inspection and minimally invasive medicine applications.