1
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Sun S, Zhang Y, Wu S, Wang L. In Situ Multi-Directional Liquid Manipulation Enabled by 3D Asymmetric Fang-Structured Surface. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2407034. [PMID: 39054932 DOI: 10.1002/adma.202407034] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/17/2024] [Revised: 07/01/2024] [Indexed: 07/27/2024]
Abstract
Decorating surfaces with wetting gradients or topological structures is a prevailing strategy to control uni-directional spreading without energy input. However, current methods, limited by fixed design, cannot achieve multi-directional control of liquids, posing challenges to practical applications. Here, a structured surface composed of arrayed three-dimensional asymmetric fang-structured units is reported that enable in situ control of customized multi-directional spreading for different surface tension liquids, exhibiting five novel modes. This is attributed to bottom-up distributed multi-curvature features of surface units, which create varied Laplace pressure gradients to guide the spreading of different-wettability liquids along specific directions. The surface's capability to respond to liquid properties for multimodal control leads to innovative functions that are absent in conventional structured surfaces. Selective multi-path circuits can be constructed by taking advantage of rich liquid behaviors with the surface; surface tensions of wetting liquids can be portably indicated with a resolution scope of 0.3-3.4 mN m-1 using the surface; temperature-mediated change of liquid properties is utilized to smartly manipulate liquid behavior and achieve the spatiotemporal-controllable targeted cooling of the surface at its heated state. These novel applications open new avenues for developing advanced surfaces for liquid manipulation.
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Affiliation(s)
- Siqi Sun
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, 999077, China
| | - Yiyuan Zhang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, 999077, China
| | - Shuangmei Wu
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, 999077, China
| | - Liqiu Wang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, 999077, China
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2
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Ching T, Lee JZW, Win SKH, Win LST, Sufiyan D, Lim CPX, Nagaraju N, Toh YC, Foong S, Hashimoto M. Crawling, climbing, perching, and flying by FiBa soft robots. Sci Robot 2024; 9:eadk4533. [PMID: 39018373 DOI: 10.1126/scirobotics.adk4533] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2023] [Accepted: 06/20/2024] [Indexed: 07/19/2024]
Abstract
This paper introduces an approach to fabricating lightweight, untethered soft robots capable of diverse biomimetic locomotion. Untethering soft robotics from electrical or pneumatic power remains one of the prominent challenges within the field. The development of functional untethered soft robotic systems hinges heavily on mitigating their weight; however, the conventional weight of pneumatic network actuators (pneu-nets) in soft robots has hindered untethered operations. To address this challenge, we developed film-balloon (FiBa) modules that drastically reduced the weight of soft actuators. FiBa modules combine transversely curved polymer thin films and three-dimensionally printed pneumatic balloons to achieve varied locomotion modes. These lightweight FiBa modules serve as building blocks to create untethered soft robots mimicking natural movement strategies. These modules substantially reduce overall robot weight, allowing the integration of components such as pumps, valves, batteries, and control boards, thereby enabling untethered operation. FiBa modules integrated with electronic components demonstrated four bioinspired modes of locomotion, including turtle-inspired crawling, inchworm-inspired climbing, bat-inspired perching, and ladybug-inspired flying. Overall, our study offers an alternative tool for designing and customizing lightweight, untethered soft robots with advanced functionalities. The reduction of the weight of soft robots enabled by our approach opens doors to a wide range of applications, including disaster relief, space exploration, remote sensing, and search and rescue operations, where lightweight, untethered soft robotic systems are essential.
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Affiliation(s)
- Terry Ching
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
| | - Joseph Zhi Wei Lee
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
| | - Shane Kyi Hla Win
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Luke Soe Thura Win
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Danial Sufiyan
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Charlotte Pei Xuan Lim
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Nidhi Nagaraju
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
| | - Yi-Chin Toh
- School of Mechanical, Medical and Process Engineering, Queensland University of Technology, Brisbane, Australia
- Centre for Biomedical Technologies, Queensland University of Technology, Kelvin Grove, Australia
| | - Shaohui Foong
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
| | - Michinao Hashimoto
- Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore
- Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore
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3
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Silva A, Fonseca D, Neto DM, Babcinschi M, Neto P. Integrated Design and Fabrication of Pneumatic Soft Robot Actuators in a Single Casting Step. CYBORG AND BIONIC SYSTEMS 2024; 5:0137. [PMID: 39022336 PMCID: PMC11254383 DOI: 10.34133/cbsystems.0137] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2024] [Accepted: 05/13/2024] [Indexed: 07/20/2024] Open
Abstract
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly, and highly supervised design-fabrication processes, often based on resource-intensive iterative workflows. Here, we propose an integrated approach targeting the design and fabrication of pneumatic soft actuators in a single casting step. Molds and sacrificial water-soluble hollow cores are printed using fused filament fabrication. A heated water circuit accelerates the dissolution of the core's material and guarantees its complete removal from the actuator walls, while the actuator's mechanical operability is defined through finite element analysis. This enables the fabrication of actuators with non-uniform cross-sections under minimal supervision, thereby reducing the number of iterations necessary during the design and fabrication processes. Three actuators capable of bending and linear motion were designed, fabricated, integrated, and demonstrated as 3 different bio-inspired soft robots, an earthworm-inspired robot, a 4-legged robot, and a robotic gripper. We demonstrate the availability, versatility, and effectiveness of the proposed methods, contributing to accelerating the design and fabrication of soft robots. This study represents a step toward increasing the accessibility of soft robots to people at a lower cost.
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Affiliation(s)
- Afonso Silva
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Diogo Fonseca
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Diogo M. Neto
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Mihail Babcinschi
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
| | - Pedro Neto
- Department of Mechanical Engineering,
University of Coimbra, CEMMPRE, ARISE, Coimbra, Portugal
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4
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Young OM, Xu X, Sarker S, Sochol RD. Direct laser writing-enabled 3D printing strategies for microfluidic applications. LAB ON A CHIP 2024; 24:2371-2396. [PMID: 38576361 PMCID: PMC11060139 DOI: 10.1039/d3lc00743j] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2023] [Revised: 04/22/2024] [Accepted: 03/27/2024] [Indexed: 04/06/2024]
Abstract
Over the past decade, additive manufacturing-or "three-dimensional (3D) printing"-has attracted increasing attention in the Lab on a Chip community as a pathway to achieve sophisticated system architectures that are difficult or infeasible to fabricate via conventional means. One particularly promising 3D manufacturing technology is "direct laser writing (DLW)", which leverages two-photon (or multi-photon) polymerization (2PP) phenomena to enable high geometric versatility, print speeds, and precision at length scales down to the 100 nm range. Although researchers have demonstrated the potential of using DLW for microfluidic applications ranging from organ on a chip and drug delivery to micro/nanoparticle processing and soft microrobotics, such scenarios present unique challenges for DLW. Specifically, microfluidic systems typically require macro-to-micro fluidic interfaces (e.g., inlet and outlet ports) to facilitate fluidic loading, control, and retrieval operations; however, DLW-based 3D printing relies on a micron-to-submicron-sized 2PP volume element (i.e., "voxel") that is poorly suited for manufacturing these larger-scale fluidic interfaces. In this Tutorial Review, we highlight and discuss the four most prominent strategies that researchers have developed to circumvent this trade-off and realize macro-to-micro interfaces for DLW-enabled microfluidic components and systems. In addition, we consider the possibility that-with the advent of next-generation commercial DLW printers equipped with new dynamic voxel tuning, print field, and laser power capabilities-the overall utility of DLW strategies for Lab on a Chip fields may soon expand dramatically.
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Affiliation(s)
- Olivia M Young
- Department of Mechanical Engineering, University of Maryland, College Park, 2147 Glenn L. Martin Hall, College Park, MD, 20742, USA.
| | - Xin Xu
- Department of Mechanical Engineering, University of Maryland, College Park, 2147 Glenn L. Martin Hall, College Park, MD, 20742, USA.
| | - Sunandita Sarker
- Department of Mechanical Engineering, University of Maryland, College Park, 2147 Glenn L. Martin Hall, College Park, MD, 20742, USA.
- Maryland Robotics Center, University of Maryland, College Park, MD, 20742, USA
- Institute for Systems Research, University of Maryland, College Park, MD, 20742, USA
- Department of Mechanical and Industrial Engineering, University of Massachusetts Amherst, MA, 01003, USA
| | - Ryan D Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, 2147 Glenn L. Martin Hall, College Park, MD, 20742, USA.
- Maryland Robotics Center, University of Maryland, College Park, MD, 20742, USA
- Institute for Systems Research, University of Maryland, College Park, MD, 20742, USA
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, 20742, USA
- Robert E. Fischell Institute for Biomedical Devices, University of Maryland, College Park, MD, 20742, USA
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5
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Stanley AA, Roby ES, Keller SJ. High-speed fluidic processing circuits for dynamic control of haptic and robotic systems. SCIENCE ADVANCES 2024; 10:eadl3014. [PMID: 38569043 PMCID: PMC10990265 DOI: 10.1126/sciadv.adl3014] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/11/2023] [Accepted: 02/27/2024] [Indexed: 04/05/2024]
Abstract
Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits while maintaining flow rates of liters per minute. A ring oscillator using three fluidic transistors achieves oscillation frequencies up to a kilohertz with full signal propagation, tolerating billions of cycles without failure. Fundamental processor circuits like a full adder and a 3-bit analog-to-digital converter require just seven transistors each. A decode circuit drives a high-resolution soft haptic display with refresh times below the human perception threshold for latency, and an electronics-free control circuit performs closed-loop position control of a pneumatic actuator with disturbance rejection, demonstrating the value across domains.
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Affiliation(s)
| | - Erik S. Roby
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
| | - Sean J. Keller
- Meta Platforms Inc., Reality Labs Research, Redmond, WA, USA
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6
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Conrad S, Teichmann J, Auth P, Knorr N, Ulrich K, Bellin D, Speck T, Tauber FJ. 3D-printed digital pneumatic logic for the control of soft robotic actuators. Sci Robot 2024; 9:eadh4060. [PMID: 38295189 DOI: 10.1126/scirobotics.adh4060] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/07/2023] [Accepted: 01/02/2024] [Indexed: 02/02/2024]
Abstract
Soft robots are paving their way to catch up with the application range of metal-based machines and to occupy fields that are challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing the construction of bioinspired motion systems. Pneumatic logic gates provide a powerful alternative for controlling pressure-activated soft robots, which are often controlled by metallic valves and electric circuits. Many existing approaches for fully compliant pneumatic control logic suffer from high manual effort and low pressure tolerance. In our work, we invented three-dimensional (3D) printable, pneumatic logic gates that perform Boolean operations and imitate electric circuits. Within 7 hours, a filament printer is able to produce a module that serves as an OR, AND, or NOT gate; the logic function is defined by the assigned input signals. The gate contains two alternately acting pneumatic valves, whose work principle is based on the interaction of pressurized chambers and a 3D-printed 1-millimeter tube inside. The gate design does not require any kind of support material for its hollow parts, which makes the modules ready to use directly after printing. Depending on the chosen material, the modules can operate on a pressure supply between 80 and more than 750 kilopascals. The capabilities of the invented gates were verified by implementing an electronics-free drink dispenser based on a pneumatic ring oscillator and a 1-bit memory. Their high compliance is demonstrated by driving a car over a fully flexible, 3D-printed robotic walker controlled by an integrated circuit.
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Affiliation(s)
- S Conrad
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - J Teichmann
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - P Auth
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
| | - N Knorr
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
| | - K Ulrich
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - D Bellin
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
| | - T Speck
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
- Freiburg Center for Interactive Materials and Bioinspired Technologies (FIT), University of Freiburg, Freiburg, Germany
| | - F J Tauber
- Plant Biomechanics Group (PBG) Freiburg @ Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
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7
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Jiao Z, Hu Z, Shi Y, Xu K, Lin F, Zhu P, Tang W, Zhong Y, Yang H, Zou J. Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing. Innovation (N Y) 2024; 5:100549. [PMID: 38192379 PMCID: PMC10772819 DOI: 10.1016/j.xinn.2023.100549] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2023] [Accepted: 11/28/2023] [Indexed: 01/10/2024] Open
Abstract
Tightly integrating actuation, computation, and sensing in soft materials allows soft robots to respond autonomously to their environments. However, fusing these capabilities within a single soft module in an efficient, programmable, and compatible way is still a significant challenge. Here, we introduce a strategy for integrating actuation, computation, and sensing capabilities in soft origami. Unified and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits, similar to LEGO bricks. We built an untethered autonomous soft turtle that is able to sense stimuli, store data, process information, and perform swimming movements. The function multiplexing and signal compatibility of the origami minimize the number of soft devices, thereby reducing the complexity and redundancy of soft robots. Moreover, this origami also exhibits strong damage resistance and high durability. We envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.
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Affiliation(s)
- Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Zhenhan Hu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Yuhao Shi
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Kaichen Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Fangye Lin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Pingan Zhu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
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8
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Sarker S, Forghani K, Wen Z, Halli RN, Hoag S, Flank S, Sochol RD. TOWARD CONTROLLED-RELEASE DRUG DELIVERY MICROCARRIERS ENABLED BY DIRECT LASER WRITING 3D PRINTING. PROCEEDINGS. IEEE INTERNATIONAL CONFERENCE ON MICRO ELECTRO MECHANICAL SYSTEMS 2024; 2024:433-436. [PMID: 38482161 PMCID: PMC10936737 DOI: 10.1109/mems58180.2024.10439600] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/17/2024]
Abstract
Controlled-release, and especially long-acting, drug delivery systems hold promise for improving treatments for numerous medical conditions. Previously, we reported an additive manufacturing or "three-dimensional (3D) printing" approach for fabricating liquid-core-shell-cap microcarriers comprising standard photoresists. Here we explore the potential to extend this strategy to achieve microcarriers comprising biodegradable materials as a new pathway to controlled-release drug delivery options. Specifically, we investigate the use of "Two-Photon Direct Laser Writing (DLW)" as a means to 3D print microcarriers composed of: (i) a bottle-shaped "shell" with an orifice, (ii) an aqueous liquid "core", and (iii) a biodegradable "cap". The cap, which is DLW-printed directly onto the shell's orifice, is designed to degrade over time in the body-e.g., with degradation time proportional to cap thickness-to ultimately facilitate release of the liquid core at desired time points. Fabrication results based on the use of a biodegradable poly(ethylene glycol) diacrylate (PEGDA) photomaterial for the cap revealed that shell designs incorporating microfluidic obstruction structures appeared to limit undesired entry of the liquid-phase PEGDA into the shell (i.e., directly preceding cap printing), thereby resulting in improved retention of the liquid core after completion of the cap printing process. These results mark an important first step toward evaluating the utility of the presented DLW 3D printing strategy for possible drug delivery applications.
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Affiliation(s)
- Sunandita Sarker
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Kimia Forghani
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Ziteng Wen
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Ryan N Halli
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Stephen Hoag
- Department of Pharmaceutical Sciences, University of Maryland School of Pharmacy, Baltimore, MD, USA
| | | | - Ryan D Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
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9
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Sarker S, Wang J, Shah SA, Jewell CM, Rand-Yadin K, Janowski M, Walczak P, Liang Y, Sochol RD. GEOMETRIC DETERMINANTS OF CELL VIABILITY FOR 3D-PRINTED HOLLOW MICRONEEDLE ARRAY-MEDIATED DELIVERY. PROCEEDINGS. IEEE INTERNATIONAL CONFERENCE ON MICRO ELECTRO MECHANICAL SYSTEMS 2024; 2024:429-432. [PMID: 38476775 PMCID: PMC10932570 DOI: 10.1109/mems58180.2024.10439381] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/14/2024]
Abstract
A wide range of emerging biomedical applications and clinical interventions rely on the ability to deliver living cells via hollow, high-aspect-ratio microneedles. Recently, microneedle arrays (MNA) have gained increasing interest due to inherent benefits for drug delivery; however, studies exploring the potential to harness such advantages for cell delivery have been impeded due to the difficulties in manufacturing high-aspect-ratio MNAs suitable for delivering mammalian cells. To bypass these challenges, here we leverage and extend our previously reported hybrid additive manufacturing (or "three-dimensional (3D) printing) strategy-i.e., the combined the "Vat Photopolymerization (VPP)" technique, "Liquid Crystal Display (LCD)" 3D printing with "Two-Photon Direct Laser Writing (DLW)"-to 3D print hollow MNAs that are suitable for cell delivery investigations. Specifically, we 3D printed four sets of 650 μm-tall MNAs corresponding to needle-specific inner diameters (IDs) of 25 μm, 50 μm, 75 μm, and 100 μm, and then examined the effects of these MNAs on the post-delivery viability of both dendritic cells (DCs) and HEK293 cells. Experimental results revealed that the 25 μm-ID case led to a statistically significant reduction in post-MNA-delivery cell viability for both cell types; however, MNAs with needle-specific IDs ≥ 50 μm were statistically indistinguishable from one another as well as conventional 32G single needles, thereby providing an important benchmark for MNA-mediated cell delivery.
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Affiliation(s)
- Sunandita Sarker
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Jinghui Wang
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD, USA
| | - Shrey A Shah
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
| | - Christopher M Jewell
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
| | | | - Miroslaw Janowski
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD, USA
| | - Piotr Walczak
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD, USA
| | - Yajie Liang
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD, USA
| | - Ryan D Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
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10
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Young OM, Felix BM, Fuge MD, Krieger A, Sochol RD. A 3D-MICROPRINTED COAXIAL NOZZLE FOR FABRICATING LONG, FLEXIBLE MICROFLUIDIC TUBING. PROCEEDINGS. IEEE INTERNATIONAL CONFERENCE ON MICRO ELECTRO MECHANICAL SYSTEMS 2024; 2024:1174-1177. [PMID: 38482160 PMCID: PMC10936740 DOI: 10.1109/mems58180.2024.10439296] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/17/2024]
Abstract
A variety of emerging applications, particularly those in medical and soft robotics fields, are predicated on the ability to fabricate long, flexible meso/microfluidic tubing with high customization. To address this need, here we present a hybrid additive manufacturing (or "three-dimensional (3D) printing") strategy that involves three key steps: (i) using the "Vat Photopolymerization (VPP) technique, "Liquid-Crystal Display (LCD)" 3D printing to print a bulk microfluidic device with three inlets and three concentric outlets; (ii) using "Two-Photon Direct Laser Writing (DLW)" to 3D microprint a coaxial nozzle directly atop the concentric outlets of the bulk microdevice, and then (iii) extruding paraffin oil and a liquid-phase photocurable resin through the coaxial nozzle and into a polydimethylsiloxane (PDMS) channel for UV exposure, ultimately producing the desired tubing. In addition to fabricating the resulting tubing-composed of polymerized photomaterial-at arbitrary lengths (e.g., > 10 cm), the distinct input pressures can be adjusted to tune the inner diameter (ID) and outer diameter (OD) of the fabricated tubing. For example, experimental results revealed that increasing the driving pressure of the liquid-phase photomaterial from 50 kPa to 100 kPa led to fluidic tubing with IDs and ODs of 291±99 μm and 546±76 μm up to 741±31 μm and 888±39 μm, respectively. Furthermore, preliminary results for DLW-printing a microfluidic "M" structure directly atop the tubing suggest that the tubing could be used for "ex situ DLW (esDLW)" fabrication, which would further enhance the utility of the tubing.
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Affiliation(s)
- Olivia M Young
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Bailey M Felix
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
| | - Mark D Fuge
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
| | - Axel Krieger
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Ryan D Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
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11
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Zhang Y, Wang T, He W, Zhu S. Human-Powered Master Controllers for Reconfigurable Fluidic Soft Robots. Soft Robot 2023; 10:1126-1136. [PMID: 37196160 DOI: 10.1089/soro.2022.0077] [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: 05/19/2023] Open
Abstract
Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are significantly restricted by complex control systems and bulky power devices, including fluidic valves, fluidic pumps, electrical motors, as well as batteries, which make it challenging to operate in narrow space, energy shortage, or electromagnetic sensitive situations. To overcome the shortcomings, we develop portable human-powered master controllers to provide an alternative solution for the master-slave control of the fluidic soft robots. Each controller can supply multiple fluidic pressures to the multiple chambers of the soft robots simultaneously. We use modular fluidic soft actuators to reconfigure soft robots with various functions as control objects. Experimental results show that flexible manipulation and bionic locomotion can be simply realized using the human-powered master controllers. The developed controllers which eliminate energy storage and electronic components can provide a promising candidate of soft robot control in surgical, industrial, and entertainment applications.
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Affiliation(s)
- Yunce Zhang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
| | - Tao Wang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, China
| | - Weidong He
- Ocean College, Zhejiang University, Zhoushan, China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, China
- Zhejiang Lab, Hangzhou, China
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12
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Bae J, Seo S, Wu R, Kim T. Programmable and Pixelated Solute Concentration Fields Controlled by Three-Dimensionally Networked Microfluidic Source/Sink Arrays. ACS NANO 2023; 17:20273-20283. [PMID: 37830478 DOI: 10.1021/acsnano.3c06247] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/14/2023]
Abstract
Membrane-integrated microfluidic platforms have played a pivotal role in understanding natural phenomena coupled with solute concentration gradients at the micro- and nanoscale, enabling on-chip microscopy in well-defined planar concentration fields. However, the standardized two-dimensional fabrication schemes in microfluidics have impeded the realization of more complex and diverse chemical environmental conditions due to the limited possible arrangements of source/sink conditions in a fluidic domain. In this study, we present a microfluidic platform with a three-dimensional microchannel network design, where discretized membranes can be integrated and individually controlled in a two-dimensional array format at any location within the entire quasi-two-dimensional solute concentration field. We elucidate the principles of the device to implement operations of the pixel-like sources/sinks and dynamically programmable control of various long-lasting solute concentration fields. Furthermore, we demonstrate the application of the generated solute concentration fields in manipulating the transport of micrometer or submicrometer particles with a high degree of freedom, surpassing conventionally available solute concentration fields. This work provides an experimental tool for investigating complex systems under high-order chemical environmental conditions, thereby facilitating the extensive development of higher-performance micro- and nanotechnologies.
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Affiliation(s)
- Juyeol Bae
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Ulsan 44919, Republic of Korea
| | - Sangjin Seo
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Ulsan 44919, Republic of Korea
| | - Ronghui Wu
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Ulsan 44919, Republic of Korea
| | - Taesung Kim
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Ulsan 44919, Republic of Korea
- Department of Biomedical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Ulsan 44919, Republic of Korea
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13
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Yang Y, Lv C, Tan C, Li J, Wang X. Easy-to-Prepare Flexible Multifunctional Sensors Assembled with Anti-Swelling Hydrogels. ACS APPLIED MATERIALS & INTERFACES 2023; 15:46417-46427. [PMID: 37733927 DOI: 10.1021/acsami.3c11117] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/23/2023]
Abstract
Recent years have witnessed the development of flexible electronic materials. Flexible electronic devices based on hydrogels are promising but face the limitations of having no resistance to swelling and a lack of functional integration. Herein, we fabricated a hydrogel using a solvent replacement strategy and explored it as a flexible electronic material. This hydrogel was obtained by polymerizing 2-hydroxyethyl methacrylate (HEMA) in ethylene glycol and then immersing it in water. The synergistic effect of hydrogen bonding and hydrophobic interactions endows this hydrogel with anti-swelling properties in water, and it also exhibits enhanced mechanical properties and outstanding self-bonding properties. Moreover, the modulus of the hydrogel is tissue-adaptable. These properties allowed the hydrogel to be simply assembled with a liquid metal (LM) to create a series of structurally complex and functionally integrated flexible sensors. The hydrogel was used to assemble resistive and capacitive sensors to sense one-, two-, and three-dimensional strains and finger touches by employing specific structural designs. In addition, a multifunctional flexible sensor integrating strain sensing, temperature sensing, and conductance sensing was assembled via simple multilayer stacking to enable the simultaneous monitoring of underwater motion, water temperature, and water quality. This work demonstrates a simple strategy for assembling functionally integrated flexible electronics, which should open opportunities in next-generation electronic skins and hydrogel machines for various applications, especially underwater applications.
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Affiliation(s)
- Yongqi Yang
- School of Materials Science and Engineering, Jilin Institute of Chemical Technology, Jilin 132022, China
| | - Chunyang Lv
- School of Materials Science and Engineering, Jilin Institute of Chemical Technology, Jilin 132022, China
| | - Chang Tan
- School of Materials Science and Engineering, Jilin Institute of Chemical Technology, Jilin 132022, China
| | - Jingfang Li
- Key Laboratory of Functional Inorganic Material Chemistry (MOE), School of Chemistry and Materials Science, Heilongjiang University, Harbin 150080, China
| | - Xin Wang
- School of Materials Science and Engineering, Jilin Institute of Chemical Technology, Jilin 132022, China
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14
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Zhong Y, Tang W, Xu H, Qin K, Yan D, Fan X, Qu Y, Li Z, Jiao Z, Yang H, Zou J. Phase-transforming mechanical metamaterials with dynamically controllable shape-locking performance. Natl Sci Rev 2023; 10:nwad192. [PMID: 37565196 PMCID: PMC10411672 DOI: 10.1093/nsr/nwad192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2023] [Revised: 06/24/2023] [Accepted: 06/30/2023] [Indexed: 08/12/2023] Open
Abstract
Active mechanical metamaterials with customizable structures and deformations, active reversible deformation, dynamically controllable shape-locking performance and stretchability are highly suitable for applications in soft robotics and flexible electronics, yet it is challenging to integrate them due to their mutual conflicts. Here, we introduce a class of phase-transforming mechanical metamaterials (PMMs) that integrate the above properties. Periodically arranging basic actuating units according to the designed pattern configuration and positional relationship, PMMs can customize complex and diverse structures and deformations. Liquid-vapor phase transformation provides active reversible large deformation while a silicone matrix offers stretchability. The contained carbonyl iron powder endows PMMs with dynamically controllable shape-locking performance, thereby achieving magnetically assisted shape locking and energy storing in different working modes. We build a theoretical model and finite element simulation to guide the design process of PMMs, so as to develop a variety of PMMs with different functions suitable for different applications, such as a programmed PMM, reconfigurable antenna, soft lens, soft mechanical memory, biomimetic hand, biomimetic flytrap and self-contained soft gripper. PMMs are applicable to achieve various 2D deformations and 2D-to-3D deformations, and integrate multiple properties, including customizable structures and deformations, active reversible deformation, rapid reversible shape locking, adjustable energy storing and stretchability, which could open a new application avenue in soft robotics and flexible electronics.
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Affiliation(s)
- Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Institute of Process Equipment, College of Energy Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huxiu Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Kecheng Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Dong Yan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Xujun Fan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yang Qu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Zhaoyang Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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15
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Van Raemdonck B, Milana E, De Volder M, Reynaerts D, Gorissen B. Nonlinear Inflatable Actuators for Distributed Control in Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2301487. [PMID: 37205727 DOI: 10.1002/adma.202301487] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/15/2023] [Revised: 05/03/2023] [Indexed: 05/21/2023]
Abstract
As soft robotic systems grow in complexity and functionality, the size and stiffness of the needed control hardware severely limits their application potential. Alternatively, functionality can be embodied within actuator characteristics, drastically reducing the amount of peripherals. Functions such as memory, computation, and energy storage then result from the intrinsic mechanical behavior of precisely designed structures. Here, actuators are introduced with tunable characteristics to generate complex actuation sequences from a single input. Intricate sequences are made possible by harnessing hysteron characteristics encoded in the buckling of a cone-shaped shell incorporated in the actuator design. A large variety of such characteristics are generated by varying the actuator geometry. This dependency is mapped and used for creating a tool to determine the actuator geometry that yields a desired characteristic. Using this tool, a system with six actuators is created that plays the final movement of Beethoven's Ninth Symphony with a single pressure supply.
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Affiliation(s)
- Bert Van Raemdonck
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
| | - Edoardo Milana
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
- Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Georges-Köhler-Allee 105, 79110, Freiburg, Germany
| | - Michael De Volder
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
- Institute for Manufacturing, University of Cambridge, 17 Charles Babbage Road, Cambridge, CB3 0FS, UK
| | - Dominiek Reynaerts
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
| | - Benjamin Gorissen
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Celestijnenlaan 300, Leuven, 3000, Belgium
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16
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Barnes N, Young O, Colton A, Liu X, Janowski M, Gandhi D, Sochol R, Brown J, Krieger A. Toward a novel soft robotic system for minimally invasive interventions. Int J Comput Assist Radiol Surg 2023; 18:1547-1557. [PMID: 37486544 PMCID: PMC10928906 DOI: 10.1007/s11548-023-02997-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/11/2023] [Accepted: 07/04/2023] [Indexed: 07/25/2023]
Abstract
PURPOSE During minimally invasive surgery, surgeons maneuver tools through complex anatomies, which is difficult without the ability to control the position of the tools inside the body. A potential solution for a substantial portion of these procedures is the efficient design and control of a pneumatically actuated soft robot system. METHODS We designed and evaluated a system to control a steerable catheter tip. A macroscale 3D printed catheter tip was designed to have two separately pressurized channels to induce bending in two directions. A motorized hand controller was developed to allow users to control the bending angle while manually inserting the steerable tip. Preliminary characterization of two catheter tip prototypes was performed and used to map desired angle inputs into pressure commands. RESULTS The integrated robotic system allowed both a novice and a skilled surgeon to position the steerable catheter tip at the location of cylindrical targets with sub-millimeter accuracy. The novice was able to reach each target within ten seconds and the skilled surgeon within five seconds on average. CONCLUSION This soft robotic system enables its user to simultaneously insert and bend the pneumatically actuated catheter tip with high accuracy and in a short amount of time. These results show promise concerning the development of a soft robotic system that can improve outcomes in minimally invasive interventions.
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Affiliation(s)
- Noah Barnes
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Olivia Young
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Maryland Robotics Center, University of Maryland, College Park, MD, USA
- Institute for Systems Research, University of Maryland, College Park, MD, USA
| | - Adira Colton
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Maryland Robotics Center, University of Maryland, College Park, MD, USA
- Institute for Systems Research, University of Maryland, College Park, MD, USA
| | - Xiaolong Liu
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Miroslaw Janowski
- Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland, Baltimore, Baltimore, MD, USA
| | - Dheeraj Gandhi
- Department of Neurosurgery, University of Maryland Medical Center, Baltimore, MD, USA
- Department of Diagnostic Radiology, Neuroradiology, University of Maryland Medical Center, Baltimore, MD, USA
| | - Ryan Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Maryland Robotics Center, University of Maryland, College Park, MD, USA
- Institute for Systems Research, University of Maryland, College Park, MD, USA
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
- Robert E. Fischell Institute for Biomedical Devices, University of Maryland, College Park, MD, USA
| | - Jeremy Brown
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Axel Krieger
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
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17
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Zhai Y, De Boer A, Yan J, Shih B, Faber M, Speros J, Gupta R, Tolley MT. Desktop fabrication of monolithic soft robotic devices with embedded fluidic control circuits. Sci Robot 2023; 8:eadg3792. [PMID: 37343076 DOI: 10.1126/scirobotics.adg3792] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2022] [Accepted: 05/24/2023] [Indexed: 06/23/2023]
Abstract
Most soft robots are pneumatically actuated and fabricated by molding and assembling processes that typically require many manual operations and limit complexity. Furthermore, complex control components (for example, electronic pumps and microcontrollers) must be added to achieve even simple functions. Desktop fused filament fabrication (FFF) three-dimensional printing provides an accessible alternative with less manual work and the capability of generating more complex structures. However, because of material and process limitations, FFF-printed soft robots often have a high effective stiffness and contain a large number of leaks, limiting their applications. We present an approach for the design and fabrication of soft, airtight pneumatic robotic devices using FFF to simultaneously print actuators with embedded fluidic control components. We demonstrated this approach by printing actuators an order of magnitude softer than those previously fabricated using FFF and capable of bending to form a complete circle. Similarly, we printed pneumatic valves that control a high-pressure airflow with low control pressure. Combining the actuators and valves, we demonstrated a monolithically printed electronics-free autonomous gripper. When connected to a constant supply of air pressure, the gripper autonomously detected and gripped an object and released the object when it detected a force due to the weight of the object acting perpendicular to the gripper. The entire fabrication process of the gripper required no posttreatment, postassembly, or repair of manufacturing defects, making this approach highly repeatable and accessible. Our proposed approach represents a step toward complex, customized robotic systems and components created at distributed fabricating facilities.
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Affiliation(s)
- Yichen Zhai
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | | | - Jiayao Yan
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Benjamin Shih
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
| | - Martin Faber
- BASF 3D Printing Solutions B.V., Emmen, Netherlands
| | - Joshua Speros
- BASF Corporation California Research Alliance, Berkeley, CA 94720, USA
| | - Rohini Gupta
- BASF Corporation California Research Alliance, Berkeley, CA 94720, USA
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA
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18
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Xu S, Nunez CM, Souri M, Wood RJ. A compact DEA-based soft peristaltic pump for power and control of fluidic robots. Sci Robot 2023; 8:eadd4649. [PMID: 37343077 DOI: 10.1126/scirobotics.add4649] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2022] [Accepted: 05/24/2023] [Indexed: 06/23/2023]
Abstract
Fluid-driven robotic systems typically use bulky and rigid power supplies, considerably limiting their mobility and flexibility. Although various forms of low-profile soft pumps have been demonstrated, they either are limited to specific working fluids or generate limited flow rates or pressures, making them ill-suited for widespread robotics applications. In this work, we introduce a class of centimeter-scale soft peristaltic pumps for power and control of fluidic robots. An array of high power density robust dielectric elastomer actuators (DEAs) (each weighing 1.7 grams) were adopted as soft motors, operated in a programmed pattern to produce pressure waves in a fluidic channel. We investigated and optimized the dynamic performance of the pump by analyzing the interaction between the DEAs and the fluidic channel with a fluid-structure interaction finite element model. Our soft pump achieved a maximum blocked pressure of 12.5 kilopascals and a run-out flow rate of 39 milliliters per minute with a response time of less than 0.1 second. The pump can generate bidirectional flow and adjustable pressure through control of drive parameters such as voltage and phase shift. Furthermore, the use of peristalsis makes the pump compatible with various liquids. To illustrate the versatility of the pump, we demonstrate mixing a cocktail, powering custom actuators for haptic devices, and performing closed-loop control of a soft fluidic actuator. This compact soft peristaltic pump opens up possibilities for future on-board power sources for fluid-driven robots in a variety of applications, including food handling, manufacturing, and biomedical therapeutics.
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Affiliation(s)
- Siyi Xu
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Cara M Nunez
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA
| | - Mohammad Souri
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Robert J Wood
- Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
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19
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Wu L, Dong Z. Interfacial Regulation for 3D Printing based on Slice-Based Photopolymerization. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023:e2300903. [PMID: 37147788 DOI: 10.1002/adma.202300903] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/30/2023] [Revised: 02/21/2023] [Indexed: 05/07/2023]
Abstract
3D printing, also known as additive manufacturing, can turn computer-aided designs into delicate structures directly and on demand by eliminating expensive molds, dies, or lithographic masks. Among the various technical forms, light-based 3D printing mainly involved the control of polymer-based matter fabrication and realized a field of manufacturing with high tunability of printing format, speed, and precision. Emerging slice- and light-based 3D-printing methods have prosperously advanced in recent years but still present challenges to the versatility of printing continuity, printing process, and printing details control. Herein, the field of slice- and light-based 3D printing is discussed and summarized from the view of interfacial regulation strategies to improve the printing continuity, printing process control, and the character of printed results, and several potential strategies to construct complex 3D structures of distinct characteristics with extra external fields, which are favorable for the further improvement and development of 3D printing, are proposed.
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Affiliation(s)
- Lei Wu
- Key Laboratory of Green Printing, Beijing National Laboratory for Molecular Sciences (BNLMS), Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, P. R. China
- CAS Key Laboratory of Bio-inspired Materials and Interfacial Science, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, P. R. China
| | - Zhichao Dong
- CAS Key Laboratory of Bio-inspired Materials and Interfacial Science, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, P. R. China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
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20
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Van Stratum B, Clark J, Shoele K. Effect of internal damping on locomotion in frictional environments. Phys Rev E 2023; 107:054406. [PMID: 37329083 DOI: 10.1103/physreve.107.054406] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/12/2022] [Accepted: 04/25/2023] [Indexed: 06/18/2023]
Abstract
The gaits of undulating animals arise from a complex interaction of their central nervous system, muscle, connective tissue, bone, and environment. As a simplifying assumption, many previous studies have often assumed that sufficient internal force is available to produce observed kinematics, thus not focusing on quantifying the interconnection between muscle effort, body shape, and external reaction forces. This interplay, however, is critical to locomotion performance in crawling animals, especially when accompanied by body viscoelasticity. Moreover, in bioinspired robotic applications, the body's internal damping is indeed a parameter that the designer can tune. Still, the effect of internal damping is not well understood. This study explores how internal damping affects the locomotion performance of a crawler with a continuous, viscoelastic, nonlinear beam model. Crawler muscle actuation is modeled as a traveling wave of bending moment propagating posteriorly along the body. Consistent with the friction properties of the scales of snakes and limbless lizards, environmental forces are modeled using anisotropic Coulomb friction. It is found that by varying the crawler body's internal damping, the crawler's performance can be altered, and distinct gaits could be achieved, including changing the net locomotion direction from forward to back. We will discuss this forward and backward control and identify the optimal internal damping for peak crawling speed.
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Affiliation(s)
- Brian Van Stratum
- Department of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, Florida 32310, USA
| | - Jonathan Clark
- Department of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, Florida 32310, USA
| | - Kourosh Shoele
- Department of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, Florida 32310, USA
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21
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Sarker S, Colton A, Wen Z, Xu X, Erdi M, Jones A, Kofinas P, Tubaldi E, Walczak P, Janowski M, Liang Y, Sochol RD. 3D-Printed Microinjection Needle Arrays via a Hybrid DLP-Direct Laser Writing Strategy. ADVANCED MATERIALS TECHNOLOGIES 2023; 8:2201641. [PMID: 37064271 PMCID: PMC10104452 DOI: 10.1002/admt.202201641] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/29/2022] [Indexed: 06/19/2023]
Abstract
Microinjection protocols are ubiquitous throughout biomedical fields, with hollow microneedle arrays (MNAs) offering distinctive benefits in both research and clinical settings. Unfortunately, manufacturing-associated barriers remain a critical impediment to emerging applications that demand high-density arrays of hollow, high-aspect-ratio microneedles. To address such challenges, here, a hybrid additive manufacturing approach that combines digital light processing (DLP) 3D printing with "ex situ direct laser writing (esDLW)" is presented to enable new classes of MNAs for fluidic microinjections. Experimental results for esDLW-based 3D printing of arrays of high-aspect-ratio microneedles-with 30 μm inner diameters, 50 μm outer diameters, and 550 μm heights, and arrayed with 100 μm needle-to-needle spacing-directly onto DLP-printed capillaries reveal uncompromised fluidic integrity at the MNA-capillary interface during microfluidic cyclic burst-pressure testing for input pressures in excess of 250 kPa (n = 100 cycles). Ex vivo experiments perform using excised mouse brains reveal that the MNAs not only physically withstand penetration into and retraction from brain tissue but also yield effective and distributed microinjection of surrogate fluids and nanoparticle suspensions directly into the brains. In combination, the results suggest that the presented strategy for fabricating high-aspect-ratio, high-density, hollow MNAs could hold unique promise for biomedical microinjection applications.
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Affiliation(s)
- Sunandita Sarker
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA; Maryland Robotics Center, University of Maryland, College Park, MD 20742, USA; Institute for Systems Research, University of Maryland, College Park, MD 20742, USA
| | - Adira Colton
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA; Maryland Robotics Center, University of Maryland, College Park, MD 20742, USA; Institute for Systems Research, University of Maryland, College Park, MD 20742, USA
| | - Ziteng Wen
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA
| | - Xin Xu
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA
| | - Metecan Erdi
- Department of Chemical and Biomolecular Engineering, University of Maryland, College Park, MD 20742, USA
| | - Anthony Jones
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA; Maryland Robotics Center, University of Maryland, College Park, MD 20742, USA; Institute for Systems Research, University of Maryland, College Park, MD 20742, USA
| | - Peter Kofinas
- Department of Chemical and Biomolecular Engineering, University of Maryland, College Park, MD 20742, USA
| | - Eleonora Tubaldi
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA; Maryland Robotics Center, University of Maryland, College Park, MD 20742, USA; Institute for Systems Research, University of Maryland, College Park, MD 20742, USA
| | - Piotr Walczak
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD 21201, USA
| | - Miroslaw Janowski
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD 21201, USA
| | - Yajie Liang
- Program in Image Guided Neurointerventions, Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland School of Medicine, Baltimore, MD 21201, USA
| | - Ryan D Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA; Maryland Robotics Center, University of Maryland, College Park, MD 20742, USA; Institute for Systems Research, University of Maryland, College Park, MD 20742, USA; Fischell Department of Bioengineering, University of Maryland, College Park, MD 20742, USA; Robert E. Fischell Institute for Biomedical Devices, University of Maryland, College Park, MD 20742, USA
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22
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Yue L, Macrae Montgomery S, Sun X, Yu L, Song Y, Nomura T, Tanaka M, Jerry Qi H. Single-vat single-cure grayscale digital light processing 3D printing of materials with large property difference and high stretchability. Nat Commun 2023; 14:1251. [PMID: 36878943 PMCID: PMC9988868 DOI: 10.1038/s41467-023-36909-y] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/17/2022] [Accepted: 02/23/2023] [Indexed: 03/08/2023] Open
Abstract
Multimaterial additive manufacturing has important applications in various emerging fields. However, it is very challenging due to material and printing technology limitations. Here, we present a resin design strategy that can be used for single-vat single-cure grayscale digital light processing (g-DLP) 3D printing where light intensity can locally control the conversion of monomers to form from a highly stretchable soft organogel to a stiff thermoset within in a single layer of printing. The high modulus contrast and high stretchability can be realized simultaneously in a monolithic structure at a high printing speed (z-direction height 1 mm/min). We further demonstrate that the capability can enable previously unachievable or hard-to-achieve 3D printed structures for biomimetic designs, inflatable soft robots and actuators, and soft stretchable electronics. This resin design strategy thus provides a material solution in multimaterial additive manufacture for a variety of emerging applications.
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Affiliation(s)
- Liang Yue
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - S Macrae Montgomery
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Xiaohao Sun
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Luxia Yu
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Yuyang Song
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA
| | - Tsuyoshi Nomura
- Toyota Central R&D Laboratories, Inc., Bunkyo-ku, Tokyo, 112-0004, Japan
| | - Masato Tanaka
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA.
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23
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Su R, Wang F, McAlpine MC. 3D printed microfluidics: advances in strategies, integration, and applications. LAB ON A CHIP 2023; 23:1279-1299. [PMID: 36779387 DOI: 10.1039/d2lc01177h] [Citation(s) in RCA: 25] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
The ability to construct multiplexed micro-systems for fluid regulation could substantially impact multiple fields, including chemistry, biology, biomedicine, tissue engineering, and soft robotics, among others. 3D printing is gaining traction as a compelling approach to fabricating microfluidic devices by providing unique capabilities, such as 1) rapid design iteration and prototyping, 2) the potential for automated manufacturing and alignment, 3) the incorporation of numerous classes of materials within a single platform, and 4) the integration of 3D microstructures with prefabricated devices, sensing arrays, and nonplanar substrates. However, to widely deploy 3D printed microfluidics at research and commercial scales, critical issues related to printing factors, device integration strategies, and incorporation of multiple functionalities require further development and optimization. In this review, we summarize important figures of merit of 3D printed microfluidics and inspect recent progress in the field, including ink properties, structural resolutions, and hierarchical levels of integration with functional platforms. Particularly, we highlight advances in microfluidic devices printed with thermosetting elastomers, printing methodologies with enhanced degrees of automation and resolution, and the direct printing of microfluidics on various 3D surfaces. The substantial progress in the performance and multifunctionality of 3D printed microfluidics suggests a rapidly approaching era in which these versatile devices could be untethered from microfabrication facilities and created on demand by users in arbitrary settings with minimal prior training.
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Affiliation(s)
- Ruitao Su
- School of Mechanical and Power Engineering, Zhengzhou University, 100 Science Avenue, Zhengzhou, Henan 450001, China
| | - Fujun Wang
- Department of Mechanical Engineering, University of Minnesota, 111 Church Street SE, Minneapolis, MN 55455, USA.
| | - Michael C McAlpine
- Department of Mechanical Engineering, University of Minnesota, 111 Church Street SE, Minneapolis, MN 55455, USA.
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24
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Piezo robotic hand for motion manipulation from micro to macro. Nat Commun 2023; 14:500. [PMID: 36717566 PMCID: PMC9887007 DOI: 10.1038/s41467-023-36243-3] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2022] [Accepted: 01/19/2023] [Indexed: 02/01/2023] Open
Abstract
Multiple degrees of freedom (DOFs) motion manipulation of various objects is a crucial skill for robotic systems, which relies on various robotic hands. However, traditional robotic hands suffer from problems of low manipulation accuracy, poor electromagnetic compatibility and complex system due to limitations in structures, principles and transmissions. Here we present a direct-drive rigid piezo robotic hand (PRH) constructed on functional piezoelectric ceramic. Our PRH holds four piezo fingers and twelve motion DOFs. It achieves high adaptability motion manipulation of ten objects employing pre-planned functionalized hand gestures, manipulating plates to achieve 2L (linear) and 1R (rotary) motions, cylindrical objects to generate 1L and 1R motions and spherical objects to produce 3R motions. It holds promising prospects in constructing multi-DOF ultra-precision manipulation devices, and an integrated system of our PRH is developed to implement several applications. This work provides a new direction to develop robotic hand for multi-DOF motion manipulation from micro scale to macro scale.
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25
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Song Q, Chen Y, Hou P, Zhu P, Helmer D, Kotz-Helmer F, Rapp BE. Fabrication of Multi-Material Pneumatic Actuators and Microactuators Using Stereolithography. MICROMACHINES 2023; 14:244. [PMID: 36837944 PMCID: PMC9966499 DOI: 10.3390/mi14020244] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/12/2022] [Revised: 01/12/2023] [Accepted: 01/13/2023] [Indexed: 06/18/2023]
Abstract
Pneumatic actuators are of great interest for device miniaturization, microactuators, soft robots, biomedical engineering, and complex control systems. Recently, multi-material actuators have become of high interest to researchers due to their comprehensive range of suitable applications. Three-dimensional (3D) printing of multi-material pneumatic actuators would be the ideal way to fabricate customized actuators, but so far, this is mostly limited to deposition-based methodologies, such as fused deposition modeling (FDM) or Polyjetting. Vat-based stereolithography is one of the most relevant high-resolution 3D printing methods but is only rarely utilized in the multi-material 3D printing of materials. This study demonstrated multi-material stereolithography using combinations of materials with different Young's moduli, i.e., 0.5 MPa and 1.1 GPa, for manufacturing pneumatic actuators and microactuators with a resolution as small as 200 μm. These multi-material actuators have advantages over single-material actuators in terms of their deformation controllability and ease of assembly.
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Affiliation(s)
- Qingchuan Song
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
- FIT Freiburg Center of Interactive Materials and Bioinspired Technologies, University of Freiburg, 79110 Freiburg, Germany
| | - Yunong Chen
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
| | - Peilong Hou
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
| | - Pang Zhu
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
| | - Dorothea Helmer
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
- FIT Freiburg Center of Interactive Materials and Bioinspired Technologies, University of Freiburg, 79110 Freiburg, Germany
- Glassomer GmbH, In den Kirchenmatten 54, 79110 Freiburg, Germany
- Freiburg Materials Research Center (FMF), University of Freiburg, 79104 Freiburg, Germany
| | - Frederik Kotz-Helmer
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
- FIT Freiburg Center of Interactive Materials and Bioinspired Technologies, University of Freiburg, 79110 Freiburg, Germany
- Glassomer GmbH, In den Kirchenmatten 54, 79110 Freiburg, Germany
| | - Bastian E. Rapp
- Laboratory of Process Technology, NeptunLab, Department of Microsystems Engineering (IMTEK), University of Freiburg, Georges-Köhler-Allee 103, 79110 Freiburg, Germany
- FIT Freiburg Center of Interactive Materials and Bioinspired Technologies, University of Freiburg, 79110 Freiburg, Germany
- Glassomer GmbH, In den Kirchenmatten 54, 79110 Freiburg, Germany
- Freiburg Materials Research Center (FMF), University of Freiburg, 79104 Freiburg, Germany
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26
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Tauber FJ, Slesarenko V. Early career scientists converse on the future of soft robotics. Front Robot AI 2023; 10:1129827. [PMID: 36909362 PMCID: PMC9994530 DOI: 10.3389/frobt.2023.1129827] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/22/2022] [Accepted: 02/09/2023] [Indexed: 02/24/2023] Open
Abstract
During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.
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Affiliation(s)
- Falk J Tauber
- Cluster of Excellence livMatS, FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany.,Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Freiburg im Breisgau, Germany
| | - Viacheslav Slesarenko
- Cluster of Excellence livMatS, FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
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27
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Zhang S, Ke X, Jiang Q, Chai Z, Wu Z, Ding H. Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200671. [PMID: 35732070 DOI: 10.1002/adma.202200671] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Revised: 06/12/2022] [Indexed: 06/15/2023]
Abstract
Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.
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Affiliation(s)
- Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
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28
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Nabae H, Kitamura E. Self-excited valve using a flat ring tube: Application to robotics. Front Robot AI 2022; 9:1008559. [DOI: 10.3389/frobt.2022.1008559] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Accepted: 11/02/2022] [Indexed: 11/30/2022] Open
Abstract
Complex and bulky driving systems are among the main issues for soft robots driven by pneumatic actuators. Self-excited oscillation is a promising approach for dealing with this problem: oscillatory actuation is generated from non-oscillatory input. However, small varieties of self-excited pneumatic actuators currently limit their applications. We present a simple, self-excited pneumatic valve that uses a flat ring tube (FRT), a device originally developed as a self-excited pneumatic actuator. First, we explore the driving principle of the self-excited valve and investigate the effect of the flow rate and FRT length on its driving frequency. Then, a locomotive robot containing the valve is demonstrated. The prototype succeeded in walking at 5.2 mm/s when the oscillation frequency of the valve was 1.5 Hz, showing the applicability of the proposed valve to soft robotics.
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29
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Abstract
In soft devices, complex actuation sequences and precise force control typically require hard electronic valves and microcontrollers. Existing designs for entirely soft pneumatic control systems are capable of either digital or analog operation, but not both, and are limited by speed of actuation, range of pressure, time required for fabrication, or loss of power through pull-down resistors. Using the nonlinear mechanics intrinsic to structures composed of soft materials-in this case, by leveraging membrane inversion and tube kinking-two modular soft components are developed: a piston actuator and a bistable pneumatic switch. These two components combine to create valves capable of analog pressure regulation, simplified digital logic, controlled oscillation, nonvolatile memory storage, linear actuation, and interfacing with human users in both digital and analog formats. Three demonstrations showcase the capabilities of systems constructed from these valves: 1) a wearable glove capable of analog control of a soft artificial robotic hand based on input from a human user's fingers, 2) a human-controlled cushion matrix designed for use in medical care, and 3) an untethered robot which travels a distance dynamically programmed at the time of operation to retrieve an object. This work illustrates pathways for complementary digital and analog control of soft robots using a unified valve design.
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30
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Patterson ZJ, Patel DK, Bergbreiter S, Yao L, Majidi C. A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots. Soft Robot 2022; 10:292-300. [PMID: 35852561 DOI: 10.1089/soro.2022.0003] [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: 11/12/2022] Open
Abstract
Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.
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Affiliation(s)
- Zach J Patterson
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Dinesh K Patel
- Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Sarah Bergbreiter
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Lining Yao
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,Human-Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Carmel Majidi
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.,The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
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31
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Migalev AS, Vigasina KD, Gotovtsev PM. A review of motor neural system robotic modeling approaches and instruments. BIOLOGICAL CYBERNETICS 2022; 116:271-306. [PMID: 35041073 DOI: 10.1007/s00422-021-00918-1] [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: 04/01/2021] [Accepted: 12/15/2021] [Indexed: 06/14/2023]
Abstract
In this review, we are considering an actively developing tool in neuroscience-robotic modeling. The new perspective and existing application fields, tools, and methods are discussed. We try to determine starting positions and approaches that are useful at the beginning of new research in this field. Among multiple directions of the research is robotic modeling on the level of muscles fibers and their afferents, skin surface sensors, muscles, and joints proprioceptors. Some examples of technical implementation for physical modeling are reviewed. They are software and hardware tools like event-related modeling algorithms, reduced neuron models, robotic drives constructions. We observe existing drives technologies and prospective electric motor types: switched reluctance and transverse flux motors. Next, we look at the existing examples and approaches for robotic modeling of the cerebellum and spinal cord neural networks. These examples show practical methods for the model neural network architecture and adaptation. Those methods allow the use of cortical and spinal cord reflexes for the network training and apply additional artificial blocks for data processing in other brain structures that transmit and receive data from biologically realistic models.
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Affiliation(s)
- Alexander S Migalev
- National Research Center "Kurchatov Intitute", 1, Akademika Kurchatova pl., Moscow, 123182, Russia
| | - Kristina D Vigasina
- Institute of Higher Nervous Activity and Neurophysiology of RAS, 5A, Butlerova st., Moscow, 117485, Russia
| | - Pavel M Gotovtsev
- National Research Center "Kurchatov Intitute", 1, Akademika Kurchatova pl., Moscow, 123182, Russia
- Moscow Institute of Physics and Technology 9, Institutsky per., Dolgoprudny, Moscow Region, 141701, Russian Federation
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32
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Li Y, Wang P, Li R, Tao M, Liu Z, Qiao H. A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods. Front Neurorobot 2022; 16:843267. [PMID: 35574228 PMCID: PMC9097019 DOI: 10.3389/fnbot.2022.843267] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/25/2021] [Accepted: 02/28/2022] [Indexed: 11/13/2022] Open
Abstract
Multifingered robotic hands (usually referred to as dexterous hands) are designed to achieve human-level or human-like manipulations for robots or as prostheses for the disabled. The research dates back 30 years ago, yet, there remain great challenges to effectively design and control them due to their high dimensionality of configuration, frequently switched interaction modes, and various task generalization requirements. This article aims to give a brief overview of multifingered robotic manipulation from three aspects: a) the biological results, b) the structural evolvements, and c) the learning methods, and discuss potential future directions. First, we investigate the structure and principle of hand-centered visual sensing, tactile sensing, and motor control and related behavioral results. Then, we review several typical multifingered dexterous hands from task scenarios, actuation mechanisms, and in-hand sensors points. Third, we report the recent progress of various learning-based multifingered manipulation methods, including but not limited to reinforcement learning, imitation learning, and other sub-class methods. The article concludes with open issues and our thoughts on future directions.
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Affiliation(s)
- Yinlin Li
- State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Peng Wang
- State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China
- Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong, China
| | - Rui Li
- School of Automation, Chongqing University, Chongqing, China
| | - Mo Tao
- Science and Technology on Thermal Energy and Power Laboratory, Wuhan Second Ship Design and Research Institute, Wuhan, China
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
| | - Zhiyong Liu
- State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China
| | - Hong Qiao
- State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China
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33
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Masuda Y, Ishikawa M. Review of Electronics-Free Robotics: Toward a Highly Decentralized Control Architecture. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p0202] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In recent years, conventional model-based motion control has become more challenging owing to the continuously increasing complexity of areas in which robots must operate and navigate. A promising approach for solving this issue is by employing interaction-based robotics, which includes behavior-based robotics, morphological computations, and soft robotics that generate control and computation functions based on interactions between the robot body and environment. These control strategies, which incorporate the diverse dynamics of the environment to generate control and computation functions, may alleviate the limitations imposed by the finite physical and computational resources of conventional robots. However, current interaction-based robots can only perform a limited number of actions compared with conventional robots. To increase the diversity of behaviors generated from body–environment interactions, a robotic body design methodology that can generate appropriate behaviors depending on the various situations and environmental stimuli that arise from them is necessitated. Electronics-free robotics is reviewed herein as a paradigm for designing robots with control and computing functions in each part of the body. In electronics-free robotics, instead of using electrical sensors or computers, a control system is constructed based on only mechanical or chemical reactions. Robotic bodies fabricated using this approach do not require bulky electrical wiring or peripheral circuits and can perform control and computational functions by obtaining energy from a central source. Therefore, by distributing these electronics-free controllers throughout the body, we hope to design autonomous and highly decentralized robotic bodies than can generate various behaviors in response to environmental stimuli. This new paradigm of designing and controlling robot bodies can enable realization of completely electronics-free robots as well as expand the range of conventional electronics-based robot designs.
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34
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Wang S, He L, Maiolino P. A Modular Approach to Design Multi-Channel Bistable Valves for Integrated Pneumatically-Driven Soft Robots via 3D-Printing. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3147898] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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35
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Zhou A, Xu C, Kanitthamniyom P, Ng CSX, Lim GJ, Lew WS, Vasoo S, Zhang X, Lum GZ, Zhang Y. Magnetic Soft Millirobots 3D Printed by Circulating Vat Photopolymerization to Manipulate Droplets Containing Hazardous Agents for In Vitro Diagnostics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200061. [PMID: 35147257 DOI: 10.1002/adma.202200061] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/04/2022] [Revised: 02/01/2022] [Indexed: 06/14/2023]
Abstract
3D printing via vat photopolymerization (VP) is a highly promising approach for fabricating magnetic soft millirobots (MSMRs) with accurate miniature 3D structures; however, magnetic filler materials added to resin either strongly interfere with the photon energy source or sediment too fast, resulting in the nonuniformity of the filler distribution or failed prints, which limits the application of VP. To this end, a circulating vat photopolymerization (CVP) platform that can print MSMRs with high uniformity, high particle loading, and strong magnetic response is presented. After extensive characterization of materials and 3D printed parts, it is found that SrFe12 O19 is an ideal magnetic filler for CVP and can be printed with 30% particle loading and high uniformity. By using CVP, various tethered and untethered MSMRs are 3D printed monolithically and demonstrate the capability of reversible 3D-to-3D transformation and liquid droplet manipulation in 3D, an important task for in vitro diagnostics that are not shown with conventional MSMRs. A fully automated liquid droplet handling platform that manipulates droplets with MSMR is presented for detecting carbapenem antibiotic resistance in hazardous biosamples as a proof of concept, and the results agree with the benchmark.
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Affiliation(s)
- Aiwu Zhou
- Singapore Centre for 3D Printing, School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Changyu Xu
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Pojchanun Kanitthamniyom
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Chelsea Shan Xian Ng
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Gerard Joseph Lim
- School of Physical and Mathematical Sciences, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Wen Siang Lew
- School of Physical and Mathematical Sciences, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Shawn Vasoo
- National Center for Infectious Disease, Tan Tock Seng Hospital, 11 Jln Tan Tock Seng, Singapore, 308433, Singapore
| | - Xiaosheng Zhang
- School of Electronic Science and Engineering, University of Electronic Science and Technology of China, 2006 Xiyuan Avenue, Chengdu, Sichuan, 611731, China
| | - Guo Zhan Lum
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore
| | - Yi Zhang
- School of Electronic Science and Engineering, University of Electronic Science and Technology of China, 2006 Xiyuan Avenue, Chengdu, Sichuan, 611731, China
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36
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Fang J, Zhuang Y, Liu K, Chen Z, Liu Z, Kong T, Xu J, Qi C. A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2104347. [PMID: 35072360 PMCID: PMC8922102 DOI: 10.1002/advs.202104347] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/29/2021] [Revised: 11/30/2021] [Indexed: 05/07/2023]
Abstract
Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.
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Affiliation(s)
- Jielun Fang
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Yanfeng Zhuang
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Kailang Liu
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Zhuo Chen
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Zhou Liu
- College of Chemistry and Environmental EngineeringShenzhen UniversityShenzhenGuangdong518000China
| | - Tiantian Kong
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Jianhong Xu
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Cheng Qi
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
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Dorsey KL. Electronics-free soft robot has a nice ring to it. Sci Robot 2022; 7:eabn6551. [PMID: 35138884 DOI: 10.1126/scirobotics.abn6551] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
A fluidic ring oscillator provides timing to soft robots, thus enabling complex locomotion and load carrying.
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Affiliation(s)
- Kristen L Dorsey
- Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA.
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