Chain-based lattice printing for efficient robotically-assembled structures

Due to the nature of their implementation, nearly all low-level fabrication processes produce solidly filled structures. However, lattice structures are significantly stronger for the same amount of material, resulting in structures that are much lighter and more materially efficient. Here we propose an approach for fabricating lattice structures that echoes 3D printing techniques. In it, a modular chain of specially designed links is "extruded" onto a substrate to produce various lattices configurations depending on the chosen assembly algorithm, ranging from rigid regular lattices with nodal connectivity of 12, octet-truss, to significantly less dense configurations. Compared to conventional additive manufacturing methods, our approach allows for efficient use of nearly any material or combination of materials to construct lattices with programmed arrangements. We experimentally demonstrate that a 3x3x2 lattice structure (287 total links) is fabricated in 27 minutes via a modified robotic arm and can support approximately 1000 N in compression testing.

Artificial Intelligence-Empowered 3D and 4D Printing Technologies toward Smarter Biomedical Materials and Approaches

In the last decades, 3D printing has played a crucial role as an innovative technology for tissue and organ fabrication, patient-specific orthoses, drug delivery, and surgical planning. However, biomedical materials used for 3D printing are usually static and unable to dynamically respond or transform within the internal environment of the body. These materials are fabricated ex situ, which involves first printing on a planar substrate and then deploying it to the target surface, thus resulting in a possible mismatch between the printed part and the target surfaces. The emergence of 4D printing addresses some of these drawbacks, opening an attractive path for the biomedical sector. By preprogramming smart materials, 4D printing is able to manufacture structures that dynamically respond to external stimuli. Despite these potentials, 4D printed dynamic materials are still in their infancy of development. The rise of artificial intelligence (AI) could push these technologies forward enlarging their applicability, boosting the design space of smart materials by selecting promising ones with desired architectures, properties, and functions, reducing the time to manufacturing, and allowing the in situ printing directly on target surfaces achieving high-fidelity of human body micro-structures. In this review, an overview of 4D printing as a fascinating tool for designing advanced smart materials is provided. Then will be discussed the recent progress in AI-empowered 3D and 4D printing with open-loop and closed-loop methods, in particular regarding shape-morphing 4D-responsive materials, printing on moving targets, and surgical robots for in situ printing. Lastly, an outlook on 5D printing is given as an advanced future technique, in which AI will assume the role of the fifth dimension to empower the effectiveness of 3D and 4D printing for developing intelligent systems in the biomedical sector and beyond.

Turning machines: a simple algorithmic model for molecular robotics

Molecular robotics is challenging, so it seems best to keep it simple. We consider an abstract molecular robotics model based on simple folding instructions that execute asynchronously. Turning Machines are a simple 1D to 2D folding model, also easily generalisable to 2D to 3D folding. A Turning Machine starts out as a line of connected monomers in the discrete plane, each with an associated turning number. A monomer turns relative to its neighbours, executing a unit-distance translation that drags other monomers along with it, and through collective motion the initial set of monomers eventually folds into a programmed shape. We provide a suite of tools for reasoning about Turning Machines by fully characterising their ability to execute line rotations: executing an almost-full line rotation of 5 π / 3 radians is possible, yet a full 2 π rotation is impossible. Furthermore, line rotations up to 5 π / 3 are executed efficiently, in O ( log n ) expected time in our continuous time Markov chain time model. We then show that such line-rotations represent a fundamental primitive in the model, by using them to efficiently and asynchronously fold shapes. In particular, arbitrarily large zig-zag-rastered squares and zig-zag paths are foldable, as are y-monotone shapes albeit with error (bounded by perimeter length). Finally, we give shapes that despite having paths that traverse all their points, are in fact impossible to fold, as well as techniques for folding certain classes of (scaled) shapes without error. Our approach relies on careful geometric-based analyses of the feats possible and impossible by a very simple robotic system, and pushes conceptional hardness towards mathematical analysis and away from molecular implementation.

Magnetic quadrupole assemblies with arbitrary shapes and magnetizations

Magnetic dipole-dipole interactions govern the behavior of magnetic matter across scales from micrometer colloidal particles to centimeter magnetic soft robots. This pairwise long-range interaction creates rich emergent phenomena under both static and dynamic magnetic fields. However, magnetic dipole particles, from either ferromagnetic or paramagnetic materials, tend to form chain-like structures as low-energy configurations due to dipole symmetry. The repulsion force between two magnetic dipoles raises challenges for creating stable magnetic assemblies with complex two-dimensional (2D) shapes. In this work, we propose a magnetic quadrupole module that is able to form stable and frustration-free magnetic assemblies with arbitrary 2D shapes. The quadrupole structure changes the magnetic particle-particle interaction in terms of both symmetry and strength. Each module has a tunable dipole moment that allows the magnetization of overall assemblies to be programmed at the single module level. We provide a simple combinatorial design method to reach both arbitrary shapes and arbitrary magnetizations concurrently. Last, by combining modules with soft segments, we demonstrate programmable actuation of magnetic metamaterials that could be used in applications for soft robots and electromagnetic metasurfaces.

Design of nanorobots for exposing cancer cells

We discuss in detail, the design of a nanorobot that can navigate, detect cancer cells in the blood and actuate the exposure of drugs. The nanorobot is designed with blood energy harvesting capability and the accumulation of electricity in a capacitor, which forms the main body of the nanorobot. Glucose hunger-based cancer detectors immobilized on a carbon nanotube sensor, reduces its electrical resistance when attached to a cancer cell. This mechanism in turn allows electric current to activate a nano-electrical-mechanical relay (mechanical transistor) to break the chamber ceiling exposing a drug identified by the immune system for cell elimination. This concept is in line with the effort to design an autonomous computational nanorobot for in vivo medical diagnosis and treatment. We present this facile approach to design a collective system to visualize the programmability in nanorobots. The calculations and simulation results provide a proof-of-concept towards a plausible implementation. Through this work, we present an overall picture towards an inorganic autonomous computational nanorobot for cancer diagnosis and treatment.

Catalytic self-folding of 2D structures through cascading magnet reactions

While thousands of proteins involved in development of the human body are capable of self-assembling in a distributed manner from merely 20 types of amino acid, macroscopic products that can be assembled spontaneously from 'alive' components remains an aspiration in engineering. To attain such a mechanism, a major challenge lies in understanding which attributes from the bio-molecular realm must be leveraged at the macro-scale. Inspired by protein folding, we present a centimetre-size 1D tile chain whose self-folding processes are directed by structure-embedded magnetic interactions, which can theoretically self-assemble into convex 2D structures of any size or shape without the aid of a global 'controller'. Each tile holds two magnets contained in paths designed to control their interactions. Once initiated by a magnetic unit (termed Catalyst), the chain self-reconfigures by consuming magnetic potential energy stored between magnet pairs, until the final 2D structure is reached at an energetic minimum. Both simulation and experimental results are presented to illustrate the method's efficacy on chains of arbitrary length. Results demonstrate the promise of a physically implemented, bottom-up, and scalable self-assembly method for novel 2D structure manufacturing, bridging the bio-molecular and mechanical realms.

Self-assembly in elastin-like recombinamers: a mechanism to mimic natural complexity

The topic of self-assembled structures based on elastin-like recombinamers (ELRs, i.e., elastin-like polymers recombinantly bio-produced) has released a noticeable amount of references in the last few years. Most of them are intended for biomedical applications. In this review, a complete revision of the bibliography is carried out. Initially, the self-assembly (SA) concept is considered from a general point of view, and then ELRs are described and characterized based on their intrinsic disorder. A classification of the different self-assembled ELR-based structures is proposed based on their morphologies, paying special attention to their tentative modeling. The impact of the mechanism of SA on these biomaterials is analyzed. Finally, the implications of ELR SA in biological systems are considered.

Robotic metamorphosis by origami exoskeletons

Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitations in their on-site extensibility because of the large scale of today's unit modules and the complex administration of their coordination, which relies heavily on on-board electronic components. We present an approach to extending and changing the capabilities of a robot by enabling metamorphosis using self-folding origami "exoskeletons." We show how a cubical magnet "robot" can be remotely moved using a controllable magnetic field and hierarchically develop different morphologies by interfacing with different origami exoskeletons. Activated by heat, each exoskeleton is self-folded from a rectangular sheet, extending the capabilities of the initial robot, such as enabling the manipulation of objects or locomotion on the ground, water, or air. Activated by water, the exoskeletons can be removed and are interchangeable. Thus, the system represents an end-to-end (re)cycle. We also present several robot and exoskeleton designs, devices, and experiments with robot metamorphosis using exoskeletons.

Multi-crease Self-folding by Global Heating

This study demonstrates a new approach to autonomous folding for the body of a 3D robot from a 2D sheet, using heat. We approach this challenge by folding a 0.27-mm sheetlike material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this baking process, the heat applied on the entire sheet induces contraction of the contracting layer and thus forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and is relatively fast. Our method can be applied simultaneously to all the folds in multi-crease origami structures. We demonstrate the use of this method to create a lightweight mobile robot.

Active printed materials for complex self-evolving deformations

We propose a new design of complex self-evolving structures that vary over time due to environmental interaction. In conventional 3D printing systems, materials are meant to be stable rather than active and fabricated models are designed and printed as static objects. Here, we introduce a novel approach for simulating and fabricating self-evolving structures that transform into a predetermined shape, changing property and function after fabrication. The new locally coordinated bending primitives combine into a single system, allowing for a global deformation which can stretch, fold and bend given environmental stimulus.

SoftCubes: Stretchable and self-assembling three-dimensional soft modular matter

This paper proposes a self-assembling soft modular matter, called SoftCubes, where soft-bodied modules are disassembled into a flexible string by an external tension and self-assemble into the preprogrammed three-dimensional (3D) shape. The developed soft modular matter has three main design features. Firstly, entire modules of the 3D shape are serially connected. Such a structure allows all the modules to be disassembled by external tension. Secondly, the outer body of the modules and the connecting parts are made of soft stretchable elastomer. Due to the soft body of the modules, after disassembling, the serially connected modules become a highly flexible and soft string, and have an extreme shape adaptation capability. Also, if the external tension is removed, the preprogrammed 3D shape is recovered by the elastic restoring force of soft-bodied modules. Finally, embedded small permanent magnets induce magnetic self-assembling forces and maintain a mechanical robustness of the 3D shape of module assembly. Due to the magnetic self-assembly, the soft modules are precisely aligned with neighboring modules in a lattice structure. The paper also presents an algorithm to generate the serial connection path of modules for creating a given 3D shape. Various physical interactions between self-assembling module prototypes are visualized in two-dimensional motion tracking experiments. Finally, the shape reconfiguration ability of soft modular matter is demonstrated. SoftCubes is a new class of programmable modular matter where shape memory ability is embedded in the structure, and shows a physical implementation of various 3D shapes with a high resolution and a high scalability.

Coarse-grained, foldable, physical model of the polypeptide chain

Although nonflexible, scaled molecular models like Pauling-Corey's and its descendants have made significant contributions in structural biology research and pedagogy, recent technical advances in 3D printing and electronics make it possible to go one step further in designing physical models of biomacromolecules: to make them conformationally dynamic. We report here the design, construction, and validation of a flexible, scaled, physical model of the polypeptide chain, which accurately reproduces the bond rotational degrees of freedom in the peptide backbone. The coarse-grained backbone model consists of repeating amide and α-carbon units, connected by mechanical bonds (corresponding to ϕ and ψ) that include realistic barriers to rotation that closely approximate those found at the molecular scale. Longer-range hydrogen-bonding interactions are also incorporated, allowing the chain to readily fold into stable secondary structures. The model is easily constructed with readily obtainable parts and promises to be a tremendous educational aid to the intuitive understanding of chain folding as the basis for macromolecular structure. Furthermore, this physical model can serve as the basis for linking tangible biomacromolecular models directly to the vast array of existing computational tools to provide an enhanced and interactive human-computer interface.

Capillary breakup of discontinuously rate thickening suspensions

Using discontinuously rate thickening suspensions (DRTS) as a model system, we show that beads-on-a-string morphologies can arise as a result of external viscous drag acting during capillary-driven breakup of a non-Newtonian fluid. To minimize the perturbative effect of gravity, we developed a new experimental test platform in which the filament is supported in a horizontal position at the surface of an immiscible oil bath. We show that the evolution of thin DRTS filaments during the capillary thinning process is well described by a set of one-dimensional slender filament equations. The strongly rate-dependent rheology of the test fluid and the aspect ratio of the filament couple to control the thinning dynamics and lead to a simple criterion describing the localized arrest of the capillary thinning process and the subsequent formation of complex, high aspect ratio beads-on-a-string structures.