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Yan W, Jones T, Jawetz CL, Lee RH, Hopkins JB, Mehta A. Self-deployable contracting-cord metamaterials with tunable mechanical properties. MATERIALS HORIZONS 2024; 11:3805-3818. [PMID: 39005193 DOI: 10.1039/d4mh00584h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/16/2024]
Abstract
Recent advances in active materials and fabrication techniques have enabled the production of cyclically self-deployable metamaterials with an expanded functionality space. However, designing metamaterials that possess continuously tunable mechanical properties after self-deployment remains a challenge, notwithstanding its importance. Inspired by push puppets, we introduce an efficient design strategy to create reversibly self-deployable metamaterials with continuously tunable post-deployment stiffness and damping. Our metamaterial comprises contracting actuators threaded through beads with matching conical concavo-convex interfaces in networked chains. The slack network conforms to arbitrary shapes, but when actuated, it self-assembles into a preprogrammed configuration with beads gathered together. Further contraction of the actuators can dynamically tune the assembly's mechanical properties through the beads' particle jamming, while maintaining the overall structure with minimal change. We show that, after deployment, such metamaterials exhibit pronounced tunability in bending-dominated configurations: they can become more than 35 times stiffer and change their damping capability by over 50%. Through systematic analysis, we find that the beads' conical angle can introduce geometric nonlinearity, which has a major effect on the self-deployability and tunability of the metamaterial. Our work provides routes towards reversibly self-deployable, lightweight, and tunable metamaterials, with potential applications in soft robotics, reconfigurable architectures, and space engineering.
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Affiliation(s)
- Wenzhong Yan
- Electrical and Computer Engineering Department, UCLA, USA.
- Mechanical and Aerospace Engineering Department, UCLA, USA
| | - Talmage Jones
- Mechanical and Aerospace Engineering Department, UCLA, USA
| | - Christopher L Jawetz
- Mechanical and Aerospace Engineering Department, UCLA, USA
- Woodruff School of Mechanical Engineering, Georgia Tech, USA
| | - Ryan H Lee
- Mechanical and Aerospace Engineering Department, UCLA, USA
| | | | - Ankur Mehta
- Electrical and Computer Engineering Department, UCLA, USA.
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2
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Li N, Yuan X, Li Y, Zhang G, Yang Q, Zhou Y, Guo M, Liu J. Bioinspired Liquid Metal Based Soft Humanoid Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2404330. [PMID: 38723269 DOI: 10.1002/adma.202404330] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/25/2024] [Revised: 05/07/2024] [Indexed: 08/29/2024]
Abstract
The pursuit of constructing humanoid robots to replicate the anatomical structures and capabilities of human beings has been a long-standing significant undertaking and especially garnered tremendous attention in recent years. However, despite the progress made over recent decades, humanoid robots have predominantly been confined to those rigid metallic structures, which however starkly contrast with the inherent flexibility observed in biological systems. To better innovate this area, the present work systematically explores the value and potential of liquid metals and their derivatives in facilitating a crucial transition towards soft humanoid robots. Through a comprehensive interpretation of bionics, an overview of liquid metals' multifaceted roles as essential components in constructing advanced humanoid robots-functioning as soft actuators, sensors, power sources, logical devices, circuit systems, and even transformable skeletal structures-is presented. It is conceived that the integration of these components with flexible structures, facilitated by the unique properties of liquid metals, can create unexpected versatile functionalities and behaviors to better fulfill human needs. Finally, a revolution in humanoid robots is envisioned, transitioning from metallic frameworks to hybrid soft-rigid structures resembling that of biological tissues. This study is expected to provide fundamental guidance for the coming research, thereby advancing the area.
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Affiliation(s)
- Nan Li
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiaohong Yuan
- School of Economics and Business Administration, Chongqing University, Chongqing, 400044, China
| | - Yuqing Li
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Guangcheng Zhang
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Qianhong Yang
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yingxin Zhou
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Minghui Guo
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Jing Liu
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
- School of Biomedical Engineering, Tsinghua University, Beijing, 100084, China
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Jeong J, Kim I, Choi Y, Lim S, Kim S, Kang H, Shah D, Baines R, Booth JW, Kramer-Bottiglio R, Kim SY. Spikebot: A Multigait Tensegrity Robot with Linearly Extending Struts. Soft Robot 2024; 11:207-217. [PMID: 37819709 PMCID: PMC11035858 DOI: 10.1089/soro.2023.0030] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/13/2023] Open
Abstract
Numerous recent research efforts have leveraged networks of rigid struts and flexible cables, called tensegrity structures, to create highly resilient and packable mobile robots. However, the locomotion of existing tensegrity robots is limited in terms of both speed and number of distinct locomotion modes, restricting the environments that a robot is capable of exploring. In this study, we present a tensegrity robot inspired by the volumetric expansion of Tetraodontidae. The robot, referred to herein as Spikebot, employs pneumatically actuated rigid struts to expand its global structure and produce diverse gaits. Spikebot is composed of linear actuators that dually serve as rigid struts linked by elastic cables for stability. The linearly actuating struts can selectively protrude to initiate thrust- and instability-driven locomotion primitives. Such motion primitives allow Spikebot to reliably locomote, achieving rolling, lifting, and jumping. To highlight Spikebot's potential for robotic exploration, we demonstrate how it achieves multi-dimensional locomotion over varied terrestrial conditions.
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Affiliation(s)
- Jinwook Jeong
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Injoong Kim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Yunyeong Choi
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Seonghyeon Lim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Seungkyu Kim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Hyeongwoo Kang
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Dylan Shah
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Robert Baines
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Joran W. Booth
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Rebecca Kramer-Bottiglio
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Sang Yup Kim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
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Pérez-Soto GI, Camarillo-Gómez KA, Rodríguez-Reséndiz J, Manríquez-Padilla CG. Novel Technique to Increase the Effective Workspace of a Soft Robot. MICROMACHINES 2024; 15:197. [PMID: 38398927 PMCID: PMC10890643 DOI: 10.3390/mi15020197] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/30/2023] [Revised: 01/26/2024] [Accepted: 01/26/2024] [Indexed: 02/25/2024]
Abstract
This article presents a novel technique for a class 2 tensegrity robot, also classified as a soft robot, to increase workspace by increasing the number of geometric equilibrium configurations of the robot. The proposed modification, unlike the strategies reported in the literature, consists of increasing the number of points where the flexible and rigid elements that make up the robot come into contact without the need to increase the number of actuators, the number of flexible elements, or modify the geometry of the rigid elements. The form-finding methodology combines the basic principles of statics with the direct and inverse kinematic position analysis to determine the number of equilibrium positions of the modified robot. In addition, numerical experiments were carried out using the commercial software ANSYS®, R18.2 based on the finite element theory, to corroborate the results obtained with them. With the proposed modification, an increase of 23.369% in the number of geometric equilibrium configurations is achieved, which integrates the workspace of the modified class 2 tensegrity robot. The novel technique applied to tensegrity robots and the tools developed to increase their workspace apply perfectly to scale the robots presented in this paper.
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Affiliation(s)
- Gerardo I. Pérez-Soto
- Facultad de Ingeniería, Universidad Autónoma de Querétaro, Santiago de Querétaro 76010, Mexico; (G.I.P.-S.); (J.R.-R.)
| | - Karla A. Camarillo-Gómez
- Departament of Mechanical Engineering, Tecnológico Nacional de México en Celaya, Celaya 38010, Mexico;
| | - Juvenal Rodríguez-Reséndiz
- Facultad de Ingeniería, Universidad Autónoma de Querétaro, Santiago de Querétaro 76010, Mexico; (G.I.P.-S.); (J.R.-R.)
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Chen D, Wang B, Xiong Y, Zhang J, Tong R, Meng Y, Yu J. Design and Analysis of a Novel Bionic Tensegrity Robotic Fish with a Continuum Body. Biomimetics (Basel) 2024; 9:19. [PMID: 38248593 PMCID: PMC11154324 DOI: 10.3390/biomimetics9010019] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2023] [Revised: 12/22/2023] [Accepted: 12/25/2023] [Indexed: 01/23/2024] Open
Abstract
Biological fish exhibit remarkable adaptability and exceptional swimming performance through their powerful and flexible bodies. Therefore, designing a continuum flexible body is significantly important for the development of a robotic fish. However, it is still challenging to replicate these functions of a biological body due to the limitations of actuation and material. In this paper, based on a tensegrity structure, we propose a bionic design scheme for a continuum robotic fish body with a property of stiffness variation. Its detailed structures and actuation principles are also presented. A mathematical model was established to analyze the bending characteristics of the tensegrity structure, which demonstrates the feasibility of mimicking the fish-like oscillation propulsion. Additionally, the stiffness variation mechanism is also exhibited experimentally to validate the effectiveness of the designed tensegrity fish body. Finally, a novel bionic robotic fish design scheme is proposed, integrating an electronic module-equipped fish head, a tensegrity body, and a flexible tail with a caudal fin. Subsequently, a prototype was developed. Extensive experiments were conducted to explore how control parameters and stiffness variation influence swimming velocity and turning performance. The obtained results reveal that the oscillation amplitude, frequency, and stiffness variation of the tensegrity robotic fish play crucial roles in swimming motions. With the stiffness variation, the developed tensegrity robotic fish achieves a maximum swimming velocity of 295 mm/s (0.84 body length per second, BL/s). Moreover, the bionic tensegrity robotic fish also performs a steering motion with a minimum turning radius of 230 mm (0.68 BL) and an angular velocity of 46.6°/s. The conducted studies will shed light on the novel design of a continuum robotic fish equipped with stiffness variation mechanisms.
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Affiliation(s)
- Di Chen
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China; (D.C.); (B.W.); (Y.X.); (Y.M.)
| | - Bo Wang
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China; (D.C.); (B.W.); (Y.X.); (Y.M.)
| | - Yan Xiong
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China; (D.C.); (B.W.); (Y.X.); (Y.M.)
| | - Jie Zhang
- School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, China;
| | - Ru Tong
- Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;
| | - Yan Meng
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China; (D.C.); (B.W.); (Y.X.); (Y.M.)
| | - Junzhi Yu
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China; (D.C.); (B.W.); (Y.X.); (Y.M.)
- Science and Technology on Integrated Information System Laboratory, Institute of Software, Chinese Academy of Sciences, Beijing 100190, China
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6
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Gaeta LT, McDonald KJ, Kinnicutt L, Le M, Wilkinson-Flicker S, Jiang Y, Atakuru T, Samur E, Ranzani T. Magnetically induced stiffening for soft robotics. SOFT MATTER 2023; 19:2623-2636. [PMID: 36951679 PMCID: PMC10183112 DOI: 10.1039/d2sm01390h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/16/2023]
Abstract
Soft robots are well-suited for human-centric applications, but the compliance that gives soft robots this advantage must also be paired with adequate stiffness modulation such that soft robots can achieve more rigidity when needed. For this reason, variable stiffening mechanisms are often a necessary component of soft robot design. Many techniques have been explored to introduce variable stiffness structures into soft robots, such as pneumatically-controlled jamming and thermally-controlled phase change materials. Despite fast response time, jamming methods often require a bulkier pneumatic pressure line which limits portability; and while portable via electronic control, thermally-induced methods require compatibility with high temperatures and often suffer from slow response time. In this paper, we present a magnetically-controlled stiffening approach that combines jamming-based stiffening principles with magnetorheological fluid to create a hybrid mechanical and materials approach. In doing so, we combine the advantages of fast response time from pneumatically-based jamming with the portability of thermally-induced phase change methods. We explore the influence of magnetic field strength on the stiffening of our magnetorheological jamming beam samples in two ways: by exploiting the increase in yield stress of magnetorheological fluid, and by additionally using the clamping force between permanent magnets to further stiffen the samples via a clutch effect. We introduce an analytical model to predict the stiffness of our samples as a function of the magnetic field. Finally, we demonstrate electronic control of the stiffness using electropermanent magnets. In this way, we present an important step towards a new electronically-driven stiffening mechanism for soft robots that interact safely in close contact with humans, such as in wearable devices.
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Affiliation(s)
- Leah T Gaeta
- Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.
| | - Kevin J McDonald
- Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.
| | - Lorenzo Kinnicutt
- Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.
| | - Megan Le
- Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.
| | | | - Yixiao Jiang
- Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.
| | - Taylan Atakuru
- Department of Mechanical Engineering, Boğaziçi University, Istanbul, Turkey
| | - Evren Samur
- Department of Mechanical Engineering, Boğaziçi University, Istanbul, Turkey
| | - Tommaso Ranzani
- Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.
- Division of Materials Science and Engineering, Boston University, Boston, MA 02215, USA
- Department of Biomedical Engineering, Boston University, Boston, MA 02215, USA
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7
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Chellattoan R, Lubineau G. A Stretchable Fiber with Tunable Stiffness for Programmable Shape Change of Soft Robots. Soft Robot 2022; 9:1052-1061. [PMID: 35049362 DOI: 10.1089/soro.2021.0032] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
All soft robots require the same functionality, that is, controlling the shape of a structure made from soft materials. However, existing approaches for shape control of soft robots are primarily dominated by modular pneumatic actuators, which require multichambers and complex flow control components. Nature shows exciting examples of manipulation (shape change) in animals, such as worms, using a single-chambered soft body and programmable stiffness changes in the skin; controlling the spatial distribution of changes in stiffness enables achieving complex shape evolutions. However, such stiffness control requires a drastic membrane stiffness contrast between stiffened and nonstiffened states. Generally, this is extremely challenging to accomplish in stretchable materials. Inspired by longitudinal muscle fibers in the skin of worms, we developed a new concept for fabricating a hybrid fiber with tunable stiffness, that is, a fiber comprising both stiff and soft parts connected in a series. A substantial change in membrane stiffness was then observed by the locking/unlocking of the soft part. Our proposed hybrid fiber cyclically produced a membrane stiffness contrast of more than 100 × in less than 6 s using an input power of 3 W. A network of these hybrid fibers with tunable stiffness could manipulate a single-chambered soft body in multiple directions and transform it into a complex shape by selectively varying the stiffness at different locations.
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Affiliation(s)
- Ragesh Chellattoan
- Mechanics of Composites for Energy and Mobility Laboratory, Physical Science and Engineering Division, King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia
| | - Gilles Lubineau
- Mechanics of Composites for Energy and Mobility Laboratory, Physical Science and Engineering Division, King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia
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Xie X, Xiong D, Wen JZ. A wrist-inspired suspended tubercle-type tensegrity joint with variable stiffness capacity. BIOINSPIRATION & BIOMIMETICS 2022; 18:016010. [PMID: 36351302 DOI: 10.1088/1748-3190/aca197] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/17/2022] [Accepted: 11/09/2022] [Indexed: 06/16/2023]
Abstract
In complex and unpredictable environments or in situations of human-robot interaction, a soft and flexible robot performs more safely and is more impact resistant compared to a traditional rigid robot. To enable robots to have bionic features (flexibility, compliance and variable stiffness) similar to human joints, structures involving suspended tubercle tensegrity are researched. The suspended tubercle gives the joint compliance and flexibility by isolating two moving parts. The variable stiffness capacity is achieved by changing the internal stress of tensegrity through the simultaneous contraction or relaxation of the driving tendons. A wrist-inspired tensegrity-based bionic joint is proposed as a case study. It has variable stiffness and two rotations with a total of three degrees of freedom. Through theoretical derivation and simulation calculation in the NASA Tensegrity RobotToolkit (NTRT) simulator, the range of motion, stiffness adjustable capacity, and their interaction are studied. A prototype is built and tested under a motion capture system. The experimental result agrees well with the theoretical simulation. Our experiments show that the suspended tubercle-type tensegrity is flexible, the stiffness is adjustable and easy to control, and it has great potential for bionic joints.
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Affiliation(s)
- Xiongdun Xie
- Ji Hua Laboratory, Engineering Research Center for Intelligent Robotics, Foshan, People's Republic of China
| | - Dezhu Xiong
- Ji Hua Laboratory, Engineering Research Center for Intelligent Robotics, Foshan, People's Republic of China
| | - James Zhiqing Wen
- Ji Hua Laboratory, Engineering Research Center for Intelligent Robotics, Foshan, People's Republic of China
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Carniel T, Cazenille L, Dalle JM, Halloy J. Using natural language processing to find research topics in Living Machines conferences and their intersections with Bioinspiration & Biomimetics publications. BIOINSPIRATION & BIOMIMETICS 2022; 17:065008. [PMID: 36106566 DOI: 10.1088/1748-3190/ac9208] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/28/2022] [Accepted: 09/14/2022] [Indexed: 06/15/2023]
Abstract
The number of published scientific articles is increasing dramatically and makes it difficult to keep track of research topics. This is particularly difficult in interdisciplinary research areas where different communities from different disciplines are working together. It would be useful to develop methods to automate the detection of research topics in a research domain. Here we propose a natural language processing (NLP) based method to automatically detect topics in defined corpora. We start by automatically generating a global state of the art of Living Machines conferences. Our NLP-based method classifies all published papers into different clusters corresponding to the research topic published in these conferences. We perform the same study on all papers published in the journals Bioinspiration & Biomimetics and Soft Robotics. In total this analysis concerns 2099 articles. Next, we analyze the intersection between the research themes published in the conferences and the corpora of these two journals. We also examine the evolution of the number of papers per research theme which determines the research trends. Together, these analyses provide a snapshot of the current state of the field, help to highlight open questions, and provide insights into the future.
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Affiliation(s)
- Théophile Carniel
- Université Paris Cité, CNRS, LIED UMR 8236, F-75006 Paris, France
- Agoranov, F-75006 Paris, France
| | - Leo Cazenille
- Université Paris Cité, CNRS, LIED UMR 8236, F-75006 Paris, France
| | - Jean-Michel Dalle
- Agoranov, F-75006 Paris, France
- Sorbonne Université, F-75005 Paris, France
- École Polytechnique, F-91120 Palaiseau, France
| | - José Halloy
- Université Paris Cité, CNRS, LIED UMR 8236, F-75006 Paris, France
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Guo N, Tian J, Wang L, Sun K, Mi L, Ming H, Zhe Z, Sun F. Discussion on the possibility of multi-layer intelligent technologies to achieve the best recover of musculoskeletal injuries: Smart materials, variable structures, and intelligent therapeutic planning. Front Bioeng Biotechnol 2022; 10:1016598. [PMID: 36246357 PMCID: PMC9561816 DOI: 10.3389/fbioe.2022.1016598] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2022] [Accepted: 09/14/2022] [Indexed: 11/16/2022] Open
Abstract
Although intelligent technologies has facilitated the development of precise orthopaedic, simple internal fixation, ligament reconstruction or arthroplasty can only relieve pain of patients in short-term. To achieve the best recover of musculoskeletal injuries, three bottlenecks must be broken through, which includes scientific path planning, bioactive implants and personalized surgical channels building. As scientific surgical path can be planned and built by through AI technology, 4D printing technology can make more bioactive implants be manufactured, and variable structures can establish personalized channels precisely, it is possible to achieve satisfied and effective musculoskeletal injury recovery with the progress of multi-layer intelligent technologies (MLIT).
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Affiliation(s)
- Na Guo
- Department of Computer Science and Technology, Tsinghua University, Beijing, China
- Institute of Precision Medicine, Tsinghua University, Beijing, China
| | - Jiawen Tian
- Department of Computer Science and Technology, Tsinghua University, Beijing, China
- Institute of Precision Medicine, Tsinghua University, Beijing, China
| | - Litao Wang
- College of Engineering, China Agricultural University, Beijing, China
| | - Kai Sun
- Department of Biomedical Engineering, Tsinghua University, Beijing, China
| | - Lixin Mi
- Musculoskeletal Department, Beijing Rehabilitation Hospital, Beijing, China
| | - Hao Ming
- Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Zhao Zhe
- Department of Biomedical Engineering, Tsinghua University, Beijing, China
| | - Fuchun Sun
- Department of Computer Science and Technology, Tsinghua University, Beijing, China
- Institute of Precision Medicine, Tsinghua University, Beijing, China
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11
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Ruan Q, Yang F, Yue H, Li Q, Li L, Liu R. A Ball Joint With Continuously Adjustable Load Capacity Based on Positive Pressure Method. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3187615] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Qi Ruan
- State Key Laboratory of Robot Technology and System, Harbin Institute of Technology, Harbin, China
| | - Fei Yang
- State Key Laboratory of Robot Technology and System, Harbin Institute of Technology, Harbin, China
| | - Honghao Yue
- State Key Laboratory of Robot Technology and System, Harbin Institute of Technology, Harbin, China
| | - Qiancheng Li
- State Key Laboratory of Robot Technology and System, Harbin Institute of Technology, Harbin, China
| | - Long Li
- School of Mechatronic Engineering and Automation, and Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai, China
| | - Rongqiang Liu
- State Key Laboratory of Robot Technology and System, Harbin Institute of Technology, Harbin, China
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12
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Zhang J, Kan Z, Li Y, Wu Z, Wu J, Peng H. Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3166547] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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13
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14
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Hwang D, Barron EJ, Haque ABMT, Bartlett MD. Shape morphing mechanical metamaterials through reversible plasticity. Sci Robot 2022; 7:eabg2171. [PMID: 35138882 DOI: 10.1126/scirobotics.abg2171] [Citation(s) in RCA: 33] [Impact Index Per Article: 16.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Biological organisms such as the octopus can reconfigure their shape and properties to perform diverse tasks. However, soft machines struggle to achieve complex configurations, morph into shape to support loads, and go between multiple states reversibly. Here, we introduce a multifunctional shape-morphing material with reversible and rapid polymorphic reconfigurability. We couple elastomeric kirigami with an unconventional reversible plasticity mechanism in metal alloys to rapidly (<0.1 seconds) morph flat sheets into complex, load-bearing shapes, with reversibility and self-healing through phase change. This kirigami composite overcomes trade-offs in deformability and load-bearing capacity and eliminates power requirements to sustain reconfigured shapes. We demonstrate this material through integration with onboard control, motors, and power to create a soft robotic morphing drone, which autonomously transforms from a ground to air vehicle and an underwater morphing machine, which can be reversibly deployed to collect cargo.
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Affiliation(s)
- Dohgyu Hwang
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA 24061, USA.,Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
| | - Edward J Barron
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA 24061, USA.,Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
| | - A B M Tahidul Haque
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
| | - Michael D Bartlett
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA 24061, USA.,Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
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15
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Shah DS, Booth JW, Baines RL, Wang K, Vespignani M, Bekris K, Kramer-Bottiglio R. Tensegrity Robotics. Soft Robot 2021; 9:639-656. [PMID: 34705572 DOI: 10.1089/soro.2020.0170] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022] Open
Abstract
Numerous recent advances in robotics have been inspired by the biological principle of tensile integrity-or "tensegrity"-to achieve remarkable feats of dexterity and resilience. Tensegrity robots contain compliant networks of rigid struts and soft cables, allowing them to change their shape by adjusting their internal tension. Local rigidity along the struts provides support to carry electronics and scientific payloads, while global compliance enabled by the flexible interconnections of struts and cables allows a tensegrity to distribute impacts and prevent damage. Numerous techniques have been proposed for designing and simulating tensegrity robots, giving rise to a wide range of locomotion modes, including rolling, vibrating, hopping, and crawling. In this study, we review progress in the burgeoning field of tensegrity robotics, highlighting several emerging challenges, including automated design, state sensing, and kinodynamic motion planning.
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Affiliation(s)
- Dylan S Shah
- School of Engineering and Applied Science, Yale University, New Haven, Connecticut, USA
| | - Joran W Booth
- School of Engineering and Applied Science, Yale University, New Haven, Connecticut, USA
| | - Robert L Baines
- School of Engineering and Applied Science, Yale University, New Haven, Connecticut, USA
| | - Kun Wang
- Computer Science Department, Rutgers University, Piscataway, New Jersey, USA
| | - Massimo Vespignani
- KBR Wyle Services, Llc, NASA Ames Research Center, Moffett Field, California, USA
| | - Kostas Bekris
- Computer Science Department, Rutgers University, Piscataway, New Jersey, USA
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16
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Xin Y, Gao T, Xu J, Zhang J, Wu D. Transient Electrically Driven Stiffness-Changing Materials from Liquid Metal Polymer Composites. ACS APPLIED MATERIALS & INTERFACES 2021; 13:50392-50400. [PMID: 34649421 DOI: 10.1021/acsami.1c15718] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Stiffness-changing materials (SCMs) have received lots of interests due to their reversible transition between their soft and rigid states for modern applications. However, the irreversible stiffness transition, slow response, and sustained external stimuli strictly hinder the broad utilizations of SCMs. Here, this work reports electrically driven SCMs based on supercooled liquid metals (LMs). A small voltage (5 V) can successfully initiate the stable and reversible stiffness change of the SCMs in electrolyte solution. Surprisingly, the LM-based SCMs (LM-SCMs) exhibited a significant change in 1000 times difference of moduli (65 kPa versus 79 MPa). Moreover, such a stiffness transition of the LM-SCM was ultrarapidly completed in a few seconds (<30 s). Importantly, after transient stimulation of LM nucleation, the rigidity of the LM-SCM could be maintained when the external stimulus (voltage) was removed, highly different from previously reported SCMs that require sustained energy to maintain their mechanical states. Based on the unique features of LM-SCMs, advanced robotics like smart valves and mechanical paws in seawater were successfully fabricated.
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Affiliation(s)
- Yumeng Xin
- School of Chemistry and Chemical Engineering, Southeast University, Nanjing 211189, PR China
- Jiangsu Hi-Tech Key Laboratory for Biomedical Research, 211189 Nanjing, PR China
| | - Tenglong Gao
- School of Chemistry and Chemical Engineering, Southeast University, Nanjing 211189, PR China
- Jiangsu Hi-Tech Key Laboratory for Biomedical Research, 211189 Nanjing, PR China
| | - Jun Xu
- Department of Chemical Engineering and Materials Science, University of Minnesota, Twin Cities, Minneapolis, Minnesota 55414, United States
| | - Jiuyang Zhang
- School of Chemistry and Chemical Engineering, Southeast University, Nanjing 211189, PR China
- Jiangsu Hi-Tech Key Laboratory for Biomedical Research, 211189 Nanjing, PR China
| | - Dongfang Wu
- School of Chemistry and Chemical Engineering, Southeast University, Nanjing 211189, PR China
- Jiangsu Hi-Tech Key Laboratory for Biomedical Research, 211189 Nanjing, PR China
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17
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Liu C, Li B, Li Z, Cao C, Gao X, Zhang K, Chen H. 3D printable and fringe electric field adhesion enabled variable stiffness artificial muscles for semi-active vibration attenuation. SOFT MATTER 2021; 17:6697-6706. [PMID: 34132322 DOI: 10.1039/d1sm00618e] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Soft robots are able to generate large and compliant deformation in an unconstructed environment, but their operation capability is limited by low stiffness. Thus, developing the function of variable stiffness while preserving its compliance is a challenging issue. This study proposes a new variable stiffness artificial muscle, as a complementary component for soft robots, using the principle of fringe electric field adhesion. Taking inspiration from the mechanism of multi-layer structures in biological muscles, the artificial muscle is composed of patterned conductive layers and interlayers and is 3D printable by direct ink writing (DIW). To further demonstrate the application, a vibration absorber by stacking this artificial muscle is proposed, whose natural frequency is tunable by the varying stiffness. The advantages of the fringe electric field-enabled variable stiffness (FEVS) artificial muscles include lightweight and irrelevance of the stiffness to the thickness of the interlayer, which can be beneficial to soft robots to achieve variable stiffness and semi-active vibration attenuation without extra weighting load.
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Affiliation(s)
- Chen Liu
- Centre for Advanced Robotics (ARQ), Queen Mary University of London, London E1 4NS, UK.
| | - Bo Li
- State Key Lab of Manufacturing Systems Engineering, Shaanxi Key Lab of Intelligent Robots, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China.
| | - Zhuoyuan Li
- State Key Lab of Manufacturing Systems Engineering, Shaanxi Key Lab of Intelligent Robots, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China.
| | - Chongjing Cao
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, P. R. China
| | - Xing Gao
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, P. R. China
| | - Ketao Zhang
- Centre for Advanced Robotics (ARQ), Queen Mary University of London, London E1 4NS, UK.
| | - Hualing Chen
- State Key Lab of Manufacturing Systems Engineering, Shaanxi Key Lab of Intelligent Robots, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China.
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18
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Bhuyan P, Wei Y, Sin D, Yu J, Nah C, Jeong KU, Dickey MD, Park S. Soft and Stretchable Liquid Metal Composites with Shape Memory and Healable Conductivity. ACS APPLIED MATERIALS & INTERFACES 2021; 13:28916-28924. [PMID: 34102837 DOI: 10.1021/acsami.1c06786] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
Shape memory composites are fascinating materials with the ability to preserve deformed shapes that recover when triggered by certain external stimuli. Although elastomers are not inherently shape memory materials, the inclusion of phase-change materials within the elastomer can impart shape memory properties. When this filler changes the phase from liquid to solid, the effective modulus of the polymer increases significantly, enabling stiffness tuning. Using gallium, a metal with a low melting point (29.8 °C), it is possible to create elastomeric materials with metallic conductivity and shape memory properties. This concept has been used previously in core-shell (gallium-elastomer) fibers and foams, but here, we show that it can also be implemented in elastomeric films containing microchannels. Such microchannels are appealing because it is possible to control the geometry of the filler and create metallically conductive circuits. Stretching the solidified metal fractures the fillers; however, they can heal by body heat to restore conductivity. Such conductive, shape memory sheets with healable conductivity may find applications in stretchable electronics and soft robotics.
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Affiliation(s)
- Priyanuj Bhuyan
- Department of Polymer-Nano Science and Technology, Jeonbuk National University, Jeonju 54896, Korea
- Department of Nano Convergence Engineering, Jeonbuk National University, Jeonju 54896, Korea
| | - Yuwen Wei
- Department of Polymer-Nano Science and Technology, Jeonbuk National University, Jeonju 54896, Korea
- Department of Nano Convergence Engineering, Jeonbuk National University, Jeonju 54896, Korea
| | - Dongho Sin
- Department of Polymer-Nano Science and Technology, Jeonbuk National University, Jeonju 54896, Korea
- Department of Nano Convergence Engineering, Jeonbuk National University, Jeonju 54896, Korea
| | - Jaesang Yu
- Institute of Advanced Composite Materials, Korea Institute of Science and Technology (KIST), 92 Chudong-ro, Bongdong-eup, Wanju-gun, Jeonbuk 55324, Korea
| | - Changwoon Nah
- Department of Polymer-Nano Science and Technology, Jeonbuk National University, Jeonju 54896, Korea
- Department of Bio-Nanotechnology and Bio-Convergence Engineering, Jeonbuk National University, Jeonju 54896, Korea
| | - Kwang-Un Jeong
- Department of Polymer-Nano Science and Technology, Jeonbuk National University, Jeonju 54896, Korea
- Department of Nano Convergence Engineering, Jeonbuk National University, Jeonju 54896, Korea
| | - Michael D Dickey
- Department of Chemical and Biomolecular Engineering, North Carolina State University, 911 Partners Way, Raleigh, North Carolina 27695, United States
| | - Sungjune Park
- Department of Polymer-Nano Science and Technology, Jeonbuk National University, Jeonju 54896, Korea
- Department of Nano Convergence Engineering, Jeonbuk National University, Jeonju 54896, Korea
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19
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Wang H, Chen Z, Zuo S. Flexible Manipulator with Low-Melting-Point Alloy Actuation and Variable Stiffness. Soft Robot 2021; 9:577-590. [PMID: 34152857 DOI: 10.1089/soro.2020.0143] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/10/2023] Open
Abstract
Flexible manipulators offer significant advantages over traditional rigid manipulators in minimally invasive surgery, because they can flexibly navigate around obstacles and pass cramped or tortuous paths. However, due to the inherent low stiffness, the ability to control/obtain higher stiffness when required remains to be further explored. In this article, we propose a flexible manipulator that exploits the phase transformation property of low-melting-point alloy to hydraulically drive and change the stiffness by heating and cooling. A prototype was fabricated, and experiments were conducted to evaluate the motion characteristics, stiffness performance, and rigid-flexible transition efficiency. The experimental results demonstrate that the proposed manipulator can freely adjust heading direction in the three-dimensional space. The experimental results also indicate that it took 9.2-10.3 s for the manipulator to transform from a rigid state to a flexible state and 15.4 s to transform from a flexible state to a rigid state. The lateral stiffness and flexural stiffness of the manipulator were 95.54 and 372.1 Ncm2 in the rigid state and 7.26 and 0.78 Ncm2 in the flexible state. The gain of the lateral stiffness and flexural stiffness was 13.15 and 477.05, respectively. In the rigid state, the ultimate force without shape deformation was more than 0.98 N in the straight condition (0°) and 1.36 N in the bending condition (90°). By assembling flexible surgical tools, the manipulator can enrich the diagnosis or treatment functions, which demonstrated the potential clinical value of the proposed manipulator.
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Affiliation(s)
- Haibo Wang
- Key Lab of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
| | - Zhiwei Chen
- Key Lab of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
| | - Siyang Zuo
- Key Lab of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
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Lee H, Jang Y, Choe JK, Lee S, Song H, Lee JP, Lone N, Kim J. 3D-printed programmable tensegrity for soft robotics. Sci Robot 2020; 5:5/45/eaay9024. [DOI: 10.1126/scirobotics.aay9024] [Citation(s) in RCA: 49] [Impact Index Per Article: 12.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2019] [Accepted: 08/03/2020] [Indexed: 12/20/2022]
Abstract
Tensegrity structures provide both structural integrity and flexibility through the combination of stiff struts and a network of flexible tendons. These structures exhibit useful properties: high stiffness-to-mass ratio, controllability, reliability, structural flexibility, and large deployment. The integration of smart materials into tensegrity structures would provide additional functionality and may improve existing properties. However, manufacturing approaches that generate multimaterial parts with intricate three-dimensional (3D) shapes suitable for such tensegrities are rare. Furthermore, the structural complexity of tensegrity systems fabricated through conventional means is generally limited because these systems often require manual assembly. Here, we report a simple approach to fabricate tensegrity structures made of smart materials using 3D printing combined with sacrificial molding. Tensegrity structures consisting of monolithic tendon networks based on smart materials supported by struts could be realized without an additional post-assembly process using our approach. By printing tensegrity with coordinated soft and stiff elements, we could use design parameters (such as geometry, topology, density, coordination number, and complexity) to program system-level mechanics in a soft structure. Last, we demonstrated a tensegrity robot capable of walking in any direction and several tensegrity actuators by leveraging smart tendons with magnetic functionality and the programmed mechanics of tensegrity structures. The physical realization of complex tensegrity metamaterials with programmable mechanical components can pave the way toward more algorithmic designs of 3D soft machines.
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Affiliation(s)
- Hajun Lee
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Yeonwoo Jang
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Jun Kyu Choe
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Suwoo Lee
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Hyeonseo Song
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Jin Pyo Lee
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Nasreena Lone
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
| | - Jiyun Kim
- School of Material Science and Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
- Center for Multidimensional Programmable Matter, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea
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