Forces on Rigid Inclusions in Elastic Media and Resulting Matrix-Mediated Interactions

Density functional approach to elastic properties of three-dimensional dipole-spring models for magnetic gels

Magnetic gels are composite materials consisting of a polymer matrix and embedded magnetic particles. Those are mechanically coupled to each other, giving rise to the magnetostrictive effects as well as to a controllable overall elasticity responsive to external magnetic fields. Due to their inherent composite and thereby multiscale nature, a theoretical framework bridging different levels of description is indispensable for understanding the magnetomechanical properties of magnetic gels. In this study, we extend a recently developed density functional approach from two spatial dimensions to more realistic three-dimensional systems. Along these lines, we connect a mesoscopic characterization resolving the discrete structure of the magnetic particles to macroscopic continuum parameters of magnetic gels. In particular, we incorporate the long-range nature of the magnetic dipole-dipole interaction and consider the approximate incompressibility of the embedding media and relative rotations with respect to an external magnetic field breaking rotational symmetry. We then probe the shape of the model system in its reference state, confirming the dependence of magnetostrictive effects on the configuration of the magnetic particles and on the shape of the considered sample. Moreover, calculating the elastic and rotational coefficients on the basis of our mesoscopic approach, we examine how the macroscopic types of behavior are related to the mesoscopic properties. Implications for real systems of random particle configurations are also discussed.

Effect of boundaries on displacements and motion in two-dimensional fluid or elastic films and membranes

Thin fluid or elastic films and membranes are found in nature and technology, for instance, as confinements of living cells or in loudspeakers. When applying a net force, the resulting flows in an unbounded two-dimensional incompressible low-Reynolds-number fluid or displacements in a two-dimensional linearly elastic solid seem to diverge logarithmically with the distance from the force center, which has led to some debate. Recently, we have demonstrated that such divergences cancel when the total (net) force vanishes. Here, we illustrate that if a net force is present, the boundaries play a prominent role. Already a single no-slip boundary regulates the flow and displacement fields and leads to their decay to leading order inversely in distance from a force center and the boundary. In other words, it is the boundary that stabilizes the system in this situation, unlike the three-dimensional case, where an unbounded medium by itself is able to absorb a net force. We quantify the mobility and displaceability of an inclusion as a function of the distance from the boundary, as well as interactions between different inclusions. In the case of free-slip boundary conditions, a kinked boundary is necessary to achieve stabilization.

Emergent power-law interactions in near-crystalline membranes

We derive exact results for the fluctuations in energy produced by microscopic disorder in near-crystalline athermal systems. Our formalism captures the heterogeneity in the elastic energy of polydisperse soft disks in energy-minimized configurations. We use this to predict the distribution of interaction energy between two defects in a disordered background. We show that this interaction energy displays a disorder-averaged power-law behavior 〈δE〉∼Δ^{-4} at large distances Δ between the defects. These interactions upon disorder average also display the sixfold symmetry of the underlying reference crystal. Additionally, we show that the fluctuations in the interaction energy encode the athermal correlations introduced by the disordered background. We verify our predictions with energy-minimized configurations of polydisperse soft disks in two dimensions.

Elastically-mediated collective organisation of magnetic microparticles

Gels are soft elastic materials made of a three-dimensional cross-linked polymer network and featuring both elastic and dissipative responses under external mechanical stimuli. Here we investigate how such gels mediate the organization of embedded magnetic microparticles when driven by an external field. By constructing a continuum theory, we demonstrate that the collective dynamics of the embedded particles result from the delicate balance between magnetic dipole-dipole interactions, thermal fluctuations and elasticity of the polymer network, verified by our experiments. The proposed model could be extended to other soft magnetic composites in order to predict how the elastic interactions mediate the aggregation of the embedded elements, fostering technological implications for multifunctional hydrogel materials.

Magnetic field controlled behavior of magnetic gels studied using particle-based simulations

This contribution provides an overview of the study of soft magnetic materials using particle-based simulation models. We focus in particular on systems where thermal fluctuations are important. As a basis for further discussion, we first describe two-dimensional models which demonstrate two deformation mechanisms of magnetic gels in a homogeneous field. One is based on the change of magnetic interactions between magnetic particles as a response to an external field; the other is the result of magnetically blocked particles acting as cross-linkers. Based on the qualitative behavior directly observable in the two-dimensional models, we extend our description to three-dimensions. We begin with particle-cross-linked gels, as for those, our three-dimensional model also includes explicitly resolved polymer chains. Here, the polymer chains are represented by entropic springs, and the deformation of the gel is the result of the interaction between magnetic particles. We use this model to examine the influence of the magnetic spatial configuration of magnetic particles (uniaxial or isotropic) on the gel’s magnetomechanical behavior. A further part of the article will be dedicated to scale-bridging approaches such as systematic coarse-graining and models located at the boundary between particle-based and continuum modeling. We will conclude our article with a discussion of recent results for modeling time-dependent phenomena in magnetic-polymer composites. The discussion will be focused on a simulation model suitable for obtaining AC-susceptibility spectra for dilute ferrofluids including hydrodynamic interactions. This model will be the basis for studying the signature of particle–polymer coupling in magnetic hybrid materials. In the long run, we aim to compare material properties probed locally via the AC-susceptibility spectra to elastic moduli obtained for the system at a global level.

Collision and separation of nickel particles embedded in a polydimethylsiloxan matrix under a rotating magnetic field: A strong magneto active function

In order to function as soft actuators, depending on their field of use, magnetorheological elastomers (MREs) must fulfill certain criteria. To name just a few, these can include rapid response to external magnetic fields, mechanical durability, mechanical strength, and/or large deformation. Of particular interest are MREs which produce macroscopic deformation for small external magnetic field variations. This work demonstrates how this can be achieved by just a small change in magnetic field orientation. To achieve this, (super)paramagnetic nickel particles of size ≈ 160 μm were embedded in a non-magnetic polydimethylsiloxan (PDMS) (661–1301 Pa) and their displacement in a stepwise rotated magnetic field (170 mT) recorded using a video microscope. Changes in particle aggregation resulting from very small variations in magnetic field orientation led to the observation of a new strongly magneto-active effect. This configuration is characterized by an interparticle distance in relation to the angle difference between magnetic field and particle axis. This causes a strong matrix deformation which in turn demonstrates hysteresis on relaxation. It is shown that the occurrence strongly depends on the particle size, particle distance, and stiffness of the matrix. Choosing the correct parameter combination, the state can be suppressed and the particle-matrix system demonstrates no displacement or hysteresis. In addition, evidences of non-negligible higher order magnetization effects are experimentally ascertained which is qualitatively in agreement with similar, already theoretically described, particle systems. Even at larger particle geometries, the new strongly magneto-active configuration is preserved and could create macroscopic deformation changes.

Stimuli-responsive twist actuators made from soft elastic composite materials-linking mesoscopic and macroscopic descriptions

Very recently, the construction of twist actuators from magnetorheological gels and elastomers has been suggested. These materials consist of magnetizable colloidal particles embedded in a soft elastic polymeric environment. The twist actuation is enabled by a net chirality of the internal particle arrangement. Upon magnetization by a homogeneous external magnetic field, the systems feature an overall torsional deformation around the magnetization direction. Starting from a discrete minimal mesoscopic model setup, we work toward a macroscopic characterization. The two scales are linked by identifying expressions for the macroscopic system parameters as functions of the mesoscopic model parameters. In this way, the observed behavior of a macroscopic system can, in principle, be mapped to and illustratively be understood from an appropriate mesoscopic picture. Our results apply equally well to corresponding soft electrorheological gels and elastomers.

A Cascading Mean-Field Approach to the Calculation of Magnetization Fields in Magnetoactive Elastomers

We consider magnetoactive elastomer samples based on the elastic matrix and magnetizable particle inclusions. The application of an external magnetic field to such composite samples causes the magnetization of particles, which start to interact with each other. This interaction is determined by the magnetization field, generated not only by the external magnetic field but also by the magnetic fields arising in the surroundings of interacting particles. Due to the scale invariance of magnetic interactions (O(r−3) in d=3 dimensions), a comprehensive description of the local as well as of the global effects requires a knowledge about the magnetization fields within individual particles and in mesoscopic portions of the composite material. Accordingly, any precise calculation becomes technically infeasible for a specimen comprising billions of particles arranged within macroscopic sample boundaries. Here, we show a way out of this problem by presenting a greatly simplified, but accurate approximation approach for the computation of magnetization fields in the composite samples. Based on the dipole model to magnetic interactions, we introduce the cascading mean-field description of the magnetization field by separating it into three contributions on the micro-, meso-, and macroscale. It is revealed that the contributions are nested into each other, as in the Matryoshka’s toy. Such a description accompanied by an appropriate linearization scheme allows for an efficient and transparent analysis of magnetoactive elastomers under rather general conditions.

Magneto-Mechanical Coupling in Magneto-Active Elastomers

In the present work, the magneto-mechanical coupling in magneto-active elastomers is investigated from two different modeling perspectives: a micro-continuum and a particle–interaction approach. Since both strategies differ significantly in their basic assumptions and the resolution of the problem under investigation, they are introduced in a concise manner and their capabilities are illustrated by means of representative examples. To motivate the application of these strategies within a hybrid multiscale framework for magneto-active elastomers, their interchangeability is then examined in a systematic comparison of the model predictions with regard to the magneto-deformation of chain-like helical structures in an elastomer surrounding. The presented results show a remarkable agreement of both modeling approaches and help to provide an improved understanding of the interactions in magneto-active elastomers with chain-like microstructures.

Modeling and theoretical description of magnetic hybrid materials—bridging from meso- to macro-scales

Magnetic gels and elastomers consist of magnetic or magnetizable colloidal particles embedded in an elastic polymeric matrix. Outstanding properties of these materials comprise reversible changes in their mechanical stiffness or magnetostrictive distortions under the influence of external magnetic fields. To understand such types of overall material behavior from a theoretical point of view, it is essential to characterize the substances starting from the discrete colloidal particle level. It turns out that the macroscopic material response depends sensitively on the mesoscopic particle arrangement. We have utilized and developed several theoretical approaches to this end, allowing us both to reproduce experimental observations and to make theoretical predictions. Our hope is that both these paths help to further stimulate the interest in these fascinating materials.

Magnetic torque-driven deformation of Ni-nanorod/hydrogel nanocomposites

Nickel (Ni) nanorods were prepared by the anodized aluminum oxide (AAO) template method and dispersed in poly(acrylamide) (PAM) hydrogels. The deformation of the magnetoresponsive composites was studied with particular attention to the consequences of finite magnetic shape anisotropy as compared to rigid dipoles on the field-dependent torque. For comparison with experiments, the composite was described as an elastic continuum with a local magnetic torque density, applied by discrete particles and determined by the local orientation of their magnetic anisotropy axis with respect to the magnetic field. The mean magnetic moment of the single domain particles m and their volume density in the composite φ vol were derived from the static field-dependent optical transmission (SFOT) of linear polarized light. The mechanical coupling between the particles and their viscoelastic environment was retrieved from the rotational dynamics of the nanorods using oscillating field-dependent optical transmission (OFOT) measurements. Field- and orientation-dependent magnetization measurements were analyzed using the Stoner–Wohlfarth (SW) model and a valid parameter range was identified by introducing an effective anisotropy constant K A as a new empirical model parameter. This adapted SW-model for quantitative description of the field- and orientation dependence of the magnetic torque was validated by measuring the local rotation of nanorods in a soft elastic hydrogel. Finally, torsional and bending deformation of thin magnetically textured composite filaments were computed and compared with experiments.

Classical density functional theory for a two-dimensional isotropic ferrogel model with labeled particles

In this study, we formulate a density functional theory (DFT) for systems of labeled particles, considering a two-dimensional bead-spring lattice with a magnetic dipole on every bead as a model for ferrogels. On the one hand, DFT has been widely studied to investigate fluidlike states of materials, in which constituent particles are not labeled as they can exchange their positions without energy cost. On the other hand, in ferrogels consisting of magnetic particles embedded in elastic polymer matrices, the particles are labeled by their positions as their neighbors do not change over time. We resolve such an issue of particle labeling, introducing a mapping of the elastic interaction mediated by springs onto a pairwise additive interaction (pseudosprings) between unlabeled particles. We further investigate magnetostriction and changes in the elastic constants under altered magnetic interactions employing the pseudospring potential. It is revealed that there are two different response scenarios in the mechanical properties of the dipole-spring systems: While systems at low packing fractions are hardened as the magnetic moments increase in magnitude, at high packing fractions softening due to diminishing effects from the steric force, associated with increases in the volume, is observed. The validity of the theory is also verified by Monte Carlo simulations with both real springs and pseudosprings. We expect that our DFT approach may promote our understanding of materials with particle inclusions.

Displacement field around a rigid sphere in a compressible elastic environment, corresponding higher-order Faxén relations, as well as higher-order displaceability and rotateability matrices

An efficient route to the displacement field around a rigid spherical inclusion in an infinitely extended homogeneous elastic medium is presented in a slightly alternative way when compared to some common textbook methods. Moreover, two Faxén relations of next-higher order beyond the stresslet are calculated explicitly for compressible media. They quantify higher-order moments involving the force distribution on a rigid spherical particle in a deformed elastic medium. As a consequence, additional contributions to the distortions of the deformed elastic medium are identified that are absent to lower order. Furthermore, the displaceability and rotateability matrices for an ensemble of rigid spheres are calculated up to (including) sixth order in inverse particle separation distance. These matrices describe the interactions mediated between the rigid embedded particles by the elastic environment. In this way, additional coupling effects are identified that are absent to lower order, particularly when rotations and torques are involved. All methods and results can formally be transferred to the corresponding case of incompressible hydrodynamic low-Reynolds-number Stokes flow by considering the limit of an incompressible environment. The roles of compressibility of the embedding medium and of the here additionally derived higher-order contributions are highlighted by some selected example configurations.

Memory-based mediated interactions between rigid particulate inclusions in viscoelastic environments

Many practically relevant materials combine properties of viscous fluids and elastic solids to viscoelastic behavior. Our focus is on the induced dynamic behavior of damped finite-sized particulate inclusions in such substances. We explicitly describe history-dependent interactions that emerge between the embedded particles. These interactions are mediated by the viscoelastic surroundings. They result from the flows and distortions of the viscoelastic medium when induced by the rigid inclusions. Both viscoelastic environments of terminal fluidlike flow and of completely reversible damped elastic behavior are covered. For illustration and to highlight the role of the formalism in potential applications, we briefly address the relevant examples of dragging a rigid sphere through a viscoelastic environment together with subsequent relaxation dynamics, the switching dynamics of magnetic fillers in elastic gel matrices, and the swimming behavior of active microswimmers in viscoelastic solutions. The approach provides a basis for more quantitative and extended investigations of these and related systems in the future.

Reversible magnetomechanical collapse: virtual touching and detachment of rigid inclusions in a soft elastic matrix

Soft elastic composite materials containing particulate rigid inclusions in a soft elastic matrix are candidates for developing soft actuators or tunable damping devices. The possibility to reversibly drive the rigid inclusions within such a composite together to a close-to-touching state by an external stimulus would offer important benefits. Then, a significant tuning of the mechanical properties could be achieved due to the resulting mechanical hardening. For a long time, it has been argued whether a virtual touching of the embedded magnetic particles with subsequent detachment can actually be observed in real materials, and if so, whether the process is reversible. Here, we present experimental results that demonstrate this phenomenon in reality. Our system consists of two paramagnetic nickel particles embedded at finite initial distance in a soft elastic polymeric gel matrix. Magnetization in an external magnetic field tunes the magnetic attraction between the particles and drives the process. We quantify our experimental results by different theoretical tools, i.e., explicit analytical calculations in the framework of linear elasticity theory, a projection onto simplified dipole-spring models, as well as detailed finite-element simulations. From these different approaches, we conclude that in our case the cycle of virtual touching and detachment shows hysteretic behavior due to the mutual magnetization between the paramagnetic particles. Our results are important for the design and construction of reversibly tunable mechanical damping devices. Moreover, our projection on dipole-spring models allows the formal connection of our description to various related systems, e.g., magnetosome filaments in magnetotactic bacteria.

Tunable dynamic moduli of magnetic elastomers: from characterization by x-ray micro-computed tomography to mesoscopic modeling

Ferrogels and magnetorheological elastomers are composite materials obtained by embedding magnetic particles of mesoscopic size in a crosslinked polymeric matrix. They combine the reversible elastic deformability of polymeric materials with the high responsivity of ferrofluids to external magnetic fields. These materials stand out, for example, for significant magnetostriction as well as a pronounced increase of the elastic moduli in the presence of external magnetic fields. By means of x-ray micro-computed tomography, the position and size of each magnetic particle can be measured with a high degree of accuracy. We here use data extracted from real magnetoelastic samples as input for coarse-grained dipole-spring modeling and calculations to investigate internal restructuring, stiffening, and changes in the normal modes spectrum. More precisely, we assign to each particle a dipole moment proportional to its volume and set a randomized network of springs between them that mimics the behavior of the polymeric elastic matrix. Extending our previously developed methods, we compute the resulting structural changes in the systems as well as the frequency-dependent elastic moduli when magnetic interactions are turned on. Particularly, with increasing magnetization, we observe the formation of chain-like aggregates. Interestingly, the static elastic moduli can first show a slight decrease with growing amplitude of the magnetic interactions, before a pronounced increase appears upon the chain formation. The change of the dynamic moduli with increasing magnetization depends on the frequency and can even feature nonmonotonic behavior. Overall, we demonstrate how theory and experiments can complement each other to learn more about the dynamic behavior of this interesting class of materials.

Polymer architecture of magnetic gels: a review

In this review article, we provide an introduction to ferrogels, i.e. polymeric gels with embedded magnetic particles. Due to the interplay between magnetic and elastic properties of these materials, they are promising candidates for engineering and biomedical applications such as actuation and controlled drug release. Particular emphasis will be put on the polymer architecture of magnetic gels since it controls the degrees of freedom of the magnetic particles in the gel, and it is important for the particle-polymer coupling determining the mechanisms available for the gel deformation in magnetic fields. We report on the different polymer architectures that have been realized so far, and provide an overview of synthesis strategies and experimental techniques for the characterization of these materials. We further focus on theoretical and simulational studies carried out on magnetic gels, and highlight their contributions towards understanding the influence of the gels' polymer architecture.

Dynamics in a one-dimensional ferrogel model: relaxation, pairing, shock-wave propagation

Based on theory and simulations, we elucidate the relaxation dynamics of a one-dimensional ferrogel model and provide classification scenarios.

A density functional approach to ferrogels

Ferrogels consist of magnetic colloidal particles embedded in an elastic polymer matrix. As a consequence, their structural and rheological properties are governed by a competition between magnetic particle-particle interactions and mechanical matrix elasticity. Typically, the particles are permanently fixed within the matrix, which makes them distinguishable by their positions. Over time, particle neighbors do not change due to the fixation by the matrix. Here we present a classical density functional approach for such ferrogels. We map the elastic matrix-induced interactions between neighboring colloidal particles distinguishable by their positions onto effective pairwise interactions between indistinguishable particles similar to a 'pairwise pseudopotential'. Using Monte-Carlo computer simulations, we demonstrate for one-dimensional dipole-spring models of ferrogels that this mapping is justified. We then use the pseudopotential as an input into classical density functional theory of inhomogeneous fluids and predict the bulk elastic modulus of the ferrogel under various conditions. In addition, we propose the use of an 'external pseudopotential' when one switches from the viewpoint of a one-dimensional dipole-spring object to a one-dimensional chain embedded in an infinitely extended bulk matrix. Our mapping approach paves the way to describe various inhomogeneous situations of ferrogels using classical density functional concepts of inhomogeneous fluids.

Force-induced elastic matrix-mediated interactions in the presence of a rigid wall

We consider a soft elastic matrix that contains particulate inclusions and is bounded by a rigid wall, e.g., the substrate. Such a situation arises in elastic composite materials. They may serve as soft actuators when forces are imposed on or induced between the embedded particles. We investigate how the presence of the rigid wall affects the interactions between the inclusions. First, for no-slip boundary conditions, we transfer Blake's derivation of a corresponding Green's function from low-Reynolds-number hydrodynamics to the linearly elastic case. Then, we list the general expressions to describe the situation for point-like particles in the presence of no-slip and free-slip surface conditions. To compare the effect of the different surface conditions to each other and to the bulk behavior, we address the example situation of pairwise interactions between two embedded particles. The axis through both particle centers is either aligned parallel or perpendicular to the surface. Our results suggest that walls with free-slip surface conditions are preferred when they serve as substrates for soft actuators made from elastic composite materials. As we further demonstrate, the presence of a rigid wall can qualitatively change the interactions between the inclusions. In effect, it can switch attractive interactions into repulsive ones (and vice versa). It should be straightforward to observe the effects in future experiments and to combine our results, e.g., with the modeling of biological cells and tissue on rigid surfaces.

Forces and torques on rigid inclusions in an elastic environment: Resulting matrix-mediated interactions, displacements, and rotations

Embedding rigid inclusions into elastic matrix materials is a procedure of high practical relevance, for instance, for the fabrication of elastic composite materials. We theoretically analyze the following situation. Rigid spherical inclusions are enclosed by a homogeneous elastic medium under stick boundary conditions. Forces and torques are directly imposed from outside onto the inclusions or are externally induced between them. The inclusions respond to these forces and torques by translations and rotations against the surrounding elastic matrix. This leads to elastic matrix deformations, and in turn results in mutual long-ranged matrix-mediated interactions between the inclusions. Adapting a well-known approach from low-Reynolds-number hydrodynamics, we explicitly calculate the displacements and rotations of the inclusions from the externally imposed or induced forces and torques. Analytical expressions are presented as a function of the inclusion configuration in terms of displaceability and rotateability matrices. The role of the elastic environment is implicitly included in these relations. That is, the resulting expressions allow a calculation of the induced displacements and rotations directly from the inclusion configuration, without having to explicitly determine the deformations of the elastic environment. In contrast to the hydrodynamic case, compressibility of the surrounding medium is readily taken into account. We present the complete derivation based on the underlying equations of linear elasticity theory. In the future, the method will, for example, be helpful to characterize the behavior of externally tunable elastic composite materials, to accelerate numerical approaches, as well as to improve the quantitative interpretation of microrheological results.