Light-controlled versatile manipulation of liquid metal droplets: a gateway to future liquid robots

Nature-inspired adhesive systems

Many organisms in nature thrive in intricate habitats through their unique bio-adhesive surfaces, facilitating tasks such as capturing prey and reproduction. It's important to note that the remarkable adhesion properties found in these natural biological surfaces primarily arise from their distinct micro- and nanostructures and/or chemical compositions. To create artificial surfaces with superior adhesion capabilities, researchers delve deeper into the underlying mechanisms of these captivating adhesion phenomena to draw inspiration. This article provides a systematic overview of various biological surfaces with different adhesion mechanisms, focusing on surface micro- and nanostructures and/or chemistry, offering design principles for their artificial counterparts. Here, the basic interactions and adhesion models of natural biological surfaces are introduced first. This will be followed by an exploration of research advancements in natural and artificial adhesive surfaces including both dry adhesive surfaces and wet/underwater adhesive surfaces, along with relevant adhesion characterization techniques. Special attention is paid to stimulus-responsive smart artificial adhesive surfaces with tunable adhesive properties. The goal is to spotlight recent advancements, identify common themes, and explore fundamental distinctions to pinpoint the present challenges and prospects in this field.

Gallium-based liquid metals as smart responsive materials: Morphological forms and stimuli characterization

Gallium-based liquid metals (GaLMs) have garnered monumental attention from the scientific community due to their diverse actuation characteristics. These metals possess remarkable characteristics, including high surface tension, excellent electrical and thermal conductivity, phase transformation behaviour, minimal viscosity and vapour pressure, lack of toxicity, and biocompatibility. In addition, GaLMs have melting points that are either lower or near room temperature, making them incredibly beneficial when compared to solid metals since they can be easily deformed. Thus, there has been significant progress in developing multifunctional devices using GaLMs, including bio-devices, flexible and self-healing circuits, and actuators. Despite numerous reports on these liquid metals (LMs), there is an urgent need for consolidated and coherent literature regarding their actuation principles linked to the targeted application. This will ensure that the reader gets the flavour of physics behind the actuation mechanism and how it can be utilized in diverse fields. Moreover, the actuation mechanism has been scattered in the literature, and thus, the primary motive of this review is to provide a one-stop solution for the actuation mechanism and the associated dynamics while directing the readers to specialized literature. Thus, addressing this issue, we thoroughly examine and present a detailed account of the actuation mechanisms of GaLMs while highlighting the science behind them. We also discuss the various morphologies of GaLMs and their crucial physical characteristics which decide their targeted application. Furthermore, we also delve into commonly held beliefs about GaLMs in the literature, such as their toxicity and antibacterial properties, to offer readers a more accurate understanding. Finally, we have explored several key unanswered aspects of the LM that should be explored in future research. The core strength of this review lies in its simplistic approach in offering a starting point for researchers venturing this innovative field, while we make use of existing literature to develop a comprehensive understanding.

Smart materials for light control of droplets

Droplet manipulation plays a critical role in both fundamental research and practical applications, especially when combined with smart materials and external fields to achieve multifunctional droplet manipulation. Light control of droplets has emerged as a significant and widely used strategy, driven primarily by photochemistry, photomechanics, light-induced Marangoni effects, and light-induced electric effects. This approach allowing for droplet manipulation with high spatial and temporal resolution, all while maintaining a remote and non-contact mode of operation. This review aims to provide a comprehensive overview of the mechanisms underlying light control of droplets, the design of smart materials for this purpose, and the diverse range of applications enabled by this technique. These applications include merging, splitting, releasing, forwarding, backward movement, and rotation of droplets, as well as chemical reactions, droplet robots, and microfluidics. By presenting this information, we aim to establish a unified framework that guides the sustainable development of light control of droplets. Additionally, this review addresses the challenges associated with light control of droplets and suggests potential directions for future development.

A system for fluid pumping by liquid metal multi-droplets

The transportation and control of microfluidics have an important influence on the fields of biology, chemistry, and medicine. Pump systems based on the electrocapillary effect and room-temperature liquid metal droplets have attracted extensive attention. Flow rate is an important parameter that reflects the delivery performance of the pump systems. In the systems of previous studies, cylindrical structures are mostly used to constrain the droplet. The analysis and quantitative description of the influence of voltage frequency, alternating voltage, direct current voltage bias, and solution concentration on the flow rate are not yet comprehensive. Furthermore, the systems are driven by only one droplet, which limits the increase in flow rate. Therefore, a pump with a cuboid structure is designed and the droplet is bound by pillars, and the flow rate of the pump is increased by more than 200% compared with the cylindrical pump. For this structure, the mechanism of various factors on the flow rate is analyzed. To further enhance the flow rate, a pump system with multi-droplets is proposed. Moreover, the expression of flow velocity of the solution on the surface of each droplet and the relationship between the flow rate, alternating voltage, and the number of droplets are deduced. Finally, the potential of applying the multi-droplet cuboid pump system in drug delivery and analytical chemistry is demonstrated. Additionally, the core of the pump, the droplet area, is modularized, which breaks the overall structural limitations of the liquid metal pump and provides ideas for pump design.

Light-Induced Dynamic Manipulation of Liquid Metal Droplets in the Ambient Atmosphere

Dynamic manipulation of liquid metal (LM) droplets, a material combining metallicity and fluidity, has recently revealed tremendous potential in developing unconstrained microrobots. LM manipulating techniques based on magnetic fields, electric fields, chemical reactions, and ion concentration gradients in liquid environments have advanced considerably, but dynamic manipulation in air remains a challenge. Herein, a photoresponsive pyroelectric superhydrophobic (PPS) platform is proposed for noncontact, flexible, and controllable manipulation in the ambient atmosphere. The PPS can generate additional free charges when illuminated by light, thus generating the driving force to manipulate liquid metal droplets. By using the synergistic effect of dielectrophoretic and electrostatic forces generated under light navigation, liquid metal droplets can achieve a series of complex motion behaviors, such as climbing slopes, going over steps, avoiding obstacles, crossing mazes, etc. We further extend the light control of liquid metal droplets to robots applied in electronic circuits, including circuit switching robots and circuit welding robots. This light strategy for manipulating liquid metal droplets provides insights into the development of intelligent, responsive interfaces and simultaneously provides possibilities for the application of liquid metals.

Principles and methods of liquid metal actuators

As a promising material, liquid metals (LMs) have gained considerable interest in the field of soft robotics due to their ability to move as designed routines or change their shape dramatically under external stimuli. Inspired by the science fiction film Terminator, tremendous efforts have been devoted to liquid robots with high compliance and intelligence. How to manipulate LM droplets is crucial to achieving this goal. Accordingly, this review is dedicated to presenting the principles driving LMs and summarizing the potential methods to develop LM actuators of high maneuverability. Moreover, the recent progress of LM robots based on these methods is overviewed. The challenges and prospects of implementing autonomous robots have been proposed.

Machining water through laser cutting of nanoparticle-encased water pancakes

Due to the inherent disorder and fluidity of water, precise machining of water through laser cutting are challenging. Herein we report a strategy that realizes the laser cutting machining of water through constructing hydrophobic silica nanoparticle-encased water pancakes with sub-millimeter depth. Through theoretical analysis, numerical simulation, and experimental studies, the developed process of nanoparticle-encased water pancake laser cutting and the parameters that affect cutting accuracy are verified and elucidated. We demonstrate that laser-fabricated water patterns can form diverse self-supporting chips (SSCs) with openness, transparency, breathability, liquid morphology, and liquid flow control properties. Applications of laser-fabricated SSCs to various fields, including chemical synthesis, biochemical sensing, liquid metal manipulation, patterned hydrogel synthesis, and drug screening, are also conceptually demonstrated. This work provides a strategy for precisely machining water using laser cutting, addressing existing laser machining challenges and holding significance for widespread fields involving fluid patterning and flow control in biological, chemical, materials and biomedical research.

An Oscillation System Based on a Liquid Metal Droplet and Pillars under a Direct Current Electric Field

Gallium-based liquid metal is a new class of material that has attracted extensive attention due to its excellent deformation characteristics and great potential in applications. Based on the deformation characteristics of liquid metal droplets, researchers have developed many oscillation systems composed of gallium indium tin alloy (GaInSn) droplet and graphite, or aluminum-doped gallium indium alloy (Al-GaIn_24.5) droplet and iron, and so on. Rather than the oxidation and deoxidation mechanisms used in previous systems, an oscillation system that can achieve gallium indium alloy (EGaIn) droplet oscillation with the frequency of 0-29 Hz is designed depending on the interactions between the electric field, pillars, sodium hydroxide, and the droplet. The forces on the droplet are analyzed specifically, which have a great influence on droplet deformation. Additionally, the effects of factors such as voltage, the concentration of sodium hydroxide (NaOH) solution, and droplet size on the droplet oscillation are elucidated based on the force analysis, enabling the flexible control of the oscillation frequency and amplitude of the droplet. This work provides a new perspective on the design of oscillation systems and further enhances our understanding of the deformation of gallium-based liquid metal droplets.

Amoeba-Inspired Magnetic Venom Microrobots

Nature provides a successful evolutionary direction for single-celled organisms to solve complex problems and complete survival tasks - pseudopodium. Amoeba, a unicellular protozoan, can produce temporary pseudopods in any direction by controlling the directional flow of protoplasm to perform important life activities such as environmental sensing, motility, predation, and excretion. However, creating robotic systems with pseudopodia to emulate environmental adaptability and tasking capabilities of natural amoeba or amoeboid cells remains challenging. Here, this work presents a strategy that uses alternating magnetic fields to reconfigure magnetic droplet into Amoeba-like microrobot, and the mechanisms of pseudopodia generation and locomotion are analyzed. By simply adjusting the field direction, microrobots switch in monopodia, bipodia, and locomotion modes, performing all pseudopod operations such as active contraction, extension, bending, and amoeboid movement. The pseudopodia endow droplet robots with excellent maneuverability to adapt to environmental variations, including spanning 3D terrains and swimming in bulk liquids. Inspired by the "Venom," the phagocytosis and parasitic behaviors have also been investigated. Parasitic droplets inherit all the capabilities of amoeboid robot, expanding their applicable scenarios such as reagent analysis, microchemical reactions, calculi removal, and drug-mediated thrombolysis. This microrobot may provide fundamental understanding of single-celled livings, and potential applications in biotechnology and biomedicine.

Smart Eutectic Gallium-Indium: From Properties to Applications

Eutectic gallium-indium (EGaIn), a liquid metal with a melting point close to or below room temperature, has attracted extensive attention in recent years due to its excellent properties such as fluidity, high conductivity, thermal conductivity, stretchability, self-healing capability, biocompatibility, and recyclability. These features of EGaIn can be adjusted by changing the experimental condition, and various composite materials with extended properties can be further obtained by mixing EGaIn with other materials. In this review, not only the are unique properties of EGaIn introduced, but also the working principles for the EGaIn-based devices are illustrated and the developments of EGaIn-related techniques are summarized. The applications of EGaIn in various fields, such as flexible electronics (sensors, antennas, electronic circuits), molecular electronics (molecular memory, opto-electronic switches, or reconfigurable junctions), energy catalysis (heat management, motors, generators, batteries), biomedical science (drug delivery, tumor therapy, bioimaging and neural interfaces) are reviewed. Finally, a critical discussion of the main challenges for the development of EGaIn-based techniques are discussed, and the potential applications in new fields are prospected.

Electric current-assisted manipulation of liquid metals using a stylus at micro-and nano-scales

A novel methodology, based on wetting and electromigration, for transporting liquid metal, over long distances, at micro-and nano-scale using a stylus is reported. The mechanism is analogous to a dropper that uses 'suction and release' actions to 'collect and dispense' liquid. In our methodology, a stylus coated with a thin metal film acts like the dropper that collects liquid metal from a reservoir upon application of an electric current, holds the liquid metal via wetting while carrying the liquid metal over large distances away from the reservoir and drops it on the target location by reversing the direction of electric current. Essentially, the working principle of the technique relies on the directionality of electromigration force and adhesive force due to wetting. The working of the technique is demonstrated by using an Au-coated Si micropillar as the stylus, liquid Ga as the liquid metal to be transported, and a Kleindiek-based position micro-manipulator to traverse the stylus from the liquid reservoir to the target location. For demonstrating the potential applications, the technique is utilized for closing a micro-gap by dispensing a minuscule amount of liquid Ga and conformally coating the desired segment of the patterned thin films with liquid Ga. This study confirms the promising potential of the developed technique for reversible, controlled manipulation of liquid metal at small length scales.

Liquid metal droplet motion transferred from an alkaline solution by a robot arm

The excellent motion performance of gallium-based liquid metals (LMs) upon the application of a modest electric field has provided a new opportunity for the development of autonomous soft robots. However, the locomotion of LMs often appears in an alkaline solution, which hampers the application under other different conditions. In this work, a novel robot arm is designed to transfer the motion of the LM from an alkaline solution in a synchronous drive mode. The liquid metal droplet (LMD) at the bottom of the robot arm is actuated using a DC voltage to provide the driving force for the system. By introducing an end effector at the center of the robot arm, the synchronous motion of the system is replicated and can be applied to different situations. The theoretical understanding of continuous electrowetting (CEW) at the LM interface is explained, and then the motion performance of the robot arm against the function of the applied voltage and driving direction is investigated. Moreover, several applications using this robot arm, such as pattern drawing, cargo transportation, and drug concentration detection, are demonstrated. The presented robot arm has the potential to observably expand the application fields of the LM.

Tailoring matter orbitals mediated using a nanoscale topographic interface for versatile colloidal current devices

Conventional micro-particle manipulation technologies have been used for various biomedical applications using dynamics on a plane without vertical movement. In this case, irregular topographic structures on surfaces could be a factor that causes the failure of the intended control. Here, we demonstrated a novel colloidal particle manipulation mediated by the topographic effect generated by the "micro hill" and "surface gradient" around a micro-magnet. The magnetic landscape, matter orbital, created by periodically arranged circular micro-magnets, induces a symmetric orbit of magnetic particle flow under a rotating magnetic field. The topographic effect can break this symmetry of the energy distribution by controlling the distance between the source of the driving force and target particles by several nanometers on the surface morphology. The origin symmetric orbit of colloidal flow can be distorted by modifying the symmetry in the energy landscape at the switching point without changing the driving force. The enhancement of the magnetic effect of the micro-magnet array can lead to the recovery of the symmetry of the orbit. Also, this effect on the surfaces of on-chip-based devices configured by symmetry control was demonstrated for selective manipulation, trapping, recovery, and altering the direction using a time-dependent magnetic field. Hence, the developed technique could be used in various precise lab-on-a-chip applications, including where the topographic effect is required as an additional variable without affecting the existing control method.

Electrically Induced Liquid Metal Droplet Bouncing

Liquid metals, including eutectic gallium-indium (EGaIn), have been explored for various planar droplet operations, including droplet splitting and merging, promoting their use in emerging areas such as flexible electronics and soft robotics. However, three-dimensional (3D) droplet operations, including droplet bouncing, have mostly been limited to nonmetallic liquids or aqueous solutions. This is the first study of liquid metal droplet bouncing using continuous AC electrowetting through an analytical model, computational fluid dynamics simulation, and empirical validation to the best of our knowledge. We achieved liquid metal droplet bouncing with a height greater than 5 mm with an actuation voltage of less than 10 V and a frequency of less than 5 Hz. We compared the bouncing trajectories of the liquid metal droplet for different actuation parameters. We found that the jumping height of the droplet increases as the frequency of the applied AC voltage decreases and its amplitude increases until the onset of instability. Furthermore, we model the attenuation dynamics of consecutive bouncing cycles of the underdamped droplet bouncing system. This study embarks on controlling liquid metal droplet bouncing electrically, thereby opening a plethora of new opportunities utilizing 3D liquid metal droplet operations for numerous applications such as energy harvesting, heat transfer, and radio frequency (RF) switching.

An On-Chip Liquid Metal Plug Generator

Gallium-based liquid metal nonspherical droplets (plugs) have seen increasing demand recently mainly because their high aspect ratios make them beneficial for a wide range of applications, including microelectromechanical systems (MEMS), microfluidics, sensor technology, radio-frequency devices, actuators, and switches. However, reproducibility of the generation of such plugs, as well as precise control over their size, is yet challenging. In this work, a simple on-chip liquid metal plug generator using a commercially available 3D microprinter is presented and the plug generator in poly(dimethylsiloxane) is replicated via soft lithography. Liquid metal plugs are generated via a combination of electrochemical oxidation, design of well-defined constrictions based on Laplace pressure, and the application of modulated voltage control signals. It is shown that plugs of various aspect ratios can be generated reproducibly for channel widths of 0.5, 0.8, and 1.5 mm with constriction widths of 0.1 mm at 6 V. Laplace-pressure-controlled plugs in constricted channels are compared to modulated-voltage-generated plugs in straight channels showing that this technique provides significantly enhanced reproducibility and control over the size and spacing between the plugs. This work paves the way to sub-millimeter liquid metal plugs generated directly on-chip for on-demand MEMS and microfluidic applications.

A tripodal wheeled mobile robot driven by a liquid metal motor

As a novel driving concept, the liquid metal motor (LMM) has been regarded as a promising actuator due to its unique traits, such as infinitely variable speed, lack of transmission chain, convenient maintenance, and silence. However, at present, driving devices based on this material are still in the preliminary and rudimentary stage, and representative application examples are scarce. Therefore, an 8-shaped tripodal wheeled mobile robot (WMR) completely driven by a LMM is designed in this study to further prove the practicability of this material. Through combining the Marangoni surface flow on a liquid metal droplet (LMD) caused by an electrochemical reaction and the eccentric torque generated by the change in droplet shape and position, the two independently driven wheels of the mobile robot are actuated at differential moving speeds. Additionally, a matching control module, a cell phone application, and a battery have been developed and added for wireless control of three types of driving functions (moving forward, steering, and stopping). It is expected that this work could further advance the development and application of LMMs and bring new ideas to the design of WMRs.

Desktop-level small automatic guided vehicle driven by a liquid metal droplet

Gallium-based liquid metals (LMs) are a new type of intelligent material, and their ability to move under the action of an electric field provides new opportunities for the design of small flexible vehicles. However, due to the extremely high fluidity of LMs and the poor automatic control ability of LM vehicles, it's still a huge challenge to control the movement of LMs flexibly and accurately. Therefore, in this paper, a small traction vehicle is designed by putting the flexible LM in rigid armor to make the movement more controllable. Moreover, a desktop-level small automatic guided vehicle (sAGV) system is built by using an external control circuit to follow a predetermined trajectory. Firstly, the basic characteristics of the vehicles driven by a LM droplet are simulated and analyzed. Then the effects of different factors on the movement velocity of the vehicles are measured by experiment. Finally, as a preliminary application test, the sAGV system is used to control the vehicles following a specific trajectory and realize the targeted transportation of cargos. The sAGV system designed in this paper can realize the automatic and precise control of the movement of the small vehicle. The current findings will inspire the further construction of complex small operating systems and the realization of accurate control.

An Integrated Droplet Manipulation Platform with Photodeformable Microfluidic Channels

Manipulating droplets by light in microscale allows precise control of microfluidics, liquid delivery, micromachines, and so on. Among these applications, microfluidic technology is of particular interest for miniaturization of the portable analysis systems, which require the integration of various liquid operations in one device. Here, a photodeformable microfluidic platform is constructed by combining Laplace pressure and capillary condensation to integrate the transportation, fusion, separation, and mixing of liquid slugs in one chip. The Laplace pressure, attributed to the photodeformation of the liquid crystal polymers, is generated to propel the slug. The capillary condensation is introduced by the delicate design of the fluid channels, allowing the fusion and separation of slugs without any connected microvalves. Catalytic oxidation reaction and protein detection processes are realized in the platform, which are amenable to a variety of miniaturized bio-medical applications, such as portable analysis and point of care testing.