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Seong M, Sun K, Kim S, Kwon H, Lee SW, Veerla SC, Kang DK, Kim J, Kondaveeti S, Tawfik SM, Park HW, Jeong HE. Multifunctional Magnetic Muscles for Soft Robotics. Nat Commun 2024; 15:7929. [PMID: 39256389 PMCID: PMC11387479 DOI: 10.1038/s41467-024-52347-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/15/2024] [Accepted: 09/02/2024] [Indexed: 09/12/2024] Open
Abstract
Despite recent advancements, artificial muscles have not yet been able to strike the right balance between exceptional mechanical properties and dexterous actuation abilities that are found in biological systems. Here, we present an artificial magnetic muscle that exhibits multiple remarkable mechanical properties and demonstrates comprehensive actuating performance, surpassing those of biological muscles. This artificial muscle utilizes a composite configuration, integrating a phase-change polymer and ferromagnetic particles, enabling active control over mechanical properties and complex actuating motions through remote laser heating and magnetic field manipulation. Consequently, the magnetic composite muscle can dynamically adjust its stiffness as needed, achieving a switching ratio exceeding 2.7 × 10³. This remarkable adaptability facilitates substantial load-bearing capacity, with specific load capacities of up to 1000 and 3690 for tensile and compressive stresses, respectively. Moreover, it demonstrates reversible extension, contraction, bending, and twisting, with stretchability exceeding 800%. We leverage these distinctive attributes to showcase the versatility of this composite muscle as a soft continuum robotic manipulator. It adeptly executes various programmable responses and performs complex tasks while minimizing mechanical vibrations. Furthermore, we demonstrate that this composite muscle excels across multiple mechanical and actuation aspects compared to existing actuators.
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Affiliation(s)
- Minho Seong
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Kahyun Sun
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Somi Kim
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Hyukjoo Kwon
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Sang-Woo Lee
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Sarath Chandra Veerla
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Dong Kwan Kang
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Jaeil Kim
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Stalin Kondaveeti
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
- Climate Change Cluster, University of Technology Sydney, Ultimo, Australia
| | - Salah M Tawfik
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
- Egyptian Petroleum Research Institute (EPRI), Nasr City, Egypt
| | - Hyung Wook Park
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea
| | - Hoon Eui Jeong
- Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Republic of Korea.
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2
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An S, Li X, Guo Z, Huang Y, Zhang Y, Jiang H. Energy-efficient dynamic 3D metasurfaces via spatiotemporal jamming interleaved assemblies for tactile interfaces. Nat Commun 2024; 15:7340. [PMID: 39187536 PMCID: PMC11347642 DOI: 10.1038/s41467-024-51865-x] [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: 03/12/2024] [Accepted: 08/19/2024] [Indexed: 08/28/2024] Open
Abstract
Inspired by the natural shape-morphing abilities of biological organisms, we introduce a strategy for creating energy-efficient dynamic 3D metasurfaces through spatiotemporal jamming of interleaved assemblies. Our approach, diverging from traditional shape-morphing techniques reliant on continuous energy inputs, utilizes strategically jammed, paper-based interleaved assemblies. By rapidly altering their stiffness at various spatial points and temporal phases during the relaxation of the soft substrate through jamming, we enable the formation of refreshable, intricate 3D shapes with a desirable load-bearing capability. This process, which does not require ongoing energy consumption, ensures energy-efficient and lasting shape displays. Our theoretical model, linking buckling deformation to residual pre-strain, underpins the inverse design process for an array of interleaved assemblies, facilitating the creation of diverse 3D configurations. This metasurface holds notable potential for tactile displays, particularly for the visually impaired, heralding possibilities in visual impaired education, haptic feedback, and virtual/augmented reality applications.
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Affiliation(s)
- Siqi An
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Xiaowen Li
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Zengrong Guo
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Yi Huang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Yanlin Zhang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China.
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China.
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang, 310030, China.
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3
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Oh S, Lee S, Kim SW, Kim CY, Jeong EY, Lee J, Kwon DA, Jeong JW. Softening implantable bioelectronics: Material designs, applications, and future directions. Biosens Bioelectron 2024; 258:116328. [PMID: 38692223 DOI: 10.1016/j.bios.2024.116328] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2024] [Revised: 03/30/2024] [Accepted: 04/22/2024] [Indexed: 05/03/2024]
Abstract
Implantable bioelectronics, integrated directly within the body, represent a potent biomedical solution for monitoring and treating a range of medical conditions, including chronic diseases, neural disorders, and cardiac conditions, through personalized medical interventions. Nevertheless, contemporary implantable bioelectronics rely heavily on rigid materials (e.g., inorganic materials and metals), leading to inflammatory responses and tissue damage due to a mechanical mismatch with biological tissues. Recently, soft electronics with mechanical properties comparable to those of biological tissues have been introduced to alleviate fatal immune responses and improve tissue conformity. Despite their myriad advantages, substantial challenges persist in surgical handling and precise positioning due to their high compliance. To surmount these obstacles, softening implantable bioelectronics has garnered significant attention as it embraces the benefits of both rigid and soft bioelectronics. These devices are rigid for easy standalone implantation, transitioning to a soft state in vivo in response to environmental stimuli, which effectively overcomes functional/biological problems inherent in the static mechanical properties of conventional implants. This article reviews recent research and development in softening materials and designs for implantable bioelectronics. Examples featuring tissue-penetrating and conformal softening devices highlight the promising potential of these approaches in biomedical applications. A concluding section delves into current challenges and outlines future directions for softening implantable device technologies, underscoring their pivotal role in propelling the evolution of next-generation bioelectronics.
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Affiliation(s)
- Subin Oh
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Simok Lee
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Sung Woo Kim
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Choong Yeon Kim
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Eun Young Jeong
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Juhyun Lee
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Do A Kwon
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea; Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Jae-Woong Jeong
- School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea; KAIST Institute for Health Science and Technology, Daejeon, 34141, Republic of Korea.
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4
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Li Y, Di Lallo A, Zhu J, Chi Y, Su H, Yin J. Adaptive hierarchical origami-based metastructures. Nat Commun 2024; 15:6247. [PMID: 39060239 PMCID: PMC11282231 DOI: 10.1038/s41467-024-50497-5] [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: 11/28/2023] [Accepted: 07/12/2024] [Indexed: 07/28/2024] Open
Abstract
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of these approaches have achieved the ability to seamlessly transform into a multitude of volumetric shapes post-fabrication using a relatively simple actuation and control mechanism. Taking inspiration from thick origami and hierarchies in nature, we present a hierarchical construction method based on polyhedrons to create an extensive library of compact origami metastructures. We show that a single hierarchical origami structure can autonomously adapt to over 103 versatile architectural configurations, achieved with the utilization of fewer than 3 actuation degrees of freedom and employing simple transition kinematics. We uncover the fundamental principles governing theses shape transformation through theoretical models. Furthermore, we also demonstrate the wide-ranging potential applications of these transformable hierarchical structures. These include their uses as untethered and autonomous robotic transformers capable of various gait-shifting and multidirectional locomotion, as well as rapidly self-deployable and self-reconfigurable architecture, exemplifying its scalability up to the meter scale. Lastly, we introduce the concept of multitask reconfigurable and deployable space robots and habitats, showcasing the adaptability and versatility of these metastructures.
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Affiliation(s)
- Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27606, USA.
| | - Antonio Di Lallo
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27606, USA
| | - Junxi Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27606, USA
| | - Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27606, USA
| | - Hao Su
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27606, USA.
- Lab of Biomechatronics and Intelligent Robotics, Joint NCSU/UNC Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, USA.
- University of North Carolina at Chapel Hill, Chapel Hill, NC, USA.
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27606, USA.
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5
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Chen T, Yang X, Zhang B, Li J, Pan J, Wang Y. Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation. Sci Robot 2024; 9:eadl0307. [PMID: 39018371 DOI: 10.1126/scirobotics.adl0307] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/25/2023] [Accepted: 06/13/2024] [Indexed: 07/19/2024]
Abstract
Biological organisms often have remarkable multifunctionality through intricate structures, such as concurrent shape morphing and stiffness variation in the octopus. Soft robots, which are inspired by natural creatures, usually require the integration of separate modules to achieve these various functions. As a result, the whole structure is cumbersome, and the control system is complex, often involving multiple control loops to finish a required task. Here, inspired by the scales that cover creatures like pangolins and fish, we developed a robotic structure that can vary its stiffness and change shape simultaneously in a highly integrated, compact body. The scale-inspired layered structure (SAILS) was enabled by the inversely designed programmable surface patterns of the scales. After fabrication, SAILS was inherently soft and flexible. When sealed in an elastic envelope and subjected to negative confining pressure, it transitioned to its designated shape and concurrently became stiff. SAILS could be actuated at frequencies as high as 5 hertz and achieved an apparent bending modulus change of up to 53 times between its soft and stiff states. We further demonstrated both the versatility of SAILS by developing a soft robot that is amphibious and adaptive and tunable landing systems for drones with the capacity to accommodate different loads.
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Affiliation(s)
- Tianyu Chen
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore
| | - Xudong Yang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore
| | - Bojian Zhang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore
| | - Junwei Li
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore
| | - Jie Pan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore
| | - Yifan Wang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore
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6
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An S, Cao Y, Jiang H. A mechanically robust and facile shape morphing using tensile-induced buckling. SCIENCE ADVANCES 2024; 10:eado8431. [PMID: 38781341 PMCID: PMC11114219 DOI: 10.1126/sciadv.ado8431] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/23/2024] [Accepted: 04/17/2024] [Indexed: 05/25/2024]
Abstract
Inspired by the adaptive mechanisms observed in biological organisms, shape-morphing soft structures have emerged as promising platforms for many applications. In this study, we present a shape-morphing strategy to overcome existing limitations of the intricate fabrication process and the lack of mechanical robustness against mechanical perturbations. Our method uses tensile-induced buckling, achieved by attaching restraining strips to a stretchable substrate. When the substrate is stretched, the stiffness mismatch between the restraining strips and the substrate, and the Poisson's effect on the substrate cause the restraining strips to buckle, thereby transforming initially flat shapes into intricate three-dimensional (3D) configurations. Guided by an inverse design method, we demonstrate the capability to achieve complicated and diverse 3D shapes. Leveraging shape morphing, we further develop soft grippers exhibiting outstanding universality, high grasping efficiencies, and exceptional durability. Our proposed shape-morphing strategy is scalable and material-independent, holding notable potential for applications in soft robotics, haptics, and biomedical devices.
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Affiliation(s)
- Siqi An
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang 310024, China
| | - Yajun Cao
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang 310024, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang 310024, China
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang 310030, China
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7
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Wang H, Yuan B, Zhu X, Shan X, Chen S, Ding W, Cao Y, Dong K, Zhang X, Guo R, Yao Y, Wang B, Tang J, Liu J. Multi-stimulus perception and visualization by an intelligent liquid metal-elastomer architecture. SCIENCE ADVANCES 2024; 10:eadp5215. [PMID: 38787948 PMCID: PMC11122678 DOI: 10.1126/sciadv.adp5215] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/28/2024] [Accepted: 04/22/2024] [Indexed: 05/26/2024]
Abstract
Multi-stimulus responsive soft materials with integrated functionalities are elementary blocks for building soft intelligent systems, but their rational design remains challenging. Here, we demonstrate an intelligent soft architecture sensitized by magnetized liquid metal droplets that are dispersed in a highly stretchable elastomer network. The supercooled liquid metal droplets serve as microscopic latent heat reservoirs, and their controllable solidification releases localized thermal energy/information flows for enabling programmable visualization and display. This allows the perception of a variety of information-encoded contact (mechanical pressing, stretching, and torsion) and noncontact (magnetic field) stimuli as well as the visualization of dynamic phase transition and stress evolution processes, via thermal and/or thermochromic imaging. The liquid metal-elastomer architecture offers a generic platform for designing soft intelligent sensing, display, and information encryption systems.
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Affiliation(s)
- Hongzhang Wang
- Institute of Materials Research, Center of Double Helix, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, P. R. China
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
| | - Bo Yuan
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, P. R. China
| | - Xiyu Zhu
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
| | - Xiaohui Shan
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
| | - Sen Chen
- Key Laboratory for Intelligent Nano Materials and Devices of Ministry of Education, and Institute for Frontier Science, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P. R. China
| | - Wenbo Ding
- Tsinghua-Berkeley Shenzhen Institute, Institute of Data and Information, Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong 518055, P. R. China
| | - Yingjie Cao
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
| | - Kaichen Dong
- Institute of Materials Research, Center of Double Helix, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, P. R. China
- Tsinghua-Berkeley Shenzhen Institute, Institute of Data and Information, Shenzhen International Graduate School, Tsinghua University, Shenzhen, Guangdong 518055, P. R. China
| | - Xudong Zhang
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
| | - Rui Guo
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
| | - Yuchen Yao
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
| | - Bo Wang
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, P. R. China
| | - Jianbo Tang
- School of Chemical Engineering, University of New South Wales (UNSW), Kensington, NSW 2052, Australia
| | - Jing Liu
- Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P. R. China
- Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
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8
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Xue L, Li A, Li H, Yu X, Li K, Yuan R, Deng X, Li R, Liu Q, Song Y. Droplet-based mechanical transducers modulated by the symmetry of wettability patterns. Nat Commun 2024; 15:4225. [PMID: 38762537 PMCID: PMC11102432 DOI: 10.1038/s41467-024-48538-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/26/2023] [Accepted: 05/03/2024] [Indexed: 05/20/2024] Open
Abstract
Asymmetric mechanical transducers have important applications in energy harvesting, signal transmission, and micro-mechanics. To achieve asymmetric transformation of mechanical motion or energy, active robotic metamaterials, as well as materials with asymmetric microstructures or internal orientation, are usually employed. However, these strategies usually require continuous energy supplement and laborious fabrication, and limited transformation modes are achieved. Herein, utilizing wettability patterned surfaces for precise control of the droplet contact line and inner flow, we demonstrate a droplet-based mechanical transducer system, and achieve multimodal responses to specific vibrations. By virtue of the synergistic effect of surface tension and solid-liquid adhesion on the liquid dynamics, the droplet on the patterned substrate can exhibit symmetric/asymmetric vibration transformation when the substrate vibrates horizontally. Based on this, we construct arrayed patterns with distinct arrangements on the substrate, and employ the swarm effect of the arrayed droplets to achieve three-dimensional and multimodal actuation of the target plate under a fixed input vibration. Further, we demonstrate the utilization of the mechanical transducers for vibration management, object transport, and laser modulation. These findings provide a simple yet efficient strategy to realize a multimodal mechanical transducer, which shows significant potential for aseismic design, optical molding, as well as micro-electromechanical systems (MEMS).
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Affiliation(s)
- Luanluan Xue
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - An Li
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Huizeng Li
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China.
| | - Xinye Yu
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Kaixuan Li
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Renxuan Yuan
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiao Deng
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Rujun Li
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Quan Liu
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yanlin Song
- Key Laboratory of Green Printing, CAS Research/Education Center for Excellence in Molecular Sciences, Beijing National Laboratory for Molecular Science, Institute of Chemistry, Chinese Academy of Sciences, Beijing, 100190, China.
- University of Chinese Academy of Sciences, Beijing, 100049, China.
- Xiangfu Laboratory, Jiashan, Zhejiang, 314102, China.
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9
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Wang H, Li X, Wang X, Qin Y, Pan Y, Guo X. Somatosensory Electro-Thermal Actuator through the Laser-Induced Graphene Technology. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2310612. [PMID: 38087883 DOI: 10.1002/smll.202310612] [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: 11/18/2023] [Indexed: 05/25/2024]
Abstract
The biological system realizes the unity of action and perception through the muscle tissue and nervous system. Correspondingly, artificial soft actuators realize the unity of sensing and actuating functions in a single functional material, which will have tremendous potential for developing intelligent and bionic soft robotics. This paper reports the design of a laser-induced graphene (LIG) electrothermal actuator with self-sensing capability. LIG, a functional material formed by a one-step direct-write lasing procedure under ambient air, is used as electrothermal conversion materials and piezoresistive sensing materials. By transferring LIG to a flexible silicone substrate, the design ability of the LIG-based actuator unit is enriched, along with an effectively improved sensing sensitivity. Through the integration of different types of well-designed LIG-based actuator units, the transformations from multidimensional precursors to 2D and 3D structures are realized. According to the piezoresistive effect of the LIG units during the deformation process, the visual synchronous deformation state feedback of the LIG-based actuator is proposed. The multimodal crawling soft robotics and the switchable electromagnetic shielding cloak serve as the demonstrations of the self-sensing LIG-based actuator, showing the advantage of the design in remote control of the soft robot without relying on the assistance of visual devices.
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Affiliation(s)
- Hao Wang
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xuyang Li
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xiaoyue Wang
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yong Qin
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yang Pan
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Xiaogang Guo
- Institute of Advanced Structure Technology, Beijing Institute of Technology, Beijing, 100081, China
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10
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Huang X, Bu T, Zheng Q, Liu S, Li Y, Fang H, Qiu Y, Xie B, Yin Z, Wu H. Flexible sensors with zero Poisson's ratio. Natl Sci Rev 2024; 11:nwae027. [PMID: 38577662 PMCID: PMC10989663 DOI: 10.1093/nsr/nwae027] [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: 09/27/2023] [Revised: 11/23/2023] [Accepted: 01/14/2024] [Indexed: 04/06/2024] Open
Abstract
Flexible sensors have been developed for the perception of various stimuli. However, complex deformation, usually resulting from forces or strains from multi-axes, can be challenging to measure due to the lack of independent perception of multiaxial stimuli. Herein, flexible sensors based on the metamaterial membrane with zero Poisson's ratio (ZPR) are proposed to achieve independent detection of biaxial stimuli. By deliberately designing the geometric dimensions and arrangement parameters of elements, the Poisson's ratio of an elastomer membrane can be modulated from negative to positive, and the ZPR membrane can maintain a constant transverse dimension under longitudinal stimuli. Due to the accurate monitoring of grasping force by ZPR sensors that are insensitive to curvatures of contact surfaces, rigid robotic manipulators can be guided to safely grasp deformable objects. Meanwhile, the ZPR sensor can also precisely distinguish different states of manipulators. When ZPR sensors are attached to a thermal-actuation soft robot, they can accurately detect the moving distance and direction. This work presents a new strategy for independent biaxial stimuli perception through the design of mechanical metamaterials, and may inspire the future development of advanced flexible sensors for healthcare, human-machine interfaces and robotic tactile sensing.
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Affiliation(s)
- Xin Huang
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Tianzhao Bu
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Qingyang Zheng
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Shaoyu Liu
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Yangyang Li
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Han Fang
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Yuqi Qiu
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Bin Xie
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Zhouping Yin
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Hao Wu
- Department of Mechanical Engineering, Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
- Department of Electronic Science and Technology, School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
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11
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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12
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Jiang M, Wang J, Gravish N. A Reconfigurable Soft Linkage Robot via Internal "Virtual" Joints. Soft Robot 2024. [PMID: 38683631 DOI: 10.1089/soro.2023.0177] [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: 05/01/2024] Open
Abstract
Traditional robots derive their capabilities of movement through rigid structural "links" and discrete actuated "joints." Alternatively, soft robots are composed of flexible materials that permit movement across a continuous range of their body and appendages and thus are not restricted in where they can bend. While trade-offs between material choices may restrain robot functionalities within a narrow spectrum, we argue that bridging the functional gaps between soft and hard robots can be achieved from a hybrid design approach that utilizes both the reconfigurability and the controllability of traditional soft and hard robot paradigms. In this study, we present a hybrid robot with soft inflated "linkages," and rigid internal joints that can be spatially reconfigured. Our method is based on the geometric pinching of an inflatable beam to form mechanical pinch-joints connecting the inflated robot linkages. Such joints are activated and controlled via internal motorized modules that can be relocated for on-demand joint-linkage configurations. We demonstrate two applications that utilize joint reconfigurations: a deployable robot manipulator and a terrestrial crawling robot with tunable gaits.
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Affiliation(s)
- Mingsong Jiang
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Jiansong Wang
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Nicholas Gravish
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
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13
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Jiao P, Zhang H, Hong L, Yang Y, Li W. Piezo-Wormbots for Continuous Crawling. Soft Robot 2024; 11:260-269. [PMID: 37792356 DOI: 10.1089/soro.2023.0023] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/05/2023] Open
Abstract
Biomimetic soft robots are typically made of soft materials with bioinspired configurations. However, their locomotion is activated and manipulated by externally controlled soft actuators. In this study, piezo-wormbots were developed by automatically triggering the mechanical metamaterial-inspired soft actuator to mimic the continuous crawling of inchworms without manipulation, where crawling was controlled by the deformation of the piezo-wormbots themselves. We designed the flexible piezo-wormbots with an actuator to generate bending deformation under continuous inflation, piezoelectric rubber to automatically create internal excitation voltage to trigger deflation, as well as true legs and prolegs to convert the bending-recovering sequence into continuous crawling. We tailored the actuator to enhance the crawling performance and found that the response was critically affected by the leg pattern, inflation-to-deflation time duration ratio, air pressure, and ground environment. We observed satisfactory locomotion performance for the following tasks (pushing boxes and approaching a predefined target) through accurate self-actuated crawling under up to 51 continuous bending cycles. The maximum crawling velocity of the piezo-wormbots was found to be 16.6 mm/s, resulting in a maximum body length per second (BL/s) of 0.13, which is comparable to those of most natural inchworms (0.1-0.3 BL/s). This study offers new insight into bioinspired soft robotics and expands its biomimetic performance to continuously autonomous locomotion.
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Affiliation(s)
- Pengcheng Jiao
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Zhejiang University, Ministry of Education, Zhoushan, China
| | - Hao Zhang
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Luqin Hong
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Yang Yang
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Wentao Li
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
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14
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Twohig T, Tutika R, Zu W, Bartlett MD, Croll AB. Kuttsukigami: sticky sheet design. SOFT MATTER 2024; 20:2711-2719. [PMID: 38441249 DOI: 10.1039/d3sm01403g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/21/2024]
Abstract
Shaping 3D objects from 2D sheets enables form and function in diverse areas from art to engineering. Here we introduce kuttsukigami, which exploits sheet-sheet adhesion to create structure. The technique allows thin sheets to be sculpted without requiring sharp folds, enabling structure in a broad range of materials for a versatile and reconfigurable thin-sheet engineering design scheme. Simple closed structures from cylindrical loops to complex shapes like the Möbius loop are constructed and modeled through the balance between deformation and adhesion. Importantly, the balance can be used to create experimental measurements of elasticity in complex morphologies. More practically, kuttsukigami is demonstrated to encapsulate objects from the kitchen to micro scales and to build on-demand logic gates through sticky electronic sheets for truly reusable, reconfigurable devices.
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Affiliation(s)
- Timothy Twohig
- Department of Physics, North Dakota State University, Fargo, USA.
| | - Ravi Tutika
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Wuzhou Zu
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
| | - Michael D Bartlett
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Andrew B Croll
- Department of Physics, North Dakota State University, Fargo, USA.
- Materials and Nanotechnology Program, North Dakota State University, Fargo, USA
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15
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Qiao C, Agnelli F, Pokkalla DK, D'Ambrosio N, Pasini D. Anisotropic Morphing in Bistable Kirigami through Symmetry Breaking and Geometric Frustration. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2313198. [PMID: 38413013 DOI: 10.1002/adma.202313198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/05/2023] [Revised: 02/24/2024] [Indexed: 02/29/2024]
Abstract
Shape morphing in bistable kirigami enables remarkable functionalities appealing to a diverse range of applications across the spectrum of length scale. At the core of their shape shifting lies the architecture of their repeating unit, where highly deformable slits and quasi-rigid rotating units often exhibit multiple symmetries that confer isotropic deployment obeying uniform scaling transformation. In this work, symmetry breaking in bistable kirigami is investigated to access geometric frustration and anisotropic morphing, enabling arbitrarily scaled deployment in planar and spatial bistable domains. With an analysis on their symmetry properties complemented by a systematic investigation integrating semi-analytical derivations, numerical simulations, and experiments on elastic kirigami sheets, this work unveils the fundamental relations between slit symmetry, geometric frustration, and anisotropic bistable deployment. Furthermore, asymmetric kirigami units are leveraged in planar and flat-to-3D demonstrations to showcase the pivotal role of shear deformation in achieving target shapes and functions so far unattainable with uniformly stretchable kirigami. The insights provided in this work unveil the role of slit symmetry breaking in controlling the anisotropic bistable deployment of soft kirigami metamaterials, enriching the range of achievable functionalities for applications spanning deployable space structures, wearable technologies, and soft machines.
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Affiliation(s)
- Chuan Qiao
- MOE Key Laboratory of Deep Earth Science and Engineering, College of Architecture and Environment, Sichuan University, Chengdu, 610065, China
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Filippo Agnelli
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Deepak Kumar Pokkalla
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Nicholas D'Ambrosio
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
| | - Damiano Pasini
- Department of Mechanical Engineering, McGill University, Montréal, Québec, H3A 0C3, Canada
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16
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Yu D, Wang Z, Chi G, Zhang Q, Fu J, Li M, Liu C, Zhou Q, Li Z, Chen D, Song Z, He Z. Hydraulic-driven adaptable morphing active-cooling elastomer with bioinspired bicontinuous phases. Nat Commun 2024; 15:1179. [PMID: 38332017 PMCID: PMC10853206 DOI: 10.1038/s41467-024-45562-y] [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: 09/10/2023] [Accepted: 01/29/2024] [Indexed: 02/10/2024] Open
Abstract
The active-cooling elastomer concept, originating from vascular thermoregulation for soft biological tissue, is expected to develop an effective heat dissipation method for human skin, flexible electronics, and soft robots due to the desired interface mechanical compliance. However, its low thermal conduction and poor adaptation limit its cooling effects. Inspired by the bone structure, this work reports a simple yet versatile method of fabricating arbitrary-geometry liquid metal skeleton-based elastomer with bicontinuous Gyroid-shaped phases, exhibiting high thermal conductivity (up to 27.1 W/mK) and stretchability (strain limit >600%). Enlightened by the vasodilation principle for blood flow regulation, we also establish a hydraulic-driven conformal morphing strategy for better thermoregulation by modulating the hydraulic pressure of channels to adapt the complicated shape with large surface roughness (even a concave body). The liquid metal active-cooling elastomer, integrated with the flexible thermoelectric device, is demonstrated with various applications in the soft gripper, thermal-energy harvesting, and head thermoregulation.
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Affiliation(s)
- Dehai Yu
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Zhonghao Wang
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Guidong Chi
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Qiubo Zhang
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Junxian Fu
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Maolin Li
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Chuanke Liu
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Quan Zhou
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Zhen Li
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Du Chen
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Zhenghe Song
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China
| | - Zhizhu He
- Center for Agricultural Flexible Electronics Technology, College of Engineering, China Agricultural University, Beijing, 100083, China.
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17
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Pranda PA, Hedegaard A, Kim H, Clapper J, Nelson E, Hines L, Hayward RC, White TJ. Directional Adhesion of Monodomain Liquid Crystalline Elastomers. ACS APPLIED MATERIALS & INTERFACES 2024; 16:6394-6402. [PMID: 38266384 DOI: 10.1021/acsami.3c16760] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/26/2024]
Abstract
Pressure-sensitive adhesives (PSAs) are widely employed in consumer goods, health care, and commercial industry. Anisotropic adhesion of PSAs is often desirable to enable high force capacity coupled with facile release and has typically been realized through the introduction of complex surface and/or bulk microstructures while also maintaining high surface conformability. Although effective, microstructure fabrication can add cost and complexity to adhesive fabrication. Here, we explore aligned liquid crystalline elastomers (LCEs) as directional adhesives. Aligned LCEs exhibit direction-dependent stiffness, dissipation, and nonlinear deformation under load. By varying the cross-link content, we study how the bulk mechanical properties of LCEs correlate to their peel strength and peel anisotropy. We demonstrate up to a 9-fold difference in peel force measured when the LCE is peeled parallel vs perpendicular to the alignment axis. Opportunities to spatially localize adhesion are presented in a monolithic LCE patterned with different director orientations.
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Affiliation(s)
- Paula A Pranda
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, Colorado 80309, United States
| | | | - Hyunki Kim
- 3M Company, Saint Paul, Minnesota 55144, United States
| | - Jason Clapper
- 3M Company, Saint Paul, Minnesota 55144, United States
| | - Eric Nelson
- 3M Company, Saint Paul, Minnesota 55144, United States
| | - Lindsey Hines
- 3M Company, Saint Paul, Minnesota 55144, United States
| | - Ryan C Hayward
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, Colorado 80309, United States
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, Colorado 80309, United States
| | - Timothy J White
- Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, Colorado 80309, United States
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, Colorado 80309, United States
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18
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Zhang Z, Shi Z, Ahmed D. SonoTransformers: Transformable acoustically activated wireless microscale machines. Proc Natl Acad Sci U S A 2024; 121:e2314661121. [PMID: 38289954 PMCID: PMC10861920 DOI: 10.1073/pnas.2314661121] [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: 08/26/2023] [Accepted: 12/22/2023] [Indexed: 02/01/2024] Open
Abstract
Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance in developing synthetic shape-shifting systems with diverse applications ranging from robotics to bioengineering. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. As materials and structures are scaled down to the microscale, they often exhibit size-dependent characteristics, and the underlying physical mechanisms can be significantly affected or rendered ineffective. Additionally, surface forces such as van der Waals forces and electrostatic forces become dominant at the microscale, resulting in stiction and adhesion between small structures, making them fracture and more difficult to deform. Furthermore, despite various actuation approaches, acoustics have received limited attention despite their potential advantages. Here, we introduce "SonoTransformer," the acoustically activated micromachine that delivers shape transformability using preprogrammed soft hinges with different stiffnesses. When exposed to an acoustic field, these hinges concentrate sound energy through intensified oscillation and provide the necessary force and torque for the transformation of the entire micromachine within milliseconds. We have created machine designs to predetermine the folding state, enabling precise programming and customization of the acoustic transformation. Additionally, we have shown selective shape transformable microrobots by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, flexible electronics, and microtechnology.
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Affiliation(s)
- Zhiyuan Zhang
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
| | - Zhan Shi
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
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19
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Kim J, Bae J. Self-Locking Pneumatic Actuators Formed from Origami Shape-Morphing Sheets. Soft Robot 2024; 11:32-42. [PMID: 37616544 DOI: 10.1089/soro.2022.0233] [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: 08/26/2023] Open
Abstract
The art of origami has gained traction in various fields such as architecture, the aerospace industry, and soft robotics, owing to the exceptional versatility of flat sheets to exhibit complex shape transformations. Despite the promise that origami robots hold, their use in high-capacity environments has been limited due to the lack of rigidity. This article introduces novel, origami-inspired, self-locking pneumatic modular actuators (SPMAs), enabling them to operate in such environments. Our innovative approach is based on origami patterns that allow for various types of shape morphing, including linear and rotational motion. We have significantly enhanced the stiffness of the actuators by embedding magnets in composite sheets, thus facilitating their application in real-world scenarios. In addition, the embedded self-adjustable valves facilitate the control of sequential origami actuations, making it possible to simplify the pneumatic system for actuating multimodules. With just one actuation source and one solenoid valve, the valves enable efficient control of our SPMAs. The SPMAs can control robotic arms operating in confined spaces, and the entire system can be modularized to accomplish various tasks. Our results demonstrate the potential of origami-inspired designs to achieve more efficient and reliable robotic systems, thus opening up new avenues for the development of robotic systems for various applications.
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Affiliation(s)
- Juri Kim
- Bio-Robotics and Control Laboratory, Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea
| | - Joonbum Bae
- Bio-Robotics and Control Laboratory, Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea
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20
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Hong L, Zhang H, Kraus T, Jiao P. Ultra-Stretchable Kirigami Piezo-Metamaterials for Sensing Coupled Large Deformations. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2303674. [PMID: 38044281 PMCID: PMC10837349 DOI: 10.1002/advs.202303674] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/06/2023] [Revised: 09/03/2023] [Indexed: 12/05/2023]
Abstract
Mechanical metamaterials are known for their prominent mechanical characteristics such as programmable deformation that are due to periodic microstructures. Recent research trends have shifted to utilizing mechanical metamaterials as structural substrates to integrate with functional materials for advanced functionalities beyond mechanical, such as active sensing. This study reports on the ultra-stretchable kirigami piezo-metamaterials (KPM) for sensing coupled large deformations caused by in- and out-of-plane displacements using the lead zirconate titanate (PZT) and barium titanate (BaTiO3 ) composite films. The KPM are fabricated by uniformly compounding and polarizing piezoelectric particles (i.e., PZT and BaTiO3 ) in silicon rubber and structured by cutting the piezoelectric rubbery films into ligaments. Characterizes the electrical properties of the KPM and investigates the bistable mechanical response under the coupled large deformations with the stretching ratio up to 200% strains. Finally, the PZT KPM sensors are integrated into wireless sensing systems for the detection of vehicle tire bulge, and the non-toxic BaTiO3 KPM are applied for human posture monitoring. The reported kirigami piezo-metamaterials open an exciting venue for the control and manipulation of mechanically functional metamaterials for active sensing under complex deformation scenarios in many applications.
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Affiliation(s)
- Luqin Hong
- Ocean CollegeZhejiang UniversityZhoushan316021China
- Shandong Institute of Advanced TechnologyJinan250000China
| | - Hao Zhang
- Ocean CollegeZhejiang UniversityZhoushan316021China
- Engineering Research Center of Oceanic Sensing Technology and EquipmentZhejiang UniversityMinistry of EducationChina
| | - Tobias Kraus
- INM‐Leibniz Institute for New Materials66123SaarbrückenGermany
- Saarland University, Colloid and Interface Chemistry66123SaarbrückenGermany
| | - Pengcheng Jiao
- Ocean CollegeZhejiang UniversityZhoushan316021China
- Engineering Research Center of Oceanic Sensing Technology and EquipmentZhejiang UniversityMinistry of EducationChina
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21
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Choe JK, Yi J, Jang H, Won H, Lee S, Lee H, Jang Y, Song H, Kim J. Digital Mechanical Metamaterial: Encoding Mechanical Information with Graphical Stiffness Pattern for Adaptive Soft Machines. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2304302. [PMID: 37850948 DOI: 10.1002/adma.202304302] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Revised: 09/15/2023] [Indexed: 10/19/2023]
Abstract
Inspired by the adaptive features exhibited by biological organisms like the octopus, soft machines that can tune their shape and mechanical properties have shown great potential in applications involving unstructured and continuously changing environments. However, current soft machines are far from achieving the same level of adaptability as their biological counterparts, hampered by limited real-time tunability and severely deficient reprogrammable space of properties and functionalities. As a steppingstone toward fully adaptive soft robots and smart interactive machines, an encodable multifunctional material that uses graphical stiffness patterns is introduced here to in situ program versatile mechanical capabilities without requiring additional infrastructure. Through independently switching the digital binary stiffness states (soft or rigid) of individual constituent units of a simple auxetic structure with elliptical voids, in situ and gradational tunability is demonstrated here in various mechanical qualities such as shape-shifting and -memory, stress-strain response, and Poisson's ratio under compressive load as well as application-oriented functionalities such as tunable and reusable energy absorption and pressure delivery. This digitally programmable material is expected to pave the way toward multienvironment soft robots and interactive machines.
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Affiliation(s)
- Jun Kyu Choe
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Jiyoon Yi
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hanhyeok Jang
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Heejae Won
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Suwoo Lee
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hajun Lee
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Yeonwoo Jang
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Hyeonseo Song
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
| | - Jiyun Kim
- Department of Materials Science and Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, 44919, Republic of Korea
- Center for Multidimensional Programmable Matter, Ulsan National Institute of Science and Technology, Ulsan, 44919, South Korea
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22
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Paul N, Zhang L, Lei S, Huang D, Wang L, Cheng Z, Zeng M. Ligand-Directed Shape Reconfiguration in Inorganic Materials. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305460. [PMID: 37726244 DOI: 10.1002/smll.202305460] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 09/05/2023] [Indexed: 09/21/2023]
Abstract
Polymer elastomers with reversible shape-changing capability have led to significant development of artificial muscles, functional devices, and soft robots. By contrast, reversible shape transformation of inorganic nanoparticles is notoriously challenging due to their relatively rigid lattice structure. Here, the authors demonstrate the synthesis of shape-changing nanoparticles via an asymmetrical surface functionalization process. Various ligands are investigated, revealing the essential role of steric hindrance from the functional groups. By controlling the unbalanced structural hindrance on the surface, the as-prepared clay nanoparticles can transform their shape in a fast, facile, and reversible manner. In addition, such flexible morphology-controlled mechanism provides a platform for developing self-propelled shape-shifting nanocollectors. Owing to the ion-exchanging capability of clay, these self-propelled nanoswimmers (NS) are able to autonomously adsorb rare earth elements with ultralow concentration, indicating the feasibility of using naturally occurring materials for self-powered nanomachine.
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Affiliation(s)
- Nishat Paul
- Department of Chemical Engineering, Texas Tech University, Lubbock, TX, 79409, USA
| | - Lecheng Zhang
- Artie McFerrin Department of Chemical Engineering, Texas A&M University, College Station, TX, 77843, USA
| | - Shijun Lei
- Artie McFerrin Department of Chemical Engineering, Texas A&M University, College Station, TX, 77843, USA
| | - Dali Huang
- Department of Materials Science & Engineering, Texas A&M University, 3003 TAMU, College Station, TX, 77843, USA
| | - Ling Wang
- School of Materials Science and Engineering, Tianjin University, Tianjin, 300350, China
| | - Zhengdong Cheng
- College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, 310058, China
| | - Minxiang Zeng
- Department of Chemical Engineering, Texas Tech University, Lubbock, TX, 79409, USA
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23
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Wang L, Chang Y, Wu S, Zhao RR, Chen W. Physics-aware differentiable design of magnetically actuated kirigami for shape morphing. Nat Commun 2023; 14:8516. [PMID: 38129420 PMCID: PMC10739944 DOI: 10.1038/s41467-023-44303-x] [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: 07/29/2023] [Accepted: 12/07/2023] [Indexed: 12/23/2023] Open
Abstract
Shape morphing that transforms morphologies in response to stimuli is crucial for future multifunctional systems. While kirigami holds great promise in enhancing shape-morphing, existing designs primarily focus on kinematics and overlook the underlying physics. This study introduces a differentiable inverse design framework that considers the physical interplay between geometry, materials, and stimuli of active kirigami, made by soft material embedded with magnetic particles, to realize target shape-morphing upon magnetic excitation. We achieve this by combining differentiable kinematics and energy models into a constrained optimization, simultaneously designing the cuts and magnetization orientations to ensure kinematic and physical feasibility. Complex kirigami designs are obtained automatically with unparalleled efficiency, which can be remotely controlled to morph into intricate target shapes and even multiple states. The proposed framework can be extended to accommodate various active systems, bridging geometry and physics to push the frontiers in shape-morphing applications, like flexible electronics and minimally invasive surgery.
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Affiliation(s)
- Liwei Wang
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
| | - Yilong Chang
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Wei Chen
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA.
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24
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Wang D, Ye J, Bai Y, Yang F, Zhang J, Rao W, Liu J. Liquid Metal Combinatorics toward Materials Discovery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2303533. [PMID: 37417920 DOI: 10.1002/adma.202303533] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/16/2023] [Revised: 07/03/2023] [Accepted: 07/03/2023] [Indexed: 07/08/2023]
Abstract
Liquid metals and their derivatives provide several opportunities for fundamental and practical exploration worldwide. However, the increasing number of studies and shortage of desirable materials to fulfill different needs also pose serious challenges. Herein, to address this issue, a generalized theoretical frame that is termed as "Liquid Metal Combinatorics" (LMC) is systematically presented, and summarizes promising candidate technical routes toward new generation material discovery. The major categories of LMC are defined, and eight representative methods for manufacturing advanced materials are outlined. It is illustrated that abundant targeted materials can be efficiently designed and fabricated via LMC through deep physical combinations, chemical reactions, or both among the main bodies of liquid metals, surface chemicals, precipitated ions, and other materials. This represents a large class of powerful, reliable, and modular methods for innovating general materials. The achieved combinatorial materials not only maintained the typical characteristics of liquid metals but also displayed distinct tenability. Furthermore, the fabrication strategies, wide extensibility, and pivotal applications of LMC are classified. Finally, by interpreting the developmental trends in the area, a perspective on the LMC is provided, which warrants its promising future for society.
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Affiliation(s)
- Dawei Wang
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
- School of Pharmaceutical Sciences, Guizhou University, Guiyang, 550025, China
| | - Jiao Ye
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Yunlong Bai
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Fan Yang
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Jie Zhang
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Wei Rao
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
| | - Jing Liu
- Liquid Metal and Cryogenic Biomedical Research Center, Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
- School of Future Technology, University of Chinese Academy of Sciences, Beijing, 100049, China
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China
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25
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Sun J, Lerner E, Tighe B, Middlemist C, Zhao J. Embedded shape morphing for morphologically adaptive robots. Nat Commun 2023; 14:6023. [PMID: 37758737 PMCID: PMC10533550 DOI: 10.1038/s41467-023-41708-6] [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: 03/15/2023] [Accepted: 09/15/2023] [Indexed: 09/29/2023] Open
Abstract
Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot's body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot's body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs' shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand.
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Affiliation(s)
- Jiefeng Sun
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA.
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA.
| | - Elisha Lerner
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA
| | - Brandon Tighe
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA
| | - Clint Middlemist
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA
| | - Jianguo Zhao
- Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA.
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26
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Yue L, Sun X, Yu L, Li M, Montgomery SM, Song Y, Nomura T, Tanaka M, Qi HJ. Cold-programmed shape-morphing structures based on grayscale digital light processing 4D printing. Nat Commun 2023; 14:5519. [PMID: 37684245 PMCID: PMC10491591 DOI: 10.1038/s41467-023-41170-4] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Accepted: 08/25/2023] [Indexed: 09/10/2023] Open
Abstract
Shape-morphing structures that can reconfigure their shape to adapt to diverse tasks are highly desirable for intelligent machines in many interdisciplinary fields. Shape memory polymers are one of the most widely used stimuli-responsive materials, especially in 3D/4D printing, for fabricating shape-morphing systems. They typically go through a hot-programming step to obtain the shape-morphing capability, which possesses limited freedom of reconfigurability. Cold-programming, which directly deforms the structure into a temporary shape without increasing the temperature, is simple and more versatile but has stringent requirements on material properties. Here, we introduce grayscale digital light processing (g-DLP) based 3D printing as a simple and effective platform for fabricating shape-morphing structures with cold-programming capabilities. With the multimaterial-like printing capability of g-DLP, we develop heterogeneous hinge modules that can be cold-programmed by simply stretching at room temperature. Different configurations can be encoded during 3D printing with the variable distribution and direction of the modular-designed hinges. The hinge module allows controllable independent morphing enabled by cold programming. By leveraging the multimaterial-like printing capability, multi-shape morphing structures are presented. The g-DLP printing with cold-programming morphing strategy demonstrates enormous potential in the design and fabrication of shape-morphing structures.
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Affiliation(s)
- Liang Yue
- 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
| | - Mingzhe Li
- 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
| | - Yuyang Song
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, Michigan, 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, Michigan, 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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27
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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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28
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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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29
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Johnson BK, Naris M, Sundaram V, Volchko A, Ly K, Mitchell SK, Acome E, Kellaris N, Keplinger C, Correll N, Humbert JS, Rentschler ME. A multifunctional soft robotic shape display with high-speed actuation, sensing, and control. Nat Commun 2023; 14:4516. [PMID: 37524731 PMCID: PMC10390478 DOI: 10.1038/s41467-023-39842-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2023] [Accepted: 07/03/2023] [Indexed: 08/02/2023] Open
Abstract
Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.
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Affiliation(s)
- B K Johnson
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - M Naris
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - V Sundaram
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - A Volchko
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - K Ly
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
| | - S K Mitchell
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
- Artimus Robotics, Boulder, CO, USA
| | - E Acome
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
- Artimus Robotics, Boulder, CO, USA
| | - N Kellaris
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA
- Artimus Robotics, Boulder, CO, USA
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO, USA
| | - C Keplinger
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA.
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO, USA.
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
| | - N Correll
- Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA.
| | - J S Humbert
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA.
| | - M E Rentschler
- Paul M. Rady Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA.
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30
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Saadli M, Braunmiller DL, Mourran A, Crassous JJ. Thermally and Magnetically Programmable Hydrogel Microactuators. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2207035. [PMID: 36683216 DOI: 10.1002/smll.202207035] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/12/2022] [Revised: 12/29/2022] [Indexed: 06/17/2023]
Abstract
The rapid development in micro-machinery enabled the investigation of smart materials that can embody fast response, programmable actuation, and flexibility to perform mechanical work. Soft magnetic actuators represent an interesting platform toward combining those properties. This study focuses on the synthesis of micro-actuators that respond to thermal and magnetic stimuli using micro-molding with a soft template as a fabrication technique. These microsystems consist of a hydrogel matrix loaded with anisotropic magnetic nanospindles. When a homogeneous magnetic field is applied, the nanospindles initially dispersed in monomer solution, align and assemble into dipolar chains. The ensuing UV-polymerization creates a network and conveniently arrests these nanostructures. Consequently, the magnetic dipole moment is coplanar with the microgel. Varying the shape, volume, and composition of the micro-actuators during synthesis provides a temperature-dependent control over the magnetic response and the polarizability. Beyond isotropic swelling, shaping the hydrogel as long thin ribbons with a passive layer on one side allows for differential swelling leading to bending and twisting deformations, for example, 2D- or 3D-spiral. These deformations involve a reversible amplification of the magnetic response and orientation of the hydrogels under magnetic field. Temperature control herewith determines the conformation and simultaneously the magnetic response of the micro-actuators.
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Affiliation(s)
- Meriem Saadli
- Institute of Physical Chemistry IPC, RWTH Aachen University, Landoltweg 2, 52074, Aachen, Germany
| | - Dominik L Braunmiller
- Institute of Physical Chemistry IPC, RWTH Aachen University, Landoltweg 2, 52074, Aachen, Germany
| | - Ahmed Mourran
- DWI - Leibniz-Institut für Interaktive Materialien e.V, RWTH Aachen University, Forckenbeckstr. 50, 52074, Aachen, Germany
| | - Jérôme J Crassous
- Institute of Physical Chemistry IPC, RWTH Aachen University, Landoltweg 2, 52074, Aachen, Germany
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31
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Lalegani Dezaki M, Bodaghi M. Shape memory meta-laminar jamming actuators fabricated by 4D printing. SOFT MATTER 2023; 19:2186-2203. [PMID: 36880606 DOI: 10.1039/d3sm00106g] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Laminar jamming (LJ) technology is a hot topic because it allows for the transition from conventionally quick, precise, and high-force rigid robots to flexible, agile, and secure soft robots. This article introduces a novel conceptual design of meta-laminar jamming (MLJ) actuators with a polyurethane shape memory polymer (SMP)-based meta-structure fabricated by 4D printing (4DP). The sustainable MLJ actuators behave as soft/hard robots via hot and cold programming accompanied by negative air pressure. The advantage of MLJ actuators over conventional LJ actuators is that a continuous negative air pressure is not required to stimulate the actuator. SMP meta-structures with circle, rectangle, diamond, and auxetic shapes are 4D printed. Mechanical properties of the structures are evaluated through three-point bending and compression tests. Shape memory effects (SMEs) and shape recovery of meta-structures and MLJ actuators are investigated via hot air programming. MLJ actuators with auxetic meta-structure cores show a better performance in terms of contraction and bending with 100% shape recovery after stimulation. The sustainable MLJ actuators have the capabilities of shape recovery and shape locking with zero input power while holding 200 g weight. The actuator can easily lift and hold objects of varying weights and shapes without requiring any power input. This actuator has demonstrated its versatility in potential applications, such as functioning as an end-effector and a gripper device.
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Affiliation(s)
- Mohammadreza Lalegani Dezaki
- Department of Engineering, School of Science and Technology, Nottingham Trent University, Nottingham, NG11 8NS, UK.
| | - Mahdi Bodaghi
- Department of Engineering, School of Science and Technology, Nottingham Trent University, Nottingham, NG11 8NS, UK.
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32
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Zheng P, Xiao F, Nguyen PH, Farinha A, Kovac M. Metamorphic aerial robot capable of mid-air shape morphing for rapid perching. Sci Rep 2023; 13:1297. [PMID: 36690665 PMCID: PMC9870873 DOI: 10.1038/s41598-022-26066-5] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2022] [Accepted: 12/08/2022] [Indexed: 01/24/2023] Open
Abstract
Aerial robots can perch onto structures at heights to reduce energy use or to remain firmly in place when interacting with their surroundings. Like how birds have wings to fly and legs to perch, these bio-inspired aerial robots use independent perching modules. However, modular design not only increases the weight of the robot but also its size, reducing the areas that the robot can access. To mitigate these problems, we take inspiration from gliding and tree-dwelling mammals such as sugar gliders and sloths. We noted how gliding mammals morph their whole limb to transit between flight and perch, and how sloths optimized their physiology to encourage energy-efficient perching. These insights are applied to design a quadrotor robot that transitions between morphologies to fly and perch with a single-direction tendon drive. The robot's bi-stable arm is rigid in flight but will conform to its target in 0.97 s when perching, holding its grasp with minimal energy use. We achieved a [Formula: see text] overall mass reduction by integrating this capability into a single body. The robot perches by a controlled descent or a free-falling drop to avoid turbulent aerodynamic effects. Our proposed design solution can fulfill the need for small perching robots in cluttered environments.
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Affiliation(s)
- Peter Zheng
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- The Grantham Institute-Climate Change and the Environment, Imperial College London, London, SW7 2AZ, UK.
| | - Feng Xiao
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Pham Huy Nguyen
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Andre Farinha
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Mirko Kovac
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- Laboratory of Sustainability Robotics, Swiss Federal Laboratories of Materials Science and Technology, 8600, Dübendorf, Switzerland.
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33
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Liu J, Jing X, Liu M, Li F, Li M, Li Q, Shi J, Li J, Wang L, Mao X, Zuo X, Fan C. Mechano-fluorescence actuation in single synaptic vesicles with a DNA framework nanomachine. Sci Robot 2022; 7:eabq5151. [PMID: 36542686 DOI: 10.1126/scirobotics.abq5151] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
Abstract
Biomimetic machines that can convert mechanical actuation to adaptive coloration in a manner analogous to cephalopods have found widespread applications at various length scales. At the nanoscale, a transmutable nanomachine with adaptive colors that can sense and mediate cellular or intracellular interactions is highly desirable. Here, we report the design of a DNA framework nanomachine (DFN) that can autonomously change shape in response to pH variations in single synaptic vesicles, which, in turn, displays adaptive fluorescent colors with a mechano-fluorescence actuation mechanism. To construct a DFN, we used a tetrahedral DNA nanostructure as the framework to incorporate an embedded pH-responsive, i-motif sequence tagged with a Förster resonance energy transfer pair and an affinity cholesterol moiety targeting vesicular membranes. We found that endocytosed DFNs are individually trapped in single endocytic vesicles in living synaptic cells due to the size-exclusion effect. The adaptive fluorescence coloration of DFNs enabled single-vesicle quantification of resting pH values in a processive manner, allowing long-term tracking of the exocytosis and fusion dynamics in intracellular processes and cell-cell communications.
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Affiliation(s)
- Jiangbo Liu
- Institute of Molecular Medicine, Shanghai Key Laboratory for Nucleic Acid Chemistry and Nanomedicine, Renji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, China
| | - Xinxin Jing
- School of Chemistry and Chemical Engineering, Zhang Jiang Institute for Advanced Study, Frontiers Science Center for Transformative Molecules and National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Mengmeng Liu
- Shanghai Key Laboratory of Green Chemistry and Chemical Processes, School of Chemistry and Molecular Engineering, East China Normal University, Shanghai 200127, China
| | - Fan Li
- Institute of Molecular Medicine, Shanghai Key Laboratory for Nucleic Acid Chemistry and Nanomedicine, Renji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, China
| | - Min Li
- Institute of Molecular Medicine, Shanghai Key Laboratory for Nucleic Acid Chemistry and Nanomedicine, Renji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, China
| | - Qian Li
- School of Chemistry and Chemical Engineering, Zhang Jiang Institute for Advanced Study, Frontiers Science Center for Transformative Molecules and National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Jiye Shi
- Division of Physical Biology, CAS Key Laboratory of Interfacial Physics and Technology, Shanghai Institute of Applied Physics, Chinese Academy of Sciences, Shanghai 201800, China
| | - Jiang Li
- Division of Physical Biology, CAS Key Laboratory of Interfacial Physics and Technology, Shanghai Institute of Applied Physics, Chinese Academy of Sciences, Shanghai 201800, China.,Interdisciplinary Research Center, Shanghai Synchrotron Radiation Facility, Zhangjiang Laboratory, Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China
| | - Lihua Wang
- Division of Physical Biology, CAS Key Laboratory of Interfacial Physics and Technology, Shanghai Institute of Applied Physics, Chinese Academy of Sciences, Shanghai 201800, China.,Interdisciplinary Research Center, Shanghai Synchrotron Radiation Facility, Zhangjiang Laboratory, Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China
| | - Xiuhai Mao
- Institute of Molecular Medicine, Shanghai Key Laboratory for Nucleic Acid Chemistry and Nanomedicine, Renji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, China
| | - Xiaolei Zuo
- Institute of Molecular Medicine, Shanghai Key Laboratory for Nucleic Acid Chemistry and Nanomedicine, Renji Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai 200127, China.,School of Chemistry and Chemical Engineering, Zhang Jiang Institute for Advanced Study, Frontiers Science Center for Transformative Molecules and National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Chunhai Fan
- School of Chemistry and Chemical Engineering, Zhang Jiang Institute for Advanced Study, Frontiers Science Center for Transformative Molecules and National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai 200240, China
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Chi Y, Hong Y, Zhao Y, Li Y, Yin J. Snapping for high-speed and high-efficient butterfly stroke-like soft swimmer. SCIENCE ADVANCES 2022; 8:eadd3788. [PMID: 36399554 PMCID: PMC9674291 DOI: 10.1126/sciadv.add3788] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/08/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
Natural selection has tuned many flying and swimming animals to share the same narrow design space for high power efficiency, e.g., their dimensionless Strouhal numbers St that relate flapping frequency and amplitude and forward speed fall within the range of 0.2 < St < 0.4 for peak propulsive efficiency. It is rather challenging to achieve both comparably fast-speed and high-efficient soft swimmers to marine animals due to the naturally selected narrow design space and soft body compliance. Here, bioinspired by the flapping motion in swimming animals, we report leveraging snapping instabilities for soft flapping-wing swimmers with comparable high performance to biological counterparts. The lightweight, butterfly stroke-like soft swimmer (2.8 g) demonstrates a record-high speed of 3.74 body length/s (4.8 times faster than the reported fastest flapping soft swimmer), high power efficiency (0.2 < St = 0.25 < 0.4), low energy consumption cost, and high maneuverability (a high turning speed of 157°/s).
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35
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Crater ER, Tutika R, Moore RB, Bartlett MD. X-ray scattering as an effective tool for characterizing liquid metal composite morphology. SOFT MATTER 2022; 18:7762-7772. [PMID: 36205260 DOI: 10.1039/d2sm00796g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Quantitative analysis of particle size and size distribution is crucial in establishing structure-property relationships of composite materials. An emerging soft composite architecture involves dispersing droplets of liquid metal throughout an elastomer, enabling synergistic properties of metals and soft polymers. The structure of these materials is typically characterized through real-space microscopy and image analysis; however, these techniques rely on magnified images that may not represent the global-averaged size and distribution of the droplets. In this study, we utilize ultra-small angle X-ray scattering (USAXS) as a reciprocal-space characterization technique that yields global-averaged dimensions of eutectic gallium indium (EGaIn) alloy soft composites. The Unified fit and Monte Carlo scattering methods are applied to determine the particle size and size distributions of the liquid metal droplets in the composites and are shown to be in excellent agreement with results from real-space image analysis. Additionally, all methods indicate that the droplets are getting larger as they are introduced into composites, suggesting that the droplets are agglomerating or possibly coalescing during dispersion. This work demonstrates the viability of X-ray scattering to elucidate structural information about liquid metal droplets for material development for applications in soft robotics, soft electronics, and multifunctional materials.
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Affiliation(s)
- Erin R Crater
- Department of Chemistry, Virginia Tech, Blacksburg, VA 24061, USA
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Ravi Tutika
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Robert B Moore
- Department of Chemistry, Virginia Tech, Blacksburg, VA 24061, USA
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
| | - Michael D Bartlett
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA.
- Macromolecules Innovation Institute (MII), Virginia Tech, Blacksburg, VA 24061, USA
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36
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Ruiz F, Arrue BC, Ollero A. SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3196768] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- F. Ruiz
- GRVC Robotics Lab of Seville, Seville, Spain
| | - B. C. Arrue
- GRVC Robotics Lab of Seville, Seville, Spain
| | - A. Ollero
- GRVC Robotics Lab of Seville, Seville, Spain
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37
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Pozarycki TA, Hwang D, Barron EJ, Wilcox BT, Tutika R, Bartlett MD. Tough Bonding of Liquid Metal-Elastomer Composites for Multifunctional Adhesives. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2203700. [PMID: 36098240 DOI: 10.1002/smll.202203700] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/14/2022] [Revised: 08/08/2022] [Indexed: 06/15/2023]
Abstract
Liquid metal (LM) composites, which consist of LM droplets dispersed in highly deformable elastomers, have recently gained interest as a multifunctional material for soft robotics and electronics. The incorporation of LM into elastic solids allows for unique combinations of material properties such as high stretchability with thermal and electrical conductivity comparable to metals. However, it is currently a challenge to incorporate LM composites into integrated systems consisting of diverse materials and components due to a lack of adhesion control. Here, a chemical anchoring methodology to increase adhesion of LM composites to diverse substrates is presented. The fracture energy increases up to 100× relative to untreated surfaces, with values reaching up to 7800 J m-2 . Furthermore, the fracture energy, tensile modulus, and thermal conductivity can be tuned together by controlling the microstructure of LM composites. Finally, the bonding technique is used to integrate LM composites with functional electronic components without encapsulation or clamping, allowing for extreme deformations while maintaining exceptional thermal and electrical conductivity. These findings can accelerate the adoption of LM composites into complex soft robotic and electronic systems where strong, reliable bonding between diverse materials and components is required.
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Affiliation(s)
- Tyler A Pozarycki
- Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Dohgyu Hwang
- Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA, 24061, USA
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Edward J Barron
- Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA, 24061, USA
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Brittan T Wilcox
- Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Ravi Tutika
- Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA, 24061, USA
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Michael D Bartlett
- Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA, 24061, USA
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA, 24061, USA
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