Advanced Actuator Materials Powered by Biomimetic Helical Fiber Topologies

Elasto-plastic effects on shape-shifting electron-beam-patterned gel-based micro-helices

Shape-shifting helical gels have been created by various routes, notably by photolithography. We explore electron-beam lithography as an alternative to prescribe microhelix formation in tethered patterns of pure poly(acrylic acid). Simulations indicate the nanoscale spatial distribution of deposited energy that drives the loss of acid groups and crosslinking. Upon exposure to buffer, a patterned line converts to a 3D helix whose cross section comprises a crosslinked and hydrophobic core surrounded by a high-swelling pH-responsive corona. Through-thickness asymmetries generate out-of-plane bending to drive helix formation. The relative core and corona fractions are determined by the electron dose which in turn controls the helical radius and pitch. Increasing pH substantially raises the swelling stress and the rod elongates plastically. The pitch concurrently changes from minimal to non-minimal. The in-plane asymmetry driving this change can be attributed to shear-band formation in the hydrophobic core. Subsequent pH cycling drives elastic cycling of the helical properties. These findings illustrate the effects of elastoplastic deformation on helical properties and elaborate unique attributes of electron lithography as an alternate means to create shape-shifting structures.

Carbon Nanotube-Directed 7 GPa Heterocyclic Aramid Fiber and Its Application in Artificial Muscles

Poly(p-phenylene-benzimidazole-terephthalamide) (PBIA) fibers with excellent mechanical properties are widely used in fields that require impact-resistant materials such as ballistic protection and aerospace. The introduction of heterocycles in polymer chains increases their flexibility and makes it easier to optimize the fiber structure. However, the inadequate orientation of polymer chains is one of the main reasons for the large difference between the measured and theoretical mechanical properties of PBIA fibers. Herein, carbon nanotubes (CNTs) are selected as an orientation seed. Their structural features allow CNTs to orient during the spinning process, which can induce an orderly arrangement of polymers and improve the orientation of the fiber microstructure. To ensure the complete 1D topology of long CNTs (≈10 µm), PBIA is used as an efficient dispersant to overcome dispersion challenges. The p-CNT/PBIA fibers (10 µm single-walled carbon nanotube 0.025 wt%) exhibit an increase of 22% in tensile strength and 23% in elongation, with a maximum tensile strength of 7.01 ± 0.31 GPa and a reinforcement efficiency of 893.6. The artificial muscle fabricated using CNT/PBIA fibers exhibits a 34.8% contraction and a 25% lifting of a 2 kg dumbbell, providing a promising paradigm for high-performance organic fibers as high-load smart actuators.

A TEC Cooling Soft Robot Driven by Twisted String Actuators

Similar to biological muscles in nature, artificial muscles have unique advantages for driving bionic robots. However, there is still a large gap between the performance of existing artificial muscles and biological muscles. Twisted polymer actuators (TPAs) convert rotary motion from torsional to linear motion. TPAs are known for their high energy efficiency and large linear strain and stress outputs. A simple, lightweight, low-cost, self-sensing robot powered using a TPA and cooled using a thermoelectric cooler (TEC) was proposed in this study. Because TPA burns easily at high temperatures, traditional soft robots driven by TPAs have low movement frequencies. In this study, a temperature sensor and TEC were combined to develop a closed-loop temperature control system to ensure that the internal temperature of the robot was 5 °C to cool the TPAs quickly. The robot could move at a frequency of 1 Hz. Moreover, a self-sensing soft robot was proposed based on the TPA contraction length and resistance. When the motion frequency was 0.01 Hz, the TPA had good self-sensing ability and the root-mean-square error of the angle of the soft robot was less than 3.89% of the measurement amplitude. This study not only proposed a new cooling method for improving the motion frequency of soft robots but also verified the autokinetic performance of the TPAs.

Tethering of twisted-fiber artificial muscles

Twisted-fiber artificial muscles, a new type of soft actuator, exhibit significant potential for use in applications related to lightweight smart devices and soft robotics. Fiber twisting generates internal torque and a spiral architecture, exhibiting rotation, contraction, or elongation as a result of fiber volume change. Untethering a twisted fiber often results in fiber untwisting and loss of stored torque energy. Preserving the torque in twisted fibers during actuation is necessary to realize a reversible and stable artificial muscle performance; this is a key issue that has not yet been systematically discussed and reviewed. This review summarizes the mechanisms for preserving the torque within twisted fibers and the potential applications of such systems. The potential challenges and future directions of research related to twisted-fiber artificial muscles are also discussed.

Self-Assembly of Helical Nanofibrous Chiral Covalent Organic Frameworks

Despite significant progress on the design and synthesis of covalent organic frameworks (COFs), precise control over microstructures of such materials remains challenging. Herein, two chiral COFs with well-defined one-handed double-helical nanofibrous morphologies were constructed via an unprecedented template-free method, capitalizing on the diastereoselective formation of aminal linkages. Detailed time-dependent experiments reveal the spontaneous transformation of initial rod-like aggregates into the double-helical microstructures. We have further demonstrated that the helical chirality and circular dichroism signal can be facilely inversed by simply adjusting the amount of acetic acid during synthesis. Moreover, by transferring chirality to achiral fluorescent molecular adsorbents, the helical COF nanostructures can effectively induce circularly polarized luminescence with the highest luminescent asymmetric factor (g_lum ) up to ≈0.01.

Rotational multimaterial printing of filaments with subvoxel control

Helical structures are ubiquitous in nature and impart unique mechanical properties and multifunctionality¹. So far, synthetic architectures that mimic these natural systems have been fabricated by winding, twisting and braiding of individual filaments^1-7, microfluidics^8,9, self-shaping^1,10-13 and printing methods^14-17. However, those fabrication methods are unable to simultaneously create and pattern multimaterial, helically architected filaments with subvoxel control in arbitrary two-dimensional (2D) and three-dimensional (3D) motifs from a broad range of materials. Towards this goal, both multimaterial^18-23 and rotational²⁴ 3D printing of architected filaments have recently been reported; however, the integration of these two capabilities has yet to be realized. Here we report a rotational multimaterial 3D printing (RM-3DP) platform that enables subvoxel control over the local orientation of azimuthally heterogeneous architected filaments. By continuously rotating a multimaterial nozzle with a controlled ratio of angular-to-translational velocity, we have created helical filaments with programmable helix angle, layer thickness and interfacial area between several materials within a given cylindrical voxel. Using this integrated method, we have fabricated functional artificial muscles composed of helical dielectric elastomer actuators with high fidelity and individually addressable conductive helical channels embedded within a dielectric elastomer matrix. We have also fabricated hierarchical lattices comprising architected helical struts containing stiff springs within a compliant matrix. Our additive-manufacturing platform opens new avenues to generating multifunctional architected matter in bioinspired motifs.

Halogen-bonded shape memory polymers

Halogen bonding (XB), a non-covalent interaction between an electron-deficient halogen atom and a Lewis base, is widely adopted in organic synthesis and supramolecular crystal engineering. However, the roadmap towards materials applications is hindered by the challenges in harnessing this relatively weak intermolecular interaction to devise human-commanded stimuli-responsive soft materials. Here, we report a liquid crystalline network comprising permanent covalent crosslinks and dynamic halogen bond crosslinks, which possess reversible thermo-responsive shape memory behaviour. Our findings suggest that I···N halogen bond, a paradigmatic motif in crystal engineering studies, enables temporary shape fixation at room temperature and subsequent shape recovery in response to human body temperature. We demonstrate versatile shape programming of the halogen-bonded polymer networks through human-hand operation and propose a micro-robotic injection model for complex 1D to 3D shape morphing in aqueous media at 37 °C. Through systematic structure-property-performance studies, we show the necessity of the I···N crosslinks in driving the shape memory effect. The halogen-bonded shape memory polymers expand the toolbox for the preparation of smart supramolecular constructs with tailored mechanical properties and thermoresponsive behaviour, for the needs of, e.g., future medical devices.

DNA-Helix Inspired Wire Routing in Cylindrical Structures and Its Application to Flexible Surgical Devices

In general wire-driven continuum robot mechanisms, the wires are used to control the motion of the devices attached at the distal end. The slack and taut wire is one of the challenging issues to solve in flexible mechanism. This phenomenon becomes worse when the continuum robot is inserted into the natural orifices of the human body, which inherently have uncertain curvilinear geometries consisting of multiple curvatures. Inspired by the unique characteristic of DNA-helix structure that the length of the helix remains almost constant regardless of the deflection of the DNA structure, this article proposes a new idea to design useful flexible mechanism to resolve slack of wires. Using modern Lie-group screw theory, the analytic model for length of helix wire wrapped around a single flexible backbone is proposed and then extended to a general model with multiple flexible backbones and different curvatures. Taking advantage of this helix type wire mechanism, we designed and implemented a flexible surgical device suitable for laryngopharyngeal surgery. The effectiveness of the proposed flexible mechanism is demonstrated through both simulation and phantom experiment.

High-Power Hydro-Actuators Fabricated from Biomimetic Carbon Nanotube Coiled Yarns with Fast Electrothermal Recovery

Bioinspired yarn/fiber structured hydro-actuators have recently attracted significant attention. However, most water-driven mechanical actuators are unsatisfactory because of the slow recovery process and low full-time power density. A rapidly recoverable high-power hydro-actuator is reported by designing biomimetic carbon nanotube (CNT) yarns. The hydrophilic CNT (HCNT) coiled yarn was prepared by storing pre-twist into CNT sheets and subsequent electrochemical oxidation (ECO) treatment. The resulting yarn demonstrated structural stability even when one end was cut off without the possible loss of pre-stored twists. The HCNT coiled yarn actuators provided maximal contractile work of 863 J/kg at 11.8 MPa stress when driven by water. Moreover, the recovery time of electrically heated yarns at a direct current voltage of 5 V was 95% shorter than that of neat yarns without electric heating. Finally, the electrothermally recoverable hydro-actuators showed a high actuation frequency (0.17 Hz) and full-time power density (143.8 W/kg).

Hemostatic materials in wound care

Blood plays an essential role in the human body. Hemorrhage is a critical cause of both military and civilian casualties. The human body has its own hemostatic mechanism that involves complex processes and has limited capacity. However, in emergency situations such as battlefields and hospitals, when the hemostatic mechanism of the human body itself cannot stop bleeding effectively, hemostatic materials are needed for saving lives. In this review, the hemostatic mechanisms and performance of the most commonly used hemostatic materials, (including fibrin, collagen, zeolite, gelatin, alginate, chitosan, cellulose and cyanoacrylate) and the commercial wound dressings based on these materials, will be discussed. These materials may have limitations, such as poor tissue adhesion, risk of infection and exothermic reactions, that may lessen their hemostatic efficacy and cause secondary injuries. High-performance hemostatic materials, therefore, have been designed and developed to improve hemostatic efficiency in clinical use. In this review, hemostatic materials with advanced performances, such as antibacterial capacity, superhydrophobicity/superhydrophilicity, superelasticity, high porosity and/or biomimicry, will be introduced. Future prospects of hemostatic materials will also be discussed in this review.

Amplifying and Leveraging Generated Force Upon Heating and Cooling in SMA Knitted Actuators

This work reexamines traditional shape memory alloy (SMA) loading paths commonly used in SMA-based actuator applications and presents a novel, superimposed condition in which SMA generates substantial forces upon heating and cooling. This atypical effect, which is investigated with a textile-based actuator, was found to be prominent at the completion of material phase transformation, at which point thermal expansion/contraction became the dominant force-generating mechanism. We demonstrate that amplification of generated forces can be accomplished by varying the applied thermal load, applied structural strain, as well as actuator architecture. Specifically, we present SMA knitted actuators as an actuator architecture that increases the effect by aggregating SMA wires within a complex strain profile-effectively providing a larger operational window for the effect to propagate. The amplification of blocking forces through this novel operational procedure suggests reconsidering traditional blocking force design paradigms and opens untapped actuator application spaces, such as the highlighted medical and aerospace wearable technologies.

Muscle-like Ultratough Hybrid Hydrogel Constructed by Heterogeneous Inorganic Polymerization on an Organic Network

Inspired by inorganic oligomers and their polymerization, we herein develop a heterogeneous inorganic polymerization tactic that can be used to prepare a muscle-like hybrid hydrogel by inducing the polymerization of calcium phosphate oligomers (CPO) onto a polyvinyl alcohol (PVA) molecular chain network. In this heterogeneous process, the CPO units bond with PVA molecules via assistance from sodium alginate (SA), and then gradually polymerize along the organic chains to form ultrafine hydroxyapatite nanolines with a diameter of ∼1 nm. Because of the well integration of organic and inorganic phases from the heterogeneous polymerization, the hierarchical structured hydrogel can exhibit ultratough mechanical properties of ∼17.84 MPa in strength and ∼8.97 kJ m^-2 in fracture energy, which exceed natural muscles and almost synthetic hydrogels. Moreover, the damaged hydrogel can be repaired readily by adding the precursors of CPO, PVA, and SA, which can induce in situ re-polymerization. The hydrogel also exhibits muscle-like rotational motion under aqueous conditions, which can be developed into a water-driven biomimetic motor. This study indicates that inorganic polymerization can achieve a novel organic-inorganic integration rather than conventional organic-inorganic composition, and it provides a novel tactic for design and manufacture of advanced materials.