Celebrating Soft Matter's 10th Anniversary: toward jamming by design

Biofabrication with microbial cellulose: from bioadaptive designs to living materials

Nanocellulose is not only a renewable material but also brings functions that are opening new technological opportunities. Here we discuss a special subset of this material, in its fibrillated form, which is produced by aerobic microorganisms, namely, bacterial nanocellulose (BNC). BNC offers distinct advantages over plant-derived counterparts, including high purity and high degree of polymerization as well as crystallinity, strength, and water-holding capacity, among others. More remarkably, beyond classical fermentative protocols, it is possible to grow BNC on non-planar interfaces, opening new possibilities in the assembly of advanced bottom-up structures. In this review, we discuss the recent advances in the area of BNC-based biofabrication of three-dimensional (3D) designs by following solid- and soft-material templating. These methods are shown as suitable platforms to achieve bioadaptive constructs comprising highly interlocked biofilms that can be tailored with precise control over nanoscale morphological features. BNC-based biofabrication opens applications that are not possible by using traditional manufacturing routes, including direct ink writing of hydrogels. This review emphasizes the critical contributions of microbiology, colloid and surface science, as well as additive manufacturing in achieving bioadaptive designs from living matter. The future impact of BNC biofabrication is expected to take advantage of material and energy integration, residue utilization, circularity and social latitudes. Leveraging existing infrastructure, the scaleup of biofabrication routes will contribute to a new generation of advanced materials rooted in exciting synergies that combine biology, chemistry, engineering and material sciences.

Contact networks and force transmission in aggregates of hexapod-shaped particles

Hexapods, consisting of three mutually orthogonal arms, have been utilized as a representative nonconvex shape to demonstrate the impact of interlocking on the strength properties of granular materials. Nevertheless, the microstructural characteristics of hexapod packings, which underlie their strength, have remained insufficiently characterized. We use particle dynamics simulations to build isotropically-packed aggregates of hexapods and we analyze the effects of aspect ratio and interparticle friction on the microstructure and force transmission. We find that the packing fraction is an unmonotonic function of aspect ratio due to competition between steric exclusions and interlocking. Interestingly, the contact coordination number declines considerably with friction coefficient, showing the stronger effect of friction on the stability of hexapod packings as compared with sphere packings. The pair distribution functions show that local ordering due to steric exclusions disappears beyond the aspect ratio 3 and the hexapods touch their second neighbors. Remarkably, hexapods of aspect ratio 3 tend to align with their neighbors and form locally ordered structures, implying a contact coordination number which is highly sensitive to the confining pressure. We also show that the probability density function of forces between hexapods is similar to that of sphere packings but with broadening exponential fall-off of strong forces as aspect ratio increases. Finally, the elastic bulk modulus of the aggregates is found to increase considerably with aspect ratio as a consequence of the rapid increase of contact density and the number of contacts with second neighbors.

A self-organizing robotic aggregate using solid and liquid-like collective states

Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliance. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape-shifting in a decentralized manner. This, in turn, can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinates to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.

Kinematics, dynamics and control of stiffness-tunable soft robots

Modeling and control methods for stiffness-tunable soft robots (STSRs) have received less attention compared to standard soft robots. A major challenge in controlling STSRs is their infinite degrees of freedom, similar to standard soft robots. In this paper, demonstrate a novel STSR by combing a soft-rigid hybrid spine-mimicking actuator with a stiffness-tunable module. Additionally, we introduce a new kinematic and dynamic modeling methodology for the proposed STSR. Based on the STSR characteristics, we model it as a series of PRP segments, each composed of two prismatic joints(P) and one revolute joint(R). This method is simpler, more generalizable, and more computationally efficient than existing approaches. We also design a multi-input multi-output (MIMO) controller that directly adjusts the pressure of the STSR's three pneumatic chambers to precisely control its posture. Both the novel modeling methodology and MIMO control system are implemented and validated on the proposed STSR prototype.

Ejected microcrystals probe jammed states of droplets in cyclodextrin-based emulsions

The cyclodextrin (CD)-based emulsions exhibit complex instability behaviors such as rapid flocculation and creaming, and how to capture droplet dispersion states of the emulsions remains a great challenge. Here we prepare the CD-based emulsions with different oil-water volume ratios and CD concentrations by using high-pressure homogenization, and characterize the emulsion droplets by using optical microscopy and confocal laser scanning microscopy. We evaluate the effects of homogenization pressure on the stability of the emulsions, identify armored droplets with different surface features, measure interfacial concentrations of adsorbed ICs microcrystals, and observe ejection of the oil/CD inclusion complexes (ICs) microcrystals from the droplet surface. The droplet dispersion states are sensitive to the dynamic buildup and evolving morphologies of the interfacial microcrystals, and there are clear correlations between the properties of the ejected microcrystals and the characteristics of the emulsions. We ascribe the subsequent ejection of ICs microcrystals from the droplet surface to consolidation and deformation of the films formed between neighboring droplets. The ejection of the ICs microcrystals affords a simple method to detect the droplet-droplet interactions and phase transitions in the CD-based emulsions, which might be a generic feature in the broader context of the creaming processes of emulsions.

Force transmission during repose of flexible granular chains

We study the mechanics of standing columns formed during the repose of flexible granular chains. It is one of the many intriguing behaviours exhibited by granular materials when links capable of transmitting tension exist between particles. We develop and calibrate a discrete element method contact model to simulate the mechanics of the macroscopic flexible granular chains and conduct simulations of the angle of repose experiments of these chains by extracting a chain-filled cylinder and allowing the material to flow out under gravity and repose. We evaluate various micro-mechanical, topological and macroscopic parameters to elucidate the mechanics of the repose behaviour of chain ensembles. It is the ability of the links connecting the individual particles to transmit tensile forces along the chain backbone that provides lateral stability to the column, enabling them to stand. In particular, the contact force rearrangement inside the columns generates a self-confining radial stress near the base of the columns, which provides an important stabilizing stress.

Machine learning approaches for the optimization of packing densities in granular matter

The fundamental question of how densely granular matter can pack and how this density depends on the shape of the constituent particles has been a longstanding scientific problem. Previous work has mainly focused on empirical approaches based on simulations or mean-field theory to investigate the effect of shape variation on the resulting packing densities, focusing on a small set of pre-defined shapes like dimers, ellipsoids, and spherocylinders. Here we discuss how machine learning methods can support the search for optimally dense packing shapes in a high-dimensional shape space. We apply dimensional reduction and regression techniques based on random forests and neural networks to find novel dense packing shapes by numerical optimization. Moreover, an investigation of the regression function in the dimensionally reduced shape representation allows us to identify directions in the packing density landscape that lead to a strongly non-monotonic variation of the packing density. The predictions obtained by machine learning are compared with packing simulations. Our approach can be more widely applied to optimize the properties of granular matter by varying the shape of its constituent particles.

Super-Macroporous Lightweight Materials Templated from Bicontinuous Intra-Phase Jammed Emulsion Gels Based on Nanochitin

Non-equilibrium multiphase systems are formed by mixing two immiscible nanoparticle dispersions, leading to bicontinuous emulsions that template cryogels with interconnected, tortuous channels. Herein, a renewable, rod-like biocolloid (chitin nanocrystals, ChNC) is used to kinetically arrest bicontinuous morphologies. Specifically, it is found that ChNC stabilizes intra-phase jammed bicontinuous systems at an ultra-low particle concentration (as low as 0.6 wt.%), leading to tailorable morphologies. The synergistic effects of ChNC high aspect ratio, intrinsic stiffness, and interparticle interactions produce hydrogelation and, upon drying, lead to open channels bearing dual characteristic sizes, suitably integrated into robust bicontinuous ultra-lightweight solids. Overall, it demonstrates the successful formation of ChNC-jammed bicontinuous emulsions and a facile emulsion templating route to synthesize chitin cryogels that form unique super-macroporous networks.

Bonded straight and helical flagellar filaments form ultra-low-density glasses

We study how the three-dimensional shape of rigid filaments determines the microscopic dynamics and macroscopic rheology of entangled semidilute Brownian suspensions. To control the filament shape we use bacterial flagella, which are microns-long helical or straight filaments assembled from flagellin monomers. We compare the dynamics of straight rods, helical filaments, and shape-diblock copolymers composed of seamlessly joined straight and helical segments. Caged by their neighbors, straight rods preferentially diffuse along their long axis, but exhibit significantly suppressed rotational diffusion. Entangled helical filaments escape their confining tube by corkscrewing through the dense obstacles created by other filaments. By comparison, the adjoining segments of the rod-helix shape-diblocks suppress both the translation and the corkscrewing dynamics. Consequently, the shape-diblock filaments become permanently jammed at exceedingly low densities. We also measure the rheological properties of semidilute suspensions and relate their mechanical properties to the microscopic dynamics of constituent filaments. In particular, rheology shows that an entangled suspension of shape rod-helix copolymers forms a low-density glass whose elastic modulus can be estimated by accounting for how shear deformations reduce the entropic degrees of freedom of constrained filaments. Our results demonstrate that the three-dimensional shape of rigid filaments can be used to design rheological properties of semidilute fibrous suspensions.

Optimal shapes of disk assembly in saturated random packings

Particle morphology is one of the most significant factors influencing the packing structures of granular materials. With certain targeted properties or optimization criteria, inverse packing problems have drawn extensive attention in terms of their adaptability to many material design tasks. An important question hard to answer is which particle shape, especially within given shape families, forms the densest (loosest) random packing? In this paper, we address this issue for the disk assembly model in two dimensions with an infinite variety of shapes, which are simulated in the random sequential adsorption process to suppress crystallization. Via a unique shape representation method, particle shapes are transformed into genotype sequences in the continuous shape space where we utilize the genetic algorithm as an efficient shape optimizer. Specifically, we consider three representative species of disk assembly, i.e., congruent tangent disks, incongruent tangent disks, and congruent overlapping disks, and carry out shape optimization on their packing densities in the saturated random state. We numerically search optimal shapes in the three species with a variable number of constituent disks which yield the maximal and minimal packing densities. We obtain an isosceles circulo-triangle and an unclosed ring for the maximal and minimal packing density in saturated random packings, respectively. The perfect sno-cone and isosceles circulo-triangle are also specifically investigated which give remarkably high packing densities of around 0.6, much denser than those of ellipses. This study is beneficial for guiding the design of particle shapes as well as the inverse design of granular materials.

Aqueous Bubbles Stabilized with Millimeter-Sized Polymer Plates

(Sub)millimeter-sized hexagonal polymer plates that were monodisperse in shape and size were utilized as stabilizers for aqueous bubbles, and the effects of the hydrophilic-hydrophobic property, size, and solid concentration of the plates on the formability, stability, and shape and structure of aqueous bubbles were investigated. The formability and stability of the bubbles were improved by increasing the hydrophobicity of the plate surface, decreasing the plate size, and increasing the solid concentration of the plates. For plates with suitable water wettability, three-dimensional bubbles with nearly spherical and polyhedral shapes were formed by the adsorption of plates to the bare air bubbles introduced into the continuous water phase by air-water mixing. On the contrary, two-dimensional bubbles with accordion-type structures consisting of alternating layers of plates and entrapped air bubbles were formed by the transfer of multiple plates with poor wettability from the air phase to the water phase by air-water mixing. Furthermore, a correlation was found between the bubble/stabilizer size ratio and bubble shape for plates with the suitable wettability: bubbles with nearly spherical shapes were formed when the bubble/plate size ratios were >2, bubbles with hexahedral, pentahedral, and tetrahedral shapes were formed when the size ratios were approximately 1, and bubbles with triangular and sandwich shapes were formed when the size ratios were <0.8. Additionally, bubbles with similar shapes were formed when the bubble/plate size ratios were close, even when the sizes of the plates and bubbles were different.

Jamming to unjamming: Phase transition in cyclodextrin-based emulsions mediated by sodium casein

HYPOTHESIS

Cyclodextrin (CD) can spontaneously build up the solid particle membrane with CD-oil inclusion complexes (ICs) by a self-assembly process. Sodium casein (SC) is expected to preferentially adsorb at the interface to transform the type of interfacial film. The high-pressure homogenization can increase interfacial contact opportunities of the components, which promote the phase transition of the interfacial film.

EXPERIMENTS

We added SC by sequential and simultaneous orders to mediate the assembly model of the CD-based films, examined the patterns in which the films adopt phase transitions to retard emulsion flocculation, and studied the physic-chemical properties of the emulsions and films from the structural arrest, interface tension, interfacial rheology, linear rheology, and nonlinear viscoelasticities through Fourier transform (FT)-rheology and Lissajous-Bowditch plots.

FINDINGS

The interfacial and large amplitude oscillatory shear (LAOS) rheological results showed that the films changed from jammed to unjammed. We divide the unjammed films into two types: one is SC dominated liquid-like film, which is fragile and related to droplet coalescence; the other is cohesive SC-CD film, which helps droplet rearrangement and retards droplet flocculation. Our results highlight the potential of mediating phase transformation of interfacial films to improve emulsion stability.

Pickering emulsions stabilized by β-CD microcrystals: Construction and interfacial assembly mechanism

β-Cyclodextrin (β-CD) can combine with oil and other guest molecules to form amphiphilic inclusion complexes (ICs), which can be adsorbed on the oil-water interface to reduce the interfacial tension and stabilize Pickering emulsions. However, the subtle change of β-CD in the process of emulsion preparation is easily ignored. In this study, β-CD and ginger oil (GO) were used to prepare the Pickering emulsion by high-speed shearing homogenization without an exogenous emulsifier. The stability of the emulsion was characterized by microscopic observation, staining analysis, and creaming index (CI). Results showed that the flocculation of the obtained Pickering emulsion was serious, and the surface of the droplets was rough with lamellar particles. In order to elucidate the formation process of the layered particles, the GO/β-CD ICs were further prepared by ball milling method, and the X-ray diffraction (XRD), scanning electron microscope (SEM), Fourier transform infrared spectroscopy (FTIR), and interfacial tension analyses found that β-CD and GO first formed amphiphilic nanoscale small particles (ICs) through the host-guest interaction, and the formed small particles were further self-assembled into lamellar micron-scale amphiphilic ICs microcrystals. These amphiphilic ICs and microcrystals aggregated at the oil-water interface and finally formed the Pickering emulsion. In this study, by exploring the formation process and evolution of GO/β-CD self-assembly, the formation process and stabilization mechanism of the β-CD-stabilized GO Pickering emulsion were clarified preliminarily, with the aim of providing a theoretical basis for the development of high-performance CD-stabilized Pickering emulsions.

Stiffness-Tuneable Segment for Continuum Soft Robots with Vertebrae

In addition to high compliance to unstructured environments, soft robots can be further improved to gain the advantages of rigid robots by increasing stiffness. Indeed, realizing the adjustable stiffness of soft continuum robots can provide safer interactions with objects and greatly expand their application range. To address the above situation, we propose a tubular stiffening segment based on layer jamming. It can temporarily increase the stiffness of the soft robot in a desired configuration. Furthermore, we also present a spine-inspired soft robot that can provide support in tubular segments to prevent buckling. Theoretical analysis was conducted to predict the stiffness variation of the robot at different vacuum levels. Finally, we integrated the spine-inspired soft robot and tubular stiffening segment to obtain the tuneable-stiffness soft continuum robot (TSCR). Experimental tests were performed to evaluate the robot’s shape control and stiffness tuning effectiveness. Experimental results showed that the bending stiffness of the initial TSCR increased by more than 15× at 0°, 30× at 90°, and 60× in compressive stiffness.

Anisotropic Compartmentalization of the Liquid-Liquid Interface using Dynamic Imine Chemistry

The liquid-liquid interface offers a fascinating avenue for generating hierarchical compartments. Herein, the dynamic imine chemistry is employed at the oil-water interface to investigate the effect of dynamic covalent bonds for modulating the droplet shape. The imine bond formation between oil-soluble aromatic aldehydes and water-soluble polyethyleneimine greatly stabilized the oil-water interface by substantially lowering the interfacial tension. The successful jamming of imine-mediated assemblies was observed when a compressive force was applied to the droplet. Thus, the anisotropic compartmentalization of the liquid-liquid interface was created, and it was later altered by changing the pH of the surrounding environment. Finally, a proof-of-concept demonstration of a pH-triggered cargo release across the interfacial membrane confirmed the feasibility of stimuli-responsive behavior of dynamic imine assemblies.

Micromechanical Origin of Plasticity and Hysteresis in Nestlike Packings

Disordered packings of unbonded, semiflexible fibers represent a class of materials spanning contexts and scales. From twig-based bird nests to unwoven textiles, bulk mechanics of disparate systems emerge from the bending of constituent slender elements about impermanent contacts. In experimental and computational packings of wooden sticks, we identify prominent features of their response to cyclic oedometric compression: nonlinear stiffness, transient plasticity, and eventually repeatable velocity-independent hysteresis. We trace these features to their micromechanic origins, identified in characteristic appearance, disappearance, and displacement of internal contacts.

Pump Up the Jam: Granular Media as a Quasi-Hydraulic Fluid for Independent Control Over Isometric and Isotonic Actuation

Elastomer-granule composites have been used to switch between soft and stiff states by applying negative pressure differentials that cause the membrane to squeeze the internal grains, inducing dilation and jamming. Applications of this phenomenon have ranged from universal gripping to adaptive mobility. Previously, the combination of this jamming phenomenon with the ability to transport grains across multiple soft actuators for shape morphing has not yet been demonstrated. In this paper, the authors demonstrate the use of hollow glass spheres as granular media that functions as a jammable "quasi-hydraulic" fluid in a fluidic elastomeric actuator that better mimics a key featur of animal musculature: independent control over i) isotonic actuation for motion; and ii) isometric actuation for stiffening without shape change. To best implement the quasi-hydraulic fluid, the authors design and build a fluidic device. Leveraging this combination of physical properties creates a new option for fluidic actuation that allows higher specific stiffness actuators using lower volumetric flow rates in addition to independent control over shape and stiffness. These features are showcased in a robotic catcher's mitt by stiffening the fluid in the glove's open configuration for catching, unjamming the media, then pumping additional fluid to the mitt to inflate and grasp.

Machine Learning-Assisted Design of Material Properties

Designing functional materials requires a deep search through multidimensional spaces for system parameters that yield desirable material properties. For cases where conventional parameter sweeps or trial-and-error sampling are impractical, inverse methods that frame design as a constrained optimization problem present an attractive alternative. However, even efficient algorithms require time- and resource-intensive characterization of material properties many times during optimization, imposing a design bottleneck. Approaches that incorporate machine learning can help address this limitation and accelerate the discovery of materials with targeted properties. In this article, we review how to leverage machine learning to reduce dimensionality in order to effectively explore design space, accelerate property evaluation, and generate unconventional material structures with optimal properties. We also discuss promising future directions, including integration of machine learning into multiple stages of a design algorithm and interpretation of machine learning models to understand how design parameters relate to material properties. Expected final online publication date for the Annual Review of Chemical and Biomolecular Engineering, Volume 13 is October 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Layer-by-Layer Engineered All-Liquid Microfluidic Chips for Enzyme Immobilization

Enzyme immobilization in the confines of microfluidic chips, that promote enzyme activity and stability, has become a powerful strategy to enhance biocatalysis and biomass conversion. Here, based on a newly developed all-liquid microfluidic chip, fabricated by the interfacial assembly of nanoparticle surfactants (NPSs) in a biphasic system, a layer-by-layer assembly strategy to generate polysaccharide multilayers on the surface of a microchannel, greatly enhancing the mechanical properties of the microchannel and offering a biocompatible microenvironment for enzyme immobilization, is presented. Using horseradish peroxidase and glucose oxidase as model enzymes, all-liquid microfluidic enzymatic and cascade reactors have been constructed and the crucial role of polysaccharide multilayers on enhancing the enzyme loading and catalytic efficiency is demonstrated.

Bioinspired Granular Media Friction Pad: A Universal System for Friction Enhancement on Variety of Substrates

The granular media friction pad (GMFP) inspired by the biological smooth attachment pads of cockroaches and grasshoppers employs passive jamming, to create high friction forces on a large variety of substrates. The granular medium inside the pad is encased by a flexible membrane which at contact formation greatly adapts to the substrate profile. Upon applying load, the granular medium undergoes the jamming transition and changes from fluid-like to solid-like properties. The jammed granular medium, in combination with the deformation of the encasing elastic membrane, results in high friction forces on a multitude of substrate topographies. Here we explore the effect of elasticity variation on the generation of friction by varying granular media filling quantity as well as membrane modulus and thickness. We systematically investigate contact area and robustness against substrate contamination, and we also determine friction coefficients for various loading forces and substrates. Depending on the substrate topography and loading forces, a low filling quantity and a thin, elastic membrane can be favorable, in order to generate the highest friction forces.

Designing architectural materials: from granular form to functional granular material

Designed granular materials are a novel class of architectural material system. Following one of the key paradigms of designed matter, material form and material function are closely interrelated in these systems. In this context, the article aims to contribute a parametric particle design model as an interface for this interrelation. A granular material is understood as an aggregation of large numbers of individual particles between which only short-range repulsive contact forces are acting. Granular materials are highly pertinent material systems for architecture. Due to the fact that they can act both as a solid and a liquid, they can be recycled and reconfigured multiple times and are thus highly sustainable. Designed granular materials have the added potential that the function of the granular material can be calibrated through the definition of the particles' form. Research on the design of granular materials in architecture is nascent. In physics they have been explored mainly with respect to different particle shapes. However, no coherent parametric particle design model of designed particle shapes for granular material systems in architecture has yet been established which considers both fabrication constraints and simulation requirements. The parametric particle design model proposed in this article has been based on a design system which has been developed through feasibility tests and simulations conducted in research and teaching. Based on this design system the parametric particle design model is developed integrating both fabrication constraints for architecture-scale particle systems and the geometric requirements of established simulation methods for granular materials. Initially the design system and related feasibility tests are presented. The parametric particle design model resulting from that is then described in detail. Directions of further research are discussed especially with respect to the integration of the parametric particle design model in 'inverse' design methods.

Modulation of liquid structure and controlling molecular diffusion using supramolecular constructs

The non-equilibrium liquid structure was achieved by interfacial jamming of pillar[5]arene carboxylic acid (P[5]AA) mediated by hydrogen bonding interactions. The assembly was reversibly modulated via jamming to unjamming transition thus dynamically shaping the liquid droplets. Interestingly, these supramolecular constructs showed pH-switchable gated diffusion of encapsulants, hence showcasing a next generation smart release system.

Formulation engineering of food systems for 3D-printing applications - A review

The efficient development of extrusion-based 3D-printing requires flexibility in both formulation- and process design. This task requires a fundamental understanding of the influence of material rheological properties on the extrusion process. Within this review, a qualitative toolbox for food extrusion is presented which provides guidelines for the formulation and engineering of extrusion processes in general and 3D-printing in particular. The toolbox is based on current knowledge of highly viscous food systems and the influence of individual components on the overall rheology. It includes the efficiency of particle packing, microstructure and the influence of shear rate, as well as the formation of self-supporting structures by gelation of the liquid phase and crowding of particles. Physical laws and semi-empirical equations are discussed to describe the rheology and relate relevant theory to the extrusion process. Practical information is presented, including examples of extrusion and 3D-printing of food and non-food systems. The qualitative extrusion toolbox provides a general framework for the emerging field of extrusion-based 3D-printing of food products. It can be used to identify which specific material and process parameters can be changed and how they may be altered to optimize the 3D-printing process. The general framework will assist researchers, as well as industry.

Structured fabrics with tunable mechanical properties

Structured fabrics, such as woven sheets or chain mail armours, derive their properties both from the constitutive materials and their geometry^1,2. Their design can target desirable characteristics, such as high impact resistance, thermal regulation, or electrical conductivity^3-5. Once realized, however, the fabrics' properties are usually fixed. Here we demonstrate structured fabrics with tunable bending modulus, consisting of three-dimensional particles arranged into layered chain mails. The chain mails conform to complex shapes², but when pressure is exerted at their boundaries, the particles interlock and the chain mails jam. We show that, with small external pressure (about 93 kilopascals), the sheets become more than 25 times stiffer than in their relaxed configuration. This dramatic increase in bending resistance arises because the interlocking particles have high tensile resistance, unlike what is found for loose granular media. We use discrete-element simulations to relate the chain mail's micro-structure to macroscale properties and to interpret experimental measurements. We find that chain mails, consisting of different non-convex granular particles, undergo a jamming phase transition that is described by a characteristic power-law function akin to the behaviour of conventional convex media. Our work provides routes towards lightweight, tunable and adaptive fabrics, with potential applications in wearable exoskeletons, haptic architectures and reconfigurable medical supports.

Boxes fabricated from plate-stabilized liquid marbles

Polyhedral liquid marbles were fabricated using hydrophobic polymer plates in the shape of a circle, a heart and a star as a stabilizer and water as an inner liquid phase. Boxes could be fabricated by the evaporation of the inner water from the liquid marbles. The fabrication efficiency and stability of these boxes as a function of the plate shape were investigated. Functional materials such as polymers and colloidal particles were successfully introduced into the boxes.

BoltzmaNN: Predicting effective pair potentials and equations of state using neural networks

Neural networks (NNs) are employed to predict equations of state from a given isotropic pair potential using the virial expansion of the pressure. The NNs are trained with data from molecular dynamics simulations of monoatomic gases and liquids, sampled in the NVT ensemble at various densities. We find that the NNs provide much more accurate results compared to the analytic low-density limit estimate of the second virial coefficient and the Carnahan-Starling equation of state for hard sphere liquids. Furthermore, we design and train NNs for computing (effective) pair potentials from radial pair distribution functions, g(r), a task that is often performed for inverse design and coarse-graining. Providing the NNs with additional information on the forces greatly improves the accuracy of the predictions since more correlations are taken into account; the predicted potentials become smoother, are significantly closer to the target potentials, and are more transferable as a result.

Variable Stiffness Devices Using Fiber Jamming for Application in Soft Robotics and Wearable Haptics

Variable stiffness actuation has applications in a wide range of fields, including wearable haptics, soft robots, and minimally invasive surgical devices. There have been numerous design approaches to control and tune stiffness and rigidity; however, most have relatively low specific load-carrying capacities (especially for flexural loads) in the most rigid state that restricts their use in small or slender devices. In this article, we present an approach to the design of slender, high flexural stiffness modules based on the principle of fiber jamming. The proposed fiber jamming modules (FJMs) consist of axially packed fibers in an airtight envelope that transition from a flexible to a rigid beam when a vacuum is created inside the envelope. This FJM can provide the flexural stiffness of up to eight times that of a particle jamming module in the rigid state. Unlike layer jamming modules, the design of FJMs further allows them to control stiffness while bending in space. We present an analytical model to guide the parameter choices for the design of fiber jamming devices. Finally, we demonstrate applications of FJMs, including as a versatile tool, as part of a kinesthetic force feedback haptic glove and as a programmable structure.

The effect of particle shape on discharge and clogging

Granular flow is common across different fields from energy resource recovery and mineral processing to grain transport and traffic flow. Migrating particles may jam and form arches that span constrictions and hinder particle flow. Most studies have investigated the migration and clogging of spherical particles, however, natural particles are rarely spherical, but exhibit eccentricity, angularity and roughness. New experiments explore the discharge of cubes, 2D crosses, 3D crosses and spheres under dry conditions and during particle-laden fluid flow. Variables include orifice-to-particle size ratio and solidity. Cubes and 3D crosses are the most prone to clogging because of their ability to interlock or the development of face-to-face contacts that can resist torque and enhance bridging. Spheres arriving to the orifice must be correctly positioned to create stable bridges, while flat 2D crosses orient their longest axes in the direction of flowlines across the orifice and favor flow. Intermittent clogging causes kinetic retardation in particle-laden flow even in the absence of inertial effects; the gradual increase in the local particle solidity above the constriction enhances particle interactions and the probability of clogging. The discharge volume before clogging is a Poisson process for small orifice-to-particle size ratio; however, the clogging probability becomes history-dependent for non-spherical particles at large orifice-to-particle size ratio and high solidities, i.e., when particle–particle interactions and interlocking gain significance.

Yielding, rigidity, and tensile stress in sheared columns of hexapod granules

Granular packings of nonconvex or elongated particles can form freestanding structures like walls or arches. For some particle shapes, such as staples, the rigidity arises from interlocking of pairs of particles, but the origins of rigidity for noninterlocking particles remains unclear. We report on experiments and numerical simulations of sheared columns of "hexapods," particles consisting of three mutually orthogonal sphero-cylinders whose centers coincide. We vary the length-to-diameter aspect ratio, α, of the sphero-cylinders and subject the packings to quasistatic direct shear. For small α, we observe a finite yield stress. For large α, however, the column becomes rigid when sheared, supporting stresses that increase sharply with increasing strain. Analysis of x-ray microcomputed tomography (micro-CT) data collected during the shear reveals that the stiffening is associated with a tilted, oblate cluster of hexapods near the nominal shear plane in which particle deformation and average contact number both increase. Simulation results show that the particles are collectively under tension along one direction, even though they do not interlock pairwise. These tensions comes from contact forces carrying large torques, and they are perpendicular to the compressive stresses in the packing. They counteract the tendency to dilate, thus stabilizing the particle cluster.

Structural universality in disordered packings with size and shape polydispersity

We numerically investigate disordered jammed packings with both size and shape polydispersity, using frictionless superellipsoidal particles. We implement the set Voronoi tessellation technique to evaluate the local specific volume, i.e., the ratio of cell volume over particle volume, for each individual particle. We focus on the average structural properties for different types of particles binned by their sizes and shapes. We generalize the basic observation that the larger particles are locally packed more densely than the smaller ones in a polydisperse-sized packing into systems with coupled particle shape dispersity. For this purpose, we define the normalized free volume vf to measure the local compactness of a particle and study its dependency on the normalized particle size A. The definition of vf relies on the calibrated monodisperse specific volume for a certain particle shape. For packings with shape dispersity, we apply the previously introduced concept of equivalent diameter for a non-spherical particle to define A properly. We consider three systems: (A) linear superposition states of mixed-shape packings, (B) merely polydisperse-sized packings, and (C) packings with coupled size and shape polydispersity. For (A), the packing is simply considered as a mixture of different subsystems corresponding to monodisperse packings for different shape components, leading to A = 1, and vf = 1 by definition. We propose a concise model to estimate the shape-dependent factor αc, which defines the equivalent diameter for a certain particle. For (B), vf collapses as a function of A, independent of specific particle shape and size polydispersity. Such structural universality is further validated by a mean-field approximation. For (C), we find that the master curve vf(A) is preserved when particles possess similar αc in a packing. Otherwise, the dispersity of αc among different particles causes the deviation from vf(A). These findings show that a polydisperse packing can be estimated as the combination of various building blocks, i.e., bin components, with a universal relation vf(A).

Pressure Dependent Shear Response of Jammed Packings of Frictionless Spherical Particles

The mechanical response of packings of purely repulsive, spherical particles to athermal, quasistatic simple shear near jamming onset is highly nonlinear. Previous studies have shown that, at small pressure p, the ensemble-averaged static shear modulus ⟨G-G_{0}⟩ scales with p^{α}, where α≈1, but above a characteristic pressure p^{**}, ⟨G-G_{0}⟩∼p^{β}, where β≈0.5. However, we find that the shear modulus G^{i} for an individual packing typically decreases linearly with p along a geometrical family where the contact network does not change. We resolve this discrepancy by showing that, while the shear modulus does decrease linearly within geometrical families, ⟨G⟩ also depends on a contribution from discontinuous jumps in ⟨G⟩ that occur at the transitions between geometrical families. For p>p^{**}, geometrical-family and rearrangement contributions to ⟨G⟩ are of opposite signs and remain comparable for all system sizes. ⟨G⟩ can be described by a scaling function that smoothly transitions between two power-law exponents α and β. We also demonstrate the phenomenon of compression unjamming, where a jammed packing unjams via isotropic compression.

Adaptive Liquid Interfacially Assembled Protein Nanosheets for Guiding Mesenchymal Stem Cell Fate

There is a growing interest in the development of dynamic adaptive biomaterials for regulation of cellular functions. However, existing materials are limited to two-state switching of the presentation and removal of cell-adhesive bioactive motifs that cannot emulate the native extracellular matrix (ECM) in vivo with continuously adjustable characteristics. Here, tunable adaptive materials composed of a protein monolayer assembled at a liquid-liquid interface are demonstrated, which adapt dynamically to cell traction forces. An ultrastructure transition from protein monolayer to hierarchical fiber occurs through interfacial jamming. Elongated fibronectin fibers promote formation of elongated focal adhesion structures, increase focal adhesion kinase activation, and enhance neuronal differentiation of stem cells. Cell traction force results in spatial rearrangement of ECM proteins, which feeds back to alter stem cell fate. The reported biomimetic adaptive liquid interface enables dynamic control of stem cell behavior and has potential translational applications.

Jammed packings of 3D superellipsoids with tunable packing fraction, coordination number, and ordering

We carry out numerical studies of static packings of frictionless superellipsoidal particles in three spatial dimensions. We consider more than 200 different particle shapes by varying the three shape parameters that define superellipsoids. We characterize the structural and mechanical properties of both disordered and ordered packings using two packing-generation protocols. We perform athermal quasi-static compression simulations starting from either random, dilute configurations (Protocol 1) or thermalized, dense configurations (Protocol 2), which allows us to tune the orientational order of the packings. In general, we find that superellipsoid packings are hypostatic, with coordination number zJ < ziso, where ziso = 2df and df = 5 or 6 depending on whether the particles are axi-symmetric or not. Over the full range of orientational order, we find that the number of quartic modes of the dynamical matrix for the packings always matches the number of missing contacts relative to the isostatic value. This result suggests that there are no mechanically redundant contacts for ordered, yet hypostatic packings of superellipsoidal particles. Additionally, we find that the packing fraction at jamming onset for disordered packings of superellipsoidal depends on at least two particle shape parameters, e.g. the asphericity A and reduced aspect ratio β of the particles.

Densest versus jammed packings of bent-core trimers

We identify putatively maximally dense packings of tangent-sphere trimers with fixed bond angles (θ=θ_{0}), and contrast them to the disordered jammed states they form under quasistatic and dynamic athermal compression. Incommensurability of θ_{0} with three-dimensional (3D) close packing does not by itself inhibit formation of dense 3D crystals; all θ_{0} allow formation of crystals with ϕ_{max}(θ_{0})>0.97ϕ_{cp}. Trimers are always able to arrange into periodic structures composed of close-packed bilayers or trilayers of triangular-lattice planes, separated by "gap layers" that accommodate the incommensurability. All systems have ϕ_{J} significantly below the monomeric value, indicating that trimers' quenched bond-length and bond-angle constraints always act to promote jamming. ϕ_{J} varies strongly with θ_{0}; straight (θ_{0}=0) trimers minimize ϕ_{J} while closed (θ_{0}=120^{∘}) trimers maximize it. Marginally jammed states of trimers with lower ϕ_{J}(θ_{0}) exhibit quantifiably greater disorder, and the lower ϕ_{J} for small θ_{0} is apparently caused by trimers' decreasing effective configurational freedom as they approach linearity.

Twist-Induced Snapping in a Bent Elastic Rod and Ribbon

Snapping of a slender structure is utilized in a wide range of natural and manmade systems, mostly to achieve rapid movement without relying on musclelike elements. Although several mechanisms for elastic energy storage and rapid release have been studied in detail, a general understanding of the approach to design such a kinetic system is a key challenge in mechanics. Here we study a twist-driven buckling and fast flip dynamics of a geometrically constrained ribbon by combining experiments, numerical simulations, and an analytical theory. We identify two distinct types of shape transitions: A narrow ribbon snaps, and a wide ribbon forms a pair of localized helices. We construct a phase diagram and explain the origin of the boundary, which is determined largely by the geometry. We quantify the effects of gravity and clarify the timescale dictating the rapid flipping. Our study reveals the unique role of geometric twist-bend coupling in the fast dynamics of a thin constrained structure, which has implications for a wide range of biophysical and applied physical problems.

Nanoparticle Assembly at Liquid-Liquid Interfaces: From the Nanoscale to Mesoscale

In the past few decades, novel syntheses of a wide range of nanoparticles (NPs) with well-defined chemical composition and structure have opened tremendous opportunities in areas ranging from optical and electronic devices to biomedical markers. Controlling the assembly of such well-defined NPs is important to effectively harness their unique properties. The assembly of NPs at liquid-liquid interfaces is becoming a central topic both in surface and colloid science. Hierarchical structures, including 2D films, 3D capsules, and structured liquids, have been generating significant interest and are showing promise for physical, chemical, and biological applications. Here, a brief overview of the development of the self-assembly of NPs at liquid-liquid interfaces is provided, from theory to experiment, from synthetic NPs to bio-nanoparticles, from water-oil to water-water, and from "liquid-like" to "solid-like" assemblies.

Skinny emulsions take on granular matter

Our understanding of the structural features of foams and emulsions has advanced significantly over the last 20 years. However, with a search for "super-stable" liquid dispersions, foam and emulsion science employs increasingly complex formulations which create solid-like visco-elastic layers at the bubble/drop surfaces. These lead to elastic, adhesive and frictional forces between bubbles/drops, impacting strongly how they pack and deform against each other, asking for an adaptation of the currently available structural description. The possibility to modify systematically the interfacial properties makes these dispersions ideal systems for the exploration of soft granular materials with complex interactions. We present here a first systematic analysis of the structural features of such a system using a model silicone emulsion containing millimetre-sized polyethylene glycol drops (PEG). Solid-like drop surfaces are obtained by polymeric cross-linking reactions at the PEG-silicone interface. Using a novel droplet-micromanipulator, we highlight the presence of elastic, adhesive and frictional interactions between two drops. We then provide for the first time a full tomographic analysis of the structural features of these emulsions. An in-depth analysis of the angle of repose, local volume fraction distributions, pair correlation functions and the drop deformations for different skin formulations allow us to put in evidence the striking difference with "ordinary" emulsions having fluid-like drop surfaces. While strong analogies with frictional hard-sphere systems can be drawn, these systems display a set of unique features due to the high deformability of the drops which await systematic exploration.

DIY 3D Microparticle Generation from Next Generation Optofluidic Fabrication

Complex-shaped microparticles can enhance applications in drug delivery, tissue engineering, and structural materials, although techniques to fabricate these particles remain limited. A microfluidics-based process called optofluidic fabrication that utilizes inertial flows and ultraviolet polymerization has shown great potential for creating highly 3D-shaped particles in a high-throughput manner, but the particle dimensions are mainly at the millimeter scale. Here, a next generation optofluidic fabrication process is presented that utilizes on-the-fly fabricated multiscale fluidic channels producing customized sub-100 µm 3D-shaped microparticles. This flexible design scheme offers a user-friendly platform for rapid prototyping of new 3D particle shapes, providing greater potential for creating impactful engineered microparticles.