Another lesson from plants: the forward osmosis-based actuator

Deformation-dependent polydimethylsiloxane permeability measured using osmotic microactuators

In soft solids, large deformations significantly alter molecular structure and device geometry, which can impact other properties. In the case of mass transport, an interplay between flux and mechanical deformation results. Here we demonstrate a platform for the simultaneous characterization of mechano-permselectivity using the (slow) transport of water through polydimethylsiloxane (PDMS) as a challenging test case. The platform uses micron-sized, cylindrical, NaCl solution-filled PDMS chambers encapsulated by selectively-permeable PDMS thin film membranes. When placed in a high chemical potential environment (high water potential) the osmotic pressure difference between the chamber and environment induces water to flow through the PDMS membrane into the chamber, resulting in membrane bulging. A model combining membrane flux and nonlinear elasticity captures the time-dependent response well, but only when a deformation-dependent permeability is used. Notably, the permeability of water through PDMS decreases by nearly an order of magnitude, from 2 × 10-12 to 5 × 10-13 m2 s-1, due primarily to its thickness decreasing by nearly an order of magnitude as the average biaxial stretch increases from 1 to 2.75.

Drosera-Inspired Dual-Actuating Double-Layer Hydrogel Actuator

Drosera is a small insectivorous plant whose antennae can fold up, encircle, and prey. The rapid movement of the antennae is achieved by the synergistic effect of a double-layer structure with the antennae contracts on the front and expands on the back. In this work, a drosera-inspired dual-actuating double-layer hydrogel actuator is proposed, in which the temperature-responsive poly(N, N-diethyl acrylamide) (PDEAAm) layer acts as the main actuation layer and a moisture-responsive poly(acrylamide) (PAAm) layer acts as the auxiliary actuation layer. In a water environment with low temperature, both the PAAm and PDEAAm layers absorb water and expand with a swelling property. When the temperature exceeds the lower critical solution temperature of PDEAAm, the PDEAAm layer undergoes a hydrophilic-hydrophobic transition and shrinks rapidly. Therefore, the synergistic effect of the double-layer hydrogel enables the double-layer hydrogel to achieve a large bending angle at high temperature. In addition, when designing and fabricating shape-patterned double-layer hydrogels, complex shape changes can be achieved. Due to the physical and chemical properties, the actuator can be used to grab, transport, and release objects. This drosera-inspired double-layer hydrogel actuator has high practical value, which may provide new insights for the design and manufacture of artificial intelligence materials.

4D printing: Perspectives for the production of sustainable plastics for agriculture

The concept of 4D printing of phase change materials is gaining attention in the potential development of self-healing materials for tissue engineering and manufacturing applications, but there has been limited utilization of the technology in agriculture/farm-based applications. The temperature-responsiveness, magneto-responsiveness, pH-responsiveness, and osmotic pressure-responsiveness of shape-memory materials have potential applications in green/compostable plastics for agricultural applications such as food packaging and mulching films, shade nets, and greenhouse polymer covers. The application of 4D printing in augmenting the biodegradability, environmental, economic, and production benefits of polymers in agriculture is the main focus of this review. So far,; little scholarly and industry attention have been directed to agricultural applications even though shape memory polymers are ideal for such applications compared to existing materials due to smart/intelligent behavior, optimized performance through fiber/nanomaterial reinforcement and multilayered composites. The practical constraints relate to the newness of the 4D printing process, customized synthetic routes for application-specific materials. The constraints can be resolved using novel and customized processes such as fused deposition modeling (FDM) and stereo-lithography and ink-jet printing, which are facile, scalable and affordable 4D printing techniques, that are highly effective compared to powder bed printing, and other droplet-based printing technologies, and photo-polymerization methods. FDM has led to the generation of PLA and other polymers with self-deformation and controllable shape memory effects. Future applications should overcome constraints linked to machine workload limitations and 3D/4D printing constraints.

Bio-Inspired Soft Grippers Based on Impactive Gripping

Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions. For example, human hands and bird feet are composed of rigid frames and soft joints. Compared with human hands, some plants like Drosera do not have rigid frames, so they can bend at arbitrary points of the body to capture their prey. Furthermore, many muscular hydrostat animals and plant tendrils can implement more complex twisting motions in 3D space. Recently, inspired by the flexible grasping methods present in nature, increasingly more bio-inspired soft grippers have been fabricated with compliant and soft materials. Based on this, the present review focuses on the recent research progress of bio-inspired soft grippers based on impactive gripping. According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum bending-type grippers, and continuum twisting-type grippers. An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years.

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human-Robot Interface

Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actuators and their performances under various external stimuli are reviewed. Fiber/yarn-based artificial muscles for soft-robots manipulation and assistance in human motion are discussed, as well as smart clothes for improving human perception. Second, the geometric designs, fabrications, mechanisms, and functions of fibers/fabrics for sensing and energy harvesting from the human body and environments are summarized. Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine. Lastly, the relationships between robotic/wearable fibers/fabrics and the external stimuli, together with the challenges and possible routes for revolutionizing the robotic fibers/fabrics and wearables in this new era are proposed.

The Bio-Engineering Approach for Plant Investigations and Growing Robots. A Mini-Review

It has been 10 years since the publication of the first article looking at plants as a biomechatronic system and as model for robotics. Now, roboticists have started to look at plants differently and consider them as a model in the field of bioinspired robotics. Despite plants have been seen traditionally as passive entities, in reality they are able to grow, move, sense, and communicate. These features make plants an exceptional example of morphological computation - with probably the highest level of adaptability among all living beings. They are a unique model to design robots that can act in- and adapt to- unstructured, extreme, and dynamically changing environments exposed to sudden or long-term events. Although plant-inspired robotics is still a relatively new field, it has triggered the concept of growing robotics: an emerging area in which systems are designed to create their own body, adapt their morphology, and explore different environments. There is a reciprocal interest between biology and robotics: plants represent an excellent source of inspiration for achieving new robotic abilities, and engineering tools can be used to reveal new biological information. This way, a bidirectional biology-robotics strategy provides mutual benefits for both disciplines. This mini-review offers a brief overview of the fundamental aspects related to a bioengineering approach in plant-inspired robotics. It analyses the works in which both biological and engineering aspects have been investigated, and highlights the key elements of plants that have been milestones in the pioneering field of growing robots.

Electroosmosis-Driven Hydrogel Actuators Using Hydrophobic/Hydrophilic Layer-By-Layer Assembly-Induced Crack Electrodes

Development of soft actuators with higher performance and more versatile controllability has been strongly required for further innovative advancement of various soft applications. Among various soft actuators, electrochemical actuators have attracted much attention due to their lightweight, simple device configuration, and facile low-voltage control. However, the reported performances have not been satisfactory because their working mechanism depends on the limited electrode expansion by conventional electrochemical reactions. Herein, we report an electroosmosis-driven hydrogel actuator with a fully soft monolithic structure-based whole-body actuation mechanism using an amphiphilic interaction-induced layer-by-layer assembly. For this study, cracked electrodes with interconnected metal nanoparticles are prepared on hydrogels through layer-by-layer assembly and shape transformation of metal nanoparticles at hydrophobic/hydrophilic solvent interfaces. Electroosmotic pumping by cracked electrodes instantaneously induces hydrogel swelling through reversible and substantial hydraulic flow. The resultant actuator exhibits actuation strain of higher than 20% and energy density of 1.06 × 10⁵ J m^-3, allowing various geometries (e.g., curved-planar and square-pillared structures) and motions (e.g., slow-relaxation, spring-out, and two degree of freedom bending). In particular, the energy density of our actuators shows about 10-fold improvement than those of skeletal muscle, electrochemical actuators, and various stimuli-responsive hydrogel actuators reported to date.

Learning from plant movements triggered by bulliform cells: the biomimetic cellular actuator

Within the framework of a biomimetic top-down approach, our study started with the technical question of the development of a hinge-free and compliant actuator inspired by plant movements. One meaningful biological concept generator was the opening and closing movements of the leaf halves of grasses. Functional morphological investigations were carried out on the selected model plant Sesleria nitida. The results formed the basis for further clarifying the functional movement principle with a particular focus on the role of turgor changes in bulliform cells on kinetic amplification. All findings gained from the investigations of the biological model were incorporated into a finite-element analysis, as a prerequisite for the development of a pneumatic cellular actuator. The first prototype consisted of a row of single cells positioned on a plate. The cells were designed in such a way that the entire structure bent when the pneumatic pressure applied to each individual cell was increased. The pneumatic cellular actuator thus has the potential for applications on an architectural scale. It has subsequently been integrated into the midrib of the facade shading system Flectofold in which the bending of its midrib controls the hoisting of its wings.

Bio-chemo-electro-mechanical modelling of the rapid movement of Mimosa pudica

A remarkable feature of Mimosa pudica is its ability to deform in response to certain external stimuli. Here, a two-dimensional transient bio-chemo-electro-mechanical model of the rapid movement of the main pulvinus of Mimosa pudica is developed. Based on the laws of mass and momentum conservation, poroelasticity, and representative volume elements, a novel fluid pressure equation is proposed to characterize the cell elasticity. Experiments were conducted to measure the time and amplitude of the rapid movement. After examinations with the published experiments, it is confirmed that the model can predict well the ionic concentrations, petiole bending angle, and membrane potential. The simulation analysis of the biophysical properties provides insights to biomechanics: the hydrostatic pressure in the lowest extensor decreases from 0.35 to 0.05 MPa at t = 0.00 to 3.00 s; fluid pressure increases from 0.00 to 0.11 MPa at t = 0.00 to 0.14 s; and the peak bending angle increases from 57.0° to 70.9° when the reflection coefficient is assigned as 0.10 to 0.20 in the model. The results highlight the biochemical actuation mechanism of the Mimosa pudica movement, and they confirm the importance of ionic and water transports for causing changes in osmotic and hydrostatic pressures.

A variable-stiffness tendril-like soft robot based on reversible osmotic actuation

Soft robots hold promise for well-matched interactions with delicate objects, humans and unstructured environments owing to their intrinsic material compliance. Movement and stiffness modulation, which is challenging yet needed for an effective demonstration, can be devised by drawing inspiration from plants. Plants use a coordinated and reversible modulation of intracellular turgor (pressure) to tune their stiffness and achieve macroscopic movements. Plant-inspired osmotic actuation was recently proposed, yet reversibility is still an open issue hampering its implementation, also in soft robotics. Here we show a reversible osmotic actuation strategy based on the electrosorption of ions on flexible porous carbon electrodes driven at low input voltages (1.3 V). We demonstrate reversible stiffening (~5-fold increase) and actuation (~500 deg rotation) of a tendril-like soft robot (diameter ~1 mm). Our approach highlights the potential of plant-inspired technologies for developing soft robots based on biocompatible materials and safe voltages making them appealing for prospective applications.

Functional aqueous droplet networks

Droplet interface bilayers (DIBs), comprising individual lipid bilayers between pairs of aqueous droplets in an oil, are proving to be a useful tool for studying membrane proteins. Recently, attention has turned to the elaboration of networks of aqueous droplets, connected through functionalized interface bilayers, with collective properties unachievable in droplet pairs. Small 2D collections of droplets have been formed into soft biodevices, which can act as electronic components, light-sensors and batteries. A substantial breakthrough has been the development of a droplet printer, which can create patterned 3D droplet networks of hundreds to thousands of connected droplets. The 3D networks can change shape, or carry electrical signals through defined pathways, or express proteins in response to patterned illumination. We envisage using functional 3D droplet networks as autonomous synthetic tissues or coupling them with cells to repair or enhance the properties of living tissues.

Toward Growing Robots: A Historical Evolution from Cellular to Plant-Inspired Robotics

This paper provides the very first definition of "growing robots": a category of robots that imitates biological growth by the incremental addition of material. Although this nomenclature is quite new, the concept of morphological evolution, which is behind growth, has been extensively addressed in engineering and robotics. In fact, the idea of reproducing processes that belong to living systems has always attracted scientists and engineers. The creation of systems that adapt reliably and effectively to the environment with their morphology and control would be beneficial for many different applications, including terrestrial and space exploration or the monitoring of disasters or dangerous environments. Different approaches have been proposed over the years for solving the morphological adaptation of artificial systems, e.g., self-assembly, self-reconfigurability, evolution of virtual creatures, plant inspiration. This work reviews the main milestones in relation to growing robots, starting from the original concept of a self-replicating automaton to the achievements obtained by plant inspiration, which provided an alternative solution to the challenges of creating robots with self-building capabilities. A selection of robots representative of growth functioning is also discussed, grouped by the natural element used as model: molecule, cell, or organism growth-inspired robots. Finally, the historical evolution of growing robots is outlined together with a discussion of the future challenges toward solutions that more faithfully can represent biological growth.

Plant-inspired adaptive structures and materials for morphing and actuation: a review

Plants exhibit a variety of reversible motions, from the slow opening of pine cones to the impulsive closing of Venus flytrap leaves. These motions are achieved without muscles and they have inspired a wide spectrum of engineered materials and structures. This review summarizes the recent developments of plant-inspired adaptive structures and materials for morphing and actuation. We begin with a brief overview of the actuation strategies and physiological features associated to these plant movements, showing that different combinations of these strategies and features can lead to motions with different deformation characteristics and response speeds. Then we offer a comprehensive survey of the plant-inspired morphing and actuation systems, including pressurized cellular structures, osmotic actuation, anisotropic hygroscopic materials, and bistable systems for rapid movements. Although these engineered systems are vastly different in terms of their size scales and intended applications, their working principles are all related to the actuation strategies and physiological features in plants. This review is to promote future cross-disciplinary studies between plant biology and engineering, which can foster new solutions for many applications such as morphing airframes, soft robotics and kinetic architectures.

A plant-inspired robot with soft differential bending capabilities

We present the design and development of a plant-inspired robot, named Plantoid, with sensorized robotic roots. Natural roots have a multi-sensing capability and show a soft bending behaviour to follow or escape from various environmental parameters (i.e., tropisms). Analogously, we implement soft bending capabilities in our robotic roots by designing and integrating soft spring-based actuation (SSBA) systems using helical springs to transmit the motor power in a compliant manner. Each robotic tip integrates four different sensors, including customised flexible touch and innovative humidity sensors together with commercial gravity and temperature sensors. We show how the embedded sensing capabilities together with a root-inspired control algorithm lead to the implementation of tropic behaviours. Future applications for such plant-inspired technologies include soil monitoring and exploration, useful for agriculture and environmental fields.

Honeycomb Actuators Inspired by the Unfolding of Ice Plant Seed Capsules

Plant hydro-actuated systems provide a rich source of inspiration for designing autonomously morphing devices. One such example, the pentagonal ice plant seed capsule, achieves complex mechanical actuation which is critically dependent on its hierarchical organization. The functional core of this actuation system involves the controlled expansion of a highly swellable cellulosic layer, which is surrounded by a non-swellable honeycomb framework. In this work, we extract the design principles behind the unfolding of the ice plant seed capsules, and use two different approaches to develop autonomously deforming honeycomb devices as a proof of concept. By combining swelling experiments with analytical and finite element modelling, we elucidate the role of each design parameter on the actuation of the prototypes. Through these approaches, we demonstrate potential pathways to design/develop/construct autonomously morphing systems by tailoring and amplifying the initial material’s response to external stimuli through simple geometric design of the system at two different length scales.

Osmolyte cooperation affects turgor dynamics in plants

Scientists have identified turgor-based actuation as a fundamental mechanism in plant movements. Plant cell turgor is generated by water influx due to the osmolyte concentration gradient through the cell wall and the plasma membrane behaving as an osmotic barrier. Previous studies have focused on turgor modulation with respect to potassium chloride (KCl) concentration changes, although KCl is not efficiently retained in the cell, and many other compounds, including L-glutamine (L-Gln) and D-glucose (D-Glc), are present in the cytosol. In fact, the contributions of other osmolytes to turgor dynamics remain to be elucidated. Here, we show the association of osmolytes and their consequent cooperative effects on the time-dependent turgor profile generated in a model cytosol consisting of KCl, D-Glc and L-Gln at experimentally measured plant motor/generic cell concentrations and at modified concentrations. We demonstrate the influence and association of the osmolytes using osmometry and NMR measurements. We also show, using a plant cell-inspired device we previously developed, that osmolyte complexes, rather than single osmolytes, permit to obtain higher turgor required by plant movements. We provide quantitative cues for deeper investigations of osmolyte transport for plant movement, and reveal the possibility of developing osmotic actuators exploiting a dynamically varying concentration of osmolytes.

Shape-Shifting Droplet Networks

We consider a three-dimensional network of aqueous droplets joined by single lipid bilayers to form a cohesive, tissuelike material. The droplets in these networks can be programed to have distinct osmolarities so that osmotic gradients generate internal stresses via local fluid flows to cause the network to change shape. We discover, using molecular dynamics simulations, a reversible folding-unfolding process by adding an osmotic interaction with the surrounding environment which necessarily evolves dynamically as the shape of the network changes. This discovery is the next important step towards osmotic robotics in this system. We also explore analytically and numerically how the networks become faceted via buckling and how quasi-one-dimensional networks become three dimensional.