1
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Xu NW. Float like a butterfly, swim like a biohybrid neuromuscular robot. Sci Robot 2024; 9:eads4127. [PMID: 39321275 DOI: 10.1126/scirobotics.ads4127] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2024] [Accepted: 08/28/2024] [Indexed: 09/27/2024]
Abstract
A butterfly-like robot swims using an electronic device to stimulate human-derived motor neurons and cardiac muscle cells.
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Affiliation(s)
- Nicole W Xu
- Paul M. Rady Department of Mechanical Engineering and Robotics Program, University of Colorado Boulder, Boulder, CO 80309, USA
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2
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Shen J, Garrad M, Zhang Q, Wong VCH, Pirrera A, Groh RMJ. A rapid-response soft end effector inspired by the hummingbird beak. J R Soc Interface 2024; 21:20240148. [PMID: 39226926 PMCID: PMC11463234 DOI: 10.1098/rsif.2024.0148] [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: 03/05/2024] [Revised: 05/11/2024] [Accepted: 07/26/2024] [Indexed: 09/05/2024] Open
Abstract
Biology is a wellspring of inspiration in engineering design. This paper delves into the application of elastic instabilities-commonly used in biological systems to facilitate swift movement-as a power-amplification mechanism for soft robots. Specifically, inspired by the nonlinear mechanics of the hummingbird beak-and shedding further light on it-we design, build and test a novel, rapid-response, soft end effector. The hummingbird beak embodies the capacity for swift movement, achieving closure in less than [Formula: see text]. Previous work demonstrated that rapid movement is achieved through snap-through deformations, induced by muscular actuation of the beak's root. Using nonlinear finite element simulations coupled with continuation algorithms, we unveil a representative portion of the equilibrium manifold of the beak-inspired structure. The exploration involves the application of a sequence of rotations as exerted by the hummingbird muscles. Specific emphasis is placed on pinpointing and tailoring the position along the manifold of the saddle-node bifurcation at which the onset of elastic instability triggers dynamic snap-through. We show the critical importance of the intermediate rotation input in the sequence, as it results in the accumulation of elastic energy that is then explosively released as kinetic energy upon snap-through. Informed by our numerical studies, we conduct experimental testing on a prototype end effector fabricated using a compliant material (thermoplastic polyurethane). The experimental results support the trends observed in the numerical simulations and demonstrate the effectiveness of the bio-inspired design. Specifically, we measure the energy transferred by the soft end effector to a pendulum, varying the input levels in the sequence of prescribed rotations. Additionally, we demonstrate a potential robotic application in scenarios demanding explosive action. From a mechanics perspective, our work sheds light on how pre-stress fields can enable swift movement in soft robotic systems with the potential to facilitate high input-to-output energy efficiency.
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Affiliation(s)
- Jiajia Shen
- Bristol Composites Institute (BCI), School of Civil, Aerospace and Design Engineering, University of Bristol, BristolBS8 1TR, UK
- Exeter Technologies Group (ETG), Department of Engineering, University of Exeter, ExeterEX4 4PY, UK
| | - Martin Garrad
- Department of Engineering Mathematics, University of Bristol, BristolBS8 1TR, UK
- SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, BristolBS8 1TR, UK
| | - Qicheng Zhang
- Faculty of Science and Engineering, Swansea University, SwanseaSA1 8EN, UK
| | - Vico Chun Hei Wong
- Bristol Composites Institute (BCI), School of Civil, Aerospace and Design Engineering, University of Bristol, BristolBS8 1TR, UK
| | - Alberto Pirrera
- Bristol Composites Institute (BCI), School of Civil, Aerospace and Design Engineering, University of Bristol, BristolBS8 1TR, UK
| | - Rainer M. J. Groh
- Bristol Composites Institute (BCI), School of Civil, Aerospace and Design Engineering, University of Bristol, BristolBS8 1TR, UK
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3
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Gong S, Li W, Wu J, Feng B, Yi Z, Guo X, Zhang W, Shao L. A Soft Collaborative Robot for Contact-based Intuitive Human Drag Teaching. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2308835. [PMID: 38647364 PMCID: PMC11200028 DOI: 10.1002/advs.202308835] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/17/2023] [Revised: 04/07/2024] [Indexed: 04/25/2024]
Abstract
Soft material-based robots, known for their safety and compliance, are expected to play an irreplaceable role in human-robot collaboration. However, this expectation is far from real industrial applications due to their complex programmability and poor motion precision, brought by the super elasticity and large hysteresis of soft materials. Here, a soft collaborative robot (Soft Co-bot) with intuitive and easy programming by contact-based drag teaching, and also with exceptional motion repeatability (< 0.30% of body length) and ultra-low hysteresis (< 2.0%) is reported. Such an unprecedented capability is achieved by a biomimetic antagonistic design within a pneumatic soft robot, in which cables are threaded to servo motors through tension sensors to form a self-sensing system, thus providing both precise actuation and dragging-aware collaboration. Hence, the Soft Co-bots can be first taught by human drag and then precisely repeat various tasks on their own, such as electronics assembling, machine tool installation, etc. The proposed Soft Co-bots exhibit a high potential for safe and intuitive human-robot collaboration in unstructured environments, promoting the immediate practical application of soft robots.
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Affiliation(s)
- Shoulu Gong
- University of Michigan–Shanghai Jiao Tong University Joint InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Wenbo Li
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai200240China
- School of Aerospace Engineering and Applied MechanicsTongji UniversityShanghai200092China
| | - Jiahao Wu
- University of Michigan–Shanghai Jiao Tong University Joint InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Bohan Feng
- University of Michigan–Shanghai Jiao Tong University Joint InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Zhiran Yi
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai200240China
| | - Xinyu Guo
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai200240China
| | - Wenming Zhang
- School of Mechanical Engineering and State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai200240China
| | - Lei Shao
- University of Michigan–Shanghai Jiao Tong University Joint InstituteShanghai Jiao Tong UniversityShanghai200240China
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4
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Chen R, Zhang H, Du Y, Ma H, Ma X, Ji J, Wang X, Xue M. Photothermal Conversion of the Oleophilic PVDF/Ti 3C 2T x Porous Foam Enables Non-Aqueous Liquid System Applicable Actuator. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2309130. [PMID: 38247181 DOI: 10.1002/smll.202309130] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/10/2023] [Revised: 12/20/2023] [Indexed: 01/23/2024]
Abstract
Various physical and chemical reaction processes occur in non-aqueous liquid systems, particularly in oil phase systems. Therefore, achieving efficient, accurate, controllable, and cost-effective movement and transfer of substances in the oil phase is crucial. Liquid-phase photothermal actuators (LPAs) are commonly used for material transport in liquid-phase systems due to their remote operability and precise control. However, existing LPAs typically rely on materials like hydrogels and flexible polymers, commonly unsuitable for non-aqueous liquids. Herein, a 3D porous poly(vinylidene fluoride) (PVDF)/Ti3C2Tx actuator is developed using a solvent displacement method. It demonstrates directional movement and controlled material transport in non-aqueous liquid systems. When subject to infrared light irradiation (2.0 W cm-2), the actuator achieves motion velocities of 7.3 and 6 mm s-1 vertically and horizontally, respectively. The actuator's controllable motion capability is primarily attributed to the foam's oil-wettable properties, 3D porous oil transport network, and the excellent photothermal conversion performance of Ti3C2Tx, facilitating thermal diffusion and the Marangoni effect. Apart from multidimensional directions, the actuator enables material delivery and obstacle avoidance by transporting and releasing target objects to a predetermined position. Hence, the developed controllable actuator offers a viable solution for effective motion control and material handling in non-aqueous liquid environments.
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Affiliation(s)
- Ruoqi Chen
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Huanrong Zhang
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yuhang Du
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Hui Ma
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Xinlei Ma
- Department of Chemistry, Renmin University of China, Beijing, 100872, China
| | - Junhui Ji
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Xusheng Wang
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Mianqi Xue
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
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5
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Luo Y, Patel DK, Li Z, Hu Y, Luo H, Yao L, Majidi C. Intrinsically Multistable Soft Actuator Driven by Mixed-Mode Snap-Through Instabilities. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307391. [PMID: 38447200 PMCID: PMC11095224 DOI: 10.1002/advs.202307391] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/04/2023] [Revised: 12/07/2023] [Indexed: 03/08/2024]
Abstract
Actuators utilizing snap-through instabilities are widely investigated for high-performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability within a single actuator unit still remains an open challenge. Here, a soft actuator is presented that uses shape memory alloy (SMA) and mixed-mode elastic instabilities to achieve intrinsically multistable shape reconfiguration. The multistable actuator unit consists of six stable states, including two pure bending states and four bend-twist states. The actuator is composed of a pre-stretched elastic membrane placed between two elastomeric frames embedded with SMA coils. By controlling the sequence and duration of SMA activation, the actuator is capable of rapid transition between all six stable states within hundreds of milliseconds. Principles of energy minimization are used to identify actuation sequences for various types of stable state transitions. Bending and twisting angles corresponding to various prestretch ratios are recorded based on parameterizations of the actuator's geometry. To demonstrate its application in practical conditions, the multistable actuator is used to perform visual inspection in a confined space, light source tracking during photovoltaic energy harvesting, and agile crawling.
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Affiliation(s)
- Yichi Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Dinesh K. Patel
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Zefang Li
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Yafeng Hu
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Hao Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Lining Yao
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Carmel Majidi
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
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6
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Jung Y, Kwon K, Lee J, Ko SH. Untethered soft actuators for soft standalone robotics. Nat Commun 2024; 15:3510. [PMID: 38664373 PMCID: PMC11045848 DOI: 10.1038/s41467-024-47639-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/09/2023] [Accepted: 04/08/2024] [Indexed: 04/28/2024] Open
Abstract
Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.
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Affiliation(s)
- Yeongju Jung
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Kangkyu Kwon
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea
| | - Jinwoo Lee
- Department of Mechanical, Robotics, and Energy Engineering, Dongguk University, 30 Pildong-ro 1-gil, Jung-gu, Seoul, 04620, South Korea.
| | - Seung Hwan Ko
- Applied Nano and Thermal Science Lab, Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Institute of Engineering Research / Institute of Advanced Machinery and Design (SNU-IAMD), Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, South Korea.
- Interdisciplinary Program in Bioengineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, 08826, Korea.
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7
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Nakagawa D, Hanasaki I. Adaptive plasticity of auxetic Kirigami hydrogel fabricated from anisotropic swelling of cellulose nanofiber film. SCIENCE AND TECHNOLOGY OF ADVANCED MATERIALS 2024; 25:2331959. [PMID: 38572411 PMCID: PMC10989208 DOI: 10.1080/14686996.2024.2331959] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/16/2024] [Accepted: 03/11/2024] [Indexed: 04/05/2024]
Abstract
Hydrogels are flexible materials that typically accommodate elongation with positive Poisson's ratios. Auxetic property, i.e., the negative Poisson's ratio, of elastic materials can be macroscopically implemented by the structural design of the continuum. We realize it without mold for hydrogel made of cellulose nanofibers (CNFs). The complex structural design of auxetic Kirigami is first implemented on the dry CNF film, i.e., so-called nanopaper, by laser processing, and the CNF hydrogel is formed by dipping the film in liquid water. The CNF films show anisotropic swelling where drastic volumetric change mainly originates from increase in the thickness. This anisotropy makes the design and fabrication of the emergent Kirigami hydrogel straightforward. We characterize the flexibility of this mechanical metamaterial made of hydrogel by cyclic tensile loading starting from the initial end-to-end distance of dry sample. The tensile load at the maximum strain decreases with the increasing number of cycles. Furthermore, the necessary work up to the maximum strain even decreases to the negative value, while the work of restoration to the original end-to-end distance increases from the negative value to the positive. The equilibrium strain where the force changes the sign increases to reach a plateau. This plastic deformation due to the cyclic loading can be regarded as the adaptive response without fracture to the applied dynamic loading input.
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Affiliation(s)
- Daisuke Nakagawa
- Institute of Engineering, Tokyo University of Agriculture and Technology, Koganei-shi, Japan
| | - Itsuo Hanasaki
- Institute of Engineering, Tokyo University of Agriculture and Technology, Koganei-shi, Japan
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8
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Cheng X, Shen Z, Zhang Y. Bioinspired 3D flexible devices and functional systems. Natl Sci Rev 2024; 11:nwad314. [PMID: 38312384 PMCID: PMC10833470 DOI: 10.1093/nsr/nwad314] [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: 10/23/2023] [Revised: 11/21/2023] [Accepted: 11/28/2023] [Indexed: 02/06/2024] Open
Abstract
Flexible devices and functional systems with elaborated three-dimensional (3D) architectures can endow better mechanical/electrical performances, more design freedom, and unique functionalities, when compared to their two-dimensional (2D) counterparts. Such 3D flexible devices/systems are rapidly evolving in three primary directions, including the miniaturization, the increasingly merged physical/artificial intelligence and the enhanced adaptability and capabilities of heterogeneous integration. Intractable challenges exist in this emerging research area, such as relatively poor controllability in the locomotion of soft robotic systems, mismatch of bioelectronic interfaces, and signal coupling in multi-parameter sensing. By virtue of long-time-optimized materials, structures and processes, natural organisms provide rich sources of inspiration to address these challenges, enabling the design and manufacture of many bioinspired 3D flexible devices/systems. In this Review, we focus on bioinspired 3D flexible devices and functional systems, and summarize their representative design concepts, manufacturing methods, principles of structure-function relationship and broad-ranging applications. Discussions on existing challenges, potential solutions and future opportunities are also provided to usher in further research efforts toward realizing bioinspired 3D flexible devices/systems with precisely programmed shapes, enhanced mechanical/electrical performances, and high-level physical/artificial intelligence.
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Affiliation(s)
- Xu Cheng
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Zhangming Shen
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
- Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China
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9
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Yang Y, Wang Y. Snapping for 4D-Printed Insect-Scale Metal-Jumper. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307088. [PMID: 37997200 PMCID: PMC10797476 DOI: 10.1002/advs.202307088] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Indexed: 11/25/2023]
Abstract
The replication of jumping motions observed in small organisms poses a significant challenge due to size-related effects. Shape memory alloys (SMAs) exhibit a superior work-to-weight ratio, making them suitable for jumping actuators. However, the SMAs advantages are hindered by the limitations imposed by their single actuator configuration and slow response speed. This study proposes a novel design approach for an insect-scale shape memory alloy jumper (net-shell) using 4D printing technology and the bistable power amplification mechanism. The energy variations of the SMA net-shell under different states and loads are qualitatively elucidated through a spring-mass model. To optimize the performance of the SMA net-shell, a non-contact photo-driven technique is employed to induce its shape transition. Experimental investigations explore the deformation response, energy release of the net-shell, and the relationship between the light power density. The results demonstrate that the SMA net-shell exhibits remarkable jumping capabilities, achieving a jump height of 60 body lengths and takeoff speeds of up to 300 body lengths per second. Furthermore, two illustrative cases highlight the potential of net-shells for applications in unstructured terrains. This research contributes to miniaturized jumping mechanisms by providing a new design approach integrating smart materials and advanced structures.
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Affiliation(s)
- Yang Yang
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049P. R. China
| | - Yongquan Wang
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049P. R. China
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10
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Wan H, Wu B, Hou L, Wu P. Amphibious Polymer Materials with High Strength and Superb Toughness in Various Aquatic and Atmospheric Environments. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2307290. [PMID: 37683287 DOI: 10.1002/adma.202307290] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/23/2023] [Revised: 09/06/2023] [Indexed: 09/10/2023]
Abstract
Herein, the fabrication of amphibious polymer materials with outstanding mechanical performances, both underwater and in the air is reported. A polyvinyl alcohol/poly(2-methoxyethylacrylate) (PVA/PMEA) composite with multiscale nanostructures is prepared by combining solvent exchange and thermal annealing strategies, which contributes to nanophase separation with rigid PVA-rich and soft PMEA-rich phases and high-density crystalline domains of PVA chains, respectively. Benefiting from the multiscale nanostructure, the PVA/PMEA hydrogel demonstrates excellent stability in harsh (such as acidic, alkaline, and saline) aqueous solutions, as well as superior mechanical behavior with a breaking strength of up to 34.8 MPa and toughness of up to 214.2 MJ m-3 . Dehydrating the PVA/PMEA hydrogel results in an extremely robust plastic with a breaking strength of 65.4 MPa and toughness of 430.9 MJ m-3 . This study provides a promising phase-structure engineering route for constructing high-performance polymer materials for complex load-bearing environments.
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Affiliation(s)
- Hongbo Wan
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Chemistry and Chemical Engineering, Donghua University, Shanghai, 201620, China
| | - Baohu Wu
- Jülich Centre for Neutron Science (JCNS) at Heinz Maier-Leibnitz Zentrum (MLZ), Forschungszentrum Jülich, Lichtenbergstr. 1, 85748, Garching, Germany
| | - Lei Hou
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Chemistry and Chemical Engineering, Donghua University, Shanghai, 201620, China
| | - Peiyi Wu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Chemistry and Chemical Engineering, Donghua University, Shanghai, 201620, China
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11
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Tsai L, Navarro P, Wu S, Levinson T, Mendoza E, Janneke Schwaner M, Daley MA, Azizi E, Ilton M. Viscoelastic materials are most energy efficient when loaded and unloaded at equal rates. J R Soc Interface 2024; 21:20230527. [PMID: 38290561 PMCID: PMC10827427 DOI: 10.1098/rsif.2023.0527] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2023] [Accepted: 01/04/2024] [Indexed: 02/01/2024] Open
Abstract
Biological springs can be used in nature for energy conservation and ultra-fast motion. The loading and unloading rates of elastic materials can play an important role in determining how the properties of these springs affect movements. We investigate the mechanical energy efficiency of biological springs (American bullfrog plantaris tendons and guinea fowl lateral gastrocnemius tendons) and synthetic elastomers. We measure these materials under symmetric rates (equal loading and unloading durations) and asymmetric rates (unequal loading and unloading durations) using novel dynamic mechanical analysis measurements. We find that mechanical efficiency is highest at symmetric rates and significantly decreases with a larger degree of asymmetry. A generalized one-dimensional Maxwell model with no fitting parameters captures the experimental results based on the independently characterized linear viscoelastic properties of the materials. The model further shows that a broader viscoelastic relaxation spectrum enhances the effect of rate-asymmetry on efficiency. Overall, our study provides valuable insights into the interplay between material properties and unloading dynamics in both biological and synthetic elastic systems.
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Affiliation(s)
- Lucien Tsai
- Department of Physics, Harvey Mudd College, Claremont, CA 91711, USA
| | - Paco Navarro
- Department of Physics, Harvey Mudd College, Claremont, CA 91711, USA
| | - Siqi Wu
- Department of Physics, Harvey Mudd College, Claremont, CA 91711, USA
| | - Taylor Levinson
- Department of Physics, Harvey Mudd College, Claremont, CA 91711, USA
| | - Elizabeth Mendoza
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697, USA
| | - M. Janneke Schwaner
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697, USA
| | - Monica A. Daley
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697, USA
| | - Emanuel Azizi
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697, USA
| | - Mark Ilton
- Department of Physics, Harvey Mudd College, Claremont, CA 91711, USA
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12
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Yang T, Hathcock D, Chen Y, McEuen PL, Sethna JP, Cohen I, Griniasty I. Bifurcation instructed design of multistate machines. Proc Natl Acad Sci U S A 2023; 120:e2300081120. [PMID: 37579174 PMCID: PMC10450659 DOI: 10.1073/pnas.2300081120] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/03/2023] [Accepted: 07/23/2023] [Indexed: 08/16/2023] Open
Abstract
We propose a design paradigm for multistate machines where transitions from one state to another are organized by bifurcations of multiple equilibria of the energy landscape describing the collective interactions of the machine components. This design paradigm is attractive since, near bifurcations, small variations in a few control parameters can result in large changes to the system's state providing an emergent lever mechanism. Further, the topological configuration of transitions between states near such bifurcations ensures robust operation, making the machine less sensitive to fabrication errors and noise. To design such machines, we develop and implement a new efficient algorithm that searches for interactions between the machine components that give rise to energy landscapes with these bifurcation structures. We demonstrate a proof of concept for this approach by designing magnetoelastic machines whose motions are primarily guided by their magnetic energy landscapes and show that by operating near bifurcations we can achieve multiple transition pathways between states. This proof of concept demonstration illustrates the power of this approach, which could be especially useful for soft robotics and at the microscale where typical macroscale designs are difficult to implement.
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Affiliation(s)
- Teaya Yang
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
| | - David Hathcock
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
| | - Yuchao Chen
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
| | - Paul L. McEuen
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
- Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY14853
| | - James P. Sethna
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
| | - Itai Cohen
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
- Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, NY14853
| | - Itay Griniasty
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, NY14853
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13
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Wang D, Zhao B, Li X, Dong L, Zhang M, Zou J, Gu G. Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design. Nat Commun 2023; 14:5067. [PMID: 37604806 PMCID: PMC10442442 DOI: 10.1038/s41467-023-40626-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/28/2022] [Accepted: 08/04/2023] [Indexed: 08/23/2023] Open
Abstract
Dexterous locomotion, such as immediate direction change during fast movement or shape reconfiguration to perform diverse tasks, are essential animal survival strategies which have not been achieved in existing soft robots. Here, we present a kind of small-scale dexterous soft robot, consisting of an active dielectric elastomer artificial muscle and reconfigurable chiral-lattice foot, that enables immediate and reversible forward, backward and circular direction changes during fast movement under single voltage input. Our electric-driven soft robot with the structural design can be combined with smart materials to realize multimodal functions via shape reconfigurations under the external stimulus. We experimentally demonstrate that our dexterous soft robots can reach arbitrary points in a plane, form complex trajectories, or lower the height to pass through a narrow tunnel. The proposed structural design and shape reconfigurability may pave the way for next-generation autonomous soft robots with dexterous locomotion.
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Affiliation(s)
- Dong Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
| | - Baowen Zhao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Xinlei Li
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Le Dong
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Mengjie Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Jiang Zou
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Guoying Gu
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
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14
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He Q, Yin R, Hua Y, Jiao W, Mo C, Shu H, Raney JR. A modular strategy for distributed, embodied control of electronics-free soft robots. SCIENCE ADVANCES 2023; 9:eade9247. [PMID: 37418520 DOI: 10.1126/sciadv.ade9247] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Accepted: 06/02/2023] [Indexed: 07/09/2023]
Abstract
Robots typically interact with their environments via feedback loops consisting of electronic sensors, microcontrollers, and actuators, which can be bulky and complex. Researchers have sought new strategies for achieving autonomous sensing and control in next-generation soft robots. We describe here an electronics-free approach for autonomous control of soft robots, whose compositional and structural features embody the sensing, control, and actuation feedback loop of their soft bodies. Specifically, we design multiple modular control units that are regulated by responsive materials such as liquid crystal elastomers. These modules enable the robot to sense and respond to different external stimuli (light, heat, and solvents), causing autonomous changes to the robot's trajectory. By combining multiple types of control modules, complex responses can be achieved, such as logical evaluations that require multiple events to occur in the environment before an action is performed. This framework for embodied control offers a new strategy toward autonomous soft robots that operate in uncertain or dynamic environments.
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Affiliation(s)
- Qiguang He
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Rui Yin
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Yucong Hua
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Weijian Jiao
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Chengyang Mo
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Hang Shu
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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15
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Chen E, Yang Y, Li M, Li B, Liu G, Mu W, Yin R. Bio-Mimic, Fast-Moving, and Flippable Soft Piezoelectric Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2300673. [PMID: 37163730 PMCID: PMC10369280 DOI: 10.1002/advs.202300673] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/30/2023] [Revised: 04/09/2023] [Indexed: 05/12/2023]
Abstract
Cheetahs achieve high-speed movement and unique athletic gaits through the contraction and expansion of their limbs during the gallop. However, few soft robots can mimic their gaits and achieve the same speed of movement. Inspired by the motion gait of cheetahs, here the resonance of double spiral structure for amplified motion performance and environmental adaptability in a soft-bodied hopping micro-robot is exploited. The 0.058 g, 10 mm long tethered soft robot is capable of achieving a maximum motion speed of 42.8 body lengths per second (BL/s) and a maximum average turning speed of 482° s-1 . In addition, this robot can maintain high speed movement even after flipping. The soft robot's ability to move over complex terrain, climb hills, and carry heavy loads as well as temperature sensors is demonstrated. This research opens a new structural design for soft robots: a double spiral configuration that efficiently translates the deformation of soft actuators into swift motion of the robot with high environmental adaptability.
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Affiliation(s)
- Erdong Chen
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Yiduo Yang
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Mengjiao Li
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Binghang Li
- College of EngineeringOcean University of ChinaQingdao266100China
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
| | - Guijie Liu
- College of EngineeringOcean University of ChinaQingdao266100China
| | - Weilei Mu
- College of EngineeringOcean University of ChinaQingdao266100China
| | - Rong Yin
- Textile Engineering, Chemistry and ScienceWilson College of TextilesNorth Carolina State UniversityRaleighNC27695USA
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16
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Chen Y, Liu T, Jin L. Pseudo-bistability of viscoelastic shells. PHILOSOPHICAL TRANSACTIONS. SERIES A, MATHEMATICAL, PHYSICAL, AND ENGINEERING SCIENCES 2023; 381:20220026. [PMID: 36774958 PMCID: PMC9922547 DOI: 10.1098/rsta.2022.0026] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/08/2022] [Accepted: 01/11/2023] [Indexed: 06/18/2023]
Abstract
Viscoelastic shells subjected to a pressure loading exhibit rich and complex time-dependent responses. Here we focus on the phenomenon of pseudo-bistability, i.e. a viscoelastic shell can stay inverted when pressure is removed, and snap to its natural shape after a delay time. We model and explain the mechanism of pseudo-bistability with a viscoelastic shell model. It combines the small strain, moderate rotation shell theory with the standard linear solid as the viscoelastic constitutive law, and is applicable to shells with arbitrary axisymmetric shapes. As a case study, we investigate the pseudo-bistable behaviour of viscoelastic ellipsoidal shells. Using the proposed model, we successfully predict buckling of a viscoelastic ellipsoidal shell into its inverted configuration when subjected to an instantaneous pressure, creeping when the pressure is held, staying inverted after the pressure is removed, and eventually snapping back after a delay time. The stability transition of the shell from a monostable, temporarily bistable and eventually back to the monostable state is captured by examining the evolution of the instantaneous pressure-volume change relation at different time of the holding and releasing process. A systematic parametric study is conducted to investigate the effect of geometry, viscoelastic properties and loading history on the pseudo-bistable behaviour. This article is part of the theme issue 'Probing and dynamics of shock sensitive shells'.
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Affiliation(s)
- Yuzhen Chen
- Department of Aeronautics and Astronautics, Fudan University, Shanghai 200433, People's Republic of China
- Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA
| | - Tianzhen Liu
- Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA
- Key Laboratory of C & PC Structures of Ministry of Education, National Prestress Engineering Research Center, Southeast University, Nanjing 210096, People's Republic of China
| | - Lihua Jin
- Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA
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17
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Butterfly stroke propels swimming robot to record speed. Nature 2022. [DOI: 10.1038/d41586-022-03603-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022]
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