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Gao F, Jiang H, Wang D, Wang S, Song W. Bio‐Inspired Magnetic‐Responsive Supramolecular‐Covalent Semi‐Convertible Hydrogel. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2401645. [PMID: 38754860 DOI: 10.1002/adma.202401645] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/03/2024] [Revised: 05/13/2024] [Indexed: 05/18/2024]
Abstract
Bio-inspired magnetic-responsive hydrogel is confined in exceedingly narrow spaces for soft robots and biomedicine in either gel state or magnetofluidic sol state. However, the motion of the gel state magnetic hydrogel will be inhibited in various irregular spaces due to the fixed shape and size and the sol-state magnetofluid gel may bring unpredictable residues in the confined narrow space. Inspired by the dynamic liquid lubricating mechanism of biological systems, novel magnetic-responsive semi-convertible hydrogel (MSCH) is developed through imbedding magnetic-responsive gelatin and amino-modified Fe3O4 nanoparticles network into the covalent network of polyvinyl alcohol, which can be switched between gel state and gel-sol state in response to magnetic stimuli. It can be attributed the disassembly of triple-helix structures of the gelatin under the action of the magnetic field, driven by force from the magnetic particles conjugated on the gelatin chain through electrostatic interactions, while the covalent network retains the hydrogel structural integrity. This leads to a sol layer on the MSCH surface enabling the MSCH to pass effectively through the confined channel or obstacle under magnetic field. The present MSCH will provide an alternative mode for magnetic field-related soft robots or actuators.
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Affiliation(s)
- Feng Gao
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, Changchun, 130012, P. R. China
| | - Hongyue Jiang
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, Changchun, 130012, P. R. China
| | - Dayang Wang
- College of Chemistry, Jilin University, Changchun, 130012, P. R. China
| | - Shutao Wang
- CAS Key Laboratory of Bio-Inspired Materials and Interfacial Science, CAS Center for Excellence in Nanoscience, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, P. R. China
- University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Wenlong Song
- State Key Laboratory of Supramolecular Structure and Materials, College of Chemistry, Jilin University, Changchun, 130012, P. R. China
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2
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Yao X, Chen H, Qin H, Cong HP. Nanocomposite Hydrogel Actuators with Ordered Structures: From Nanoscale Control to Macroscale Deformations. SMALL METHODS 2024; 8:e2300414. [PMID: 37365950 DOI: 10.1002/smtd.202300414] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 06/06/2023] [Indexed: 06/28/2023]
Abstract
Flexible intelligent actuators with the characteristics of flexibility, safety and scalability, are highly promising in industrial production, biomedical fields, environmental monitoring, and soft robots. Nanocomposite hydrogels are attractive candidates for soft actuators due to their high pliability, intelligent responsiveness, and capability to execute large-scale rapid reversible deformations under external stimuli. Here, the recent advances of nanocomposite hydrogels as soft actuators are reviewed and focus is on the construction of elaborate and programmable structures by the assembly of nano-objects in the hydrogel matrix. With the help of inducing the gradient or oriented distributions of the nanounits during the gelation process by the external forces or molecular interactions, nanocomposite hydrogels with ordered structures are achieved, which can perform bending, spiraling, patterned deformations, and biomimetic complex shape changes. Given great advantages of these intricate yet programmable shape-morphing, nanocomposite hydrogel actuators have presented high potentials in the fields of moving robots, energy collectors, and biomedicines. In the end, the challenges and future perspectives of this emerging field of nanocomposite hydrogel actuators are proposed.
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Affiliation(s)
- Xin Yao
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction Engineering, School of Chemistry and Chemical Engineering, Hefei University of Technology, Hefei, 230009, China
| | - Hong Chen
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction Engineering, School of Chemistry and Chemical Engineering, Hefei University of Technology, Hefei, 230009, China
| | - Haili Qin
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction Engineering, School of Chemistry and Chemical Engineering, Hefei University of Technology, Hefei, 230009, China
| | - Huai-Ping Cong
- Anhui Province Key Laboratory of Advanced Catalytic Materials and Reaction Engineering, School of Chemistry and Chemical Engineering, Hefei University of Technology, Hefei, 230009, China
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3
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Su L, Jin D, Wang Y, Wang Q, Pan C, Jiang S, Yang H, Yang Z, Wang X, Xia N, Chan KF, Chiu PWY, Sung JJY, Zhang L. Modularized microrobot with lock-and-detachable modules for targeted cell delivery in bile duct. SCIENCE ADVANCES 2023; 9:eadj0883. [PMID: 38100592 PMCID: PMC10848723 DOI: 10.1126/sciadv.adj0883] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/06/2023] [Accepted: 11/16/2023] [Indexed: 12/17/2023]
Abstract
The magnetic microrobots promise benefits in minimally invasive cell-based therapy. However, they generally suffer from an inevitable compromise between their magnetic responsiveness and biomedical functions. Herein, we report a modularized microrobot consisting of magnetic actuation (MA) and cell scaffold (CS) modules. The MA module with strong magnetism and pH-responsive deformability and the CS module with cell loading-release capabilities were fabricated by three-dimensional printing technique. Subsequently, assembly of modules was performed by designing a shaft-hole structure and customizing their relative dimensions, which enabled magnetic navigation in complex environments, while not deteriorating the cellular functionalities. On-demand disassembly at targeted lesion was then realized to facilitate CS module delivery and retrieval of the MA module. Furthermore, the feasibility of proposed system was validated in an in vivo rabbit bile duct. Therefore, this work presents a modular design-based strategy that enables uncompromised fabrication of multifunctional microrobots and stimulates their development for future cell-based therapy.
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Affiliation(s)
- Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong 518055, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Shuai Jiang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Kai Fung Chan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Philip Wai Yan Chiu
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Joseph Jao-Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
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4
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Liang X, Zhao Y, Liu D, Deng Y, Arai T, Kojima M, Liu X. Magnetic Microrobots Fabricated by Photopolymerization and Assembly. CYBORG AND BIONIC SYSTEMS 2023; 4:0060. [PMID: 38026540 PMCID: PMC10644835 DOI: 10.34133/cbsystems.0060] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Accepted: 09/13/2023] [Indexed: 12/01/2023] Open
Abstract
Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical field. Until now, drug delivery, microsurgery, disease diagnosis, and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in vitro. However, as the tasks become more and more complex, more functional units have been embedded in the body of the developed magnetic microrobots. These magnetic soft microrobots with complex designed geometries, mechanisms, and magnetic orientation are now greatly challenging the fabrication of the magnetic microrobots. In this paper, we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft microrobots. Utilizing the micro-hand assembly system, magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation control. Then, the developed photopolymerization system is employed to fix and link these modules with soft materials. Based on the proposed fabrication method, 3 kinds of soft magnetic microrobots were fabricated, and the fundamental locomotion was presented. We believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.
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Affiliation(s)
- Xiyue Liang
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yue Zhao
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Dan Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yan Deng
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Tatsuo Arai
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
- Center for Neuroscience and Biomedical Engineering,
The University of Electro-Communications, Tokyo 182-8585, Japan
| | - Masaru Kojima
- Department of Materials Engineering Science,
Osaka University, Osaka 560-8531, Japan
| | - Xiaoming Liu
- Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China
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5
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Vazquez-Perez F, Gila-Vilchez C, Leon-Cecilla A, Álvarez de Cienfuegos L, Borin D, Odenbach S, Martin JE, Lopez-Lopez MT. Fabrication and Actuation of Magnetic Shape-Memory Materials. ACS APPLIED MATERIALS & INTERFACES 2023; 15. [PMID: 37924281 PMCID: PMC10658454 DOI: 10.1021/acsami.3c14091] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/20/2023] [Revised: 10/20/2023] [Accepted: 10/24/2023] [Indexed: 11/06/2023]
Abstract
Soft actuators are deformable materials that change their dimensions or shape in response to external stimuli. Among the various stimuli, remote magnetic fields are one of the most attractive forms of actuation, due to their ease of use, fast response, and safety in biological systems. Composites of magnetic particles with polymer matrices are the most common materials for magnetic soft actuators. In this paper, we demonstrate the fabrication and actuation of magnetic shape-memory materials based on hydrogels containing field-structured magnetic particles. These actuators are formed by placing the pregel dispersion into a mold of the desired on-field shape and exposing it to a homogeneous magnetic field until the gel point is reached. At this point, the material may be removed from the mold and fully gelled in the desired off-field shape. The resultant magnetic shape-memory material then transitions between these two shapes when it is subjected to successive cycles of a homogeneous magnetic field, acting as a large deformation actuator. For actuators that are planar in the off-field state, this can result in significant bending to return to the on-field state. In addition, it is possible to make shape-memory materials that twist under the application of a magnetic field. For these torsional actuators, both experimental and theoretical results are given.
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Affiliation(s)
- Francisco
J. Vazquez-Perez
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
| | - Cristina Gila-Vilchez
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
| | - Alberto Leon-Cecilla
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
| | - Luis Álvarez de Cienfuegos
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
- Departamento
de Química Orgánica, Unidad de Excelencia Química
Aplicada a Biomedicina y Medioambiente, Universidad de Granada, C. U. Fuentenueva, Granada E-18071, Spain
| | - Dmitry Borin
- Chair
of Magnetofluiddynamics, Measuring and Automation Technology, Technische Universität Dresden, George-Bähr-Strasse 3, Dresden 01069, Germany
| | - Stefan Odenbach
- Chair
of Magnetofluiddynamics, Measuring and Automation Technology, Technische Universität Dresden, George-Bähr-Strasse 3, Dresden 01069, Germany
| | - James E. Martin
- Sandia
National Laboratories, Albuquerque, New Mexico 87059, United States
| | - Modesto T. Lopez-Lopez
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
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6
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Shen Y, Jin D, Fu M, Liu S, Xu Z, Cao Q, Wang B, Li G, Chen W, Liu S, Ma X. Reactive wetting enabled anchoring of non-wettable iron oxide in liquid metal for miniature soft robot. Nat Commun 2023; 14:6276. [PMID: 37805612 PMCID: PMC10560245 DOI: 10.1038/s41467-023-41920-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/25/2023] [Accepted: 09/21/2023] [Indexed: 10/09/2023] Open
Abstract
Magnetic liquid metal (LM) soft robots attract considerable attentions because of distinctive immiscibility, deformability and maneuverability. However, conventional LM composites relying on alloying between LM and metallic magnetic powders suffer from diminished magnetism over time and potential safety risk upon leakage of metallic components. Herein, we report a strategy to composite inert and biocompatible iron oxide (Fe3O4) magnetic nanoparticles into eutectic gallium indium LM via reactive wetting mechanism. To address the intrinsic interfacial non-wettability between Fe3O4 and LM, a silver intermediate layer was introduced to fuse with indium component into AgxIny intermetallic compounds, facilitating the anchoring of Fe3O4 nanoparticles inside LM with improved magnetic stability. Subsequently, a miniature soft robot was constructed to perform various controllable deformation and locomotion behaviors under actuation of external magnetic field. Finally, practical feasibility of applying LM soft robot in an ex vivo porcine stomach was validated under in-situ monitoring by endoscope and X-ray imaging.
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Affiliation(s)
- Yifeng Shen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Dongdong Jin
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China.
| | - Mingming Fu
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Sanhu Liu
- School of Materials Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China
| | - Zhiwu Xu
- School of Materials Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China
- State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China
| | - Qinghua Cao
- School of Materials Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China
| | - Bo Wang
- School of Materials Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China
| | - Guoqiang Li
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Wenjun Chen
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Shaoqin Liu
- Key Laboratory of Microsystems and Microstructures Manufacturing, School of Medicine and Health, Harbin Institute of Technology, Harbin, 150080, China
| | - Xing Ma
- Sauvage Laboratory for Smart Materials, School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China.
- State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China.
- Key Laboratory of Microsystems and Microstructures Manufacturing, School of Medicine and Health, Harbin Institute of Technology, Harbin, 150080, China.
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7
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Cao Q, Chen W, Zhong Y, Ma X, Wang B. Biomedical Applications of Deformable Hydrogel Microrobots. MICROMACHINES 2023; 14:1824. [PMID: 37893261 PMCID: PMC10609176 DOI: 10.3390/mi14101824] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/14/2023] [Revised: 09/09/2023] [Accepted: 09/15/2023] [Indexed: 10/29/2023]
Abstract
Hydrogel, a material with outstanding biocompatibility and shape deformation ability, has recently become a hot topic for researchers studying innovative functional materials due to the growth of new biomedicine. Due to their stimulus responsiveness to external environments, hydrogels have progressively evolved into "smart" responsive (such as to pH, light, electricity, magnetism, temperature, and humidity) materials in recent years. The physical and chemical properties of hydrogels have been used to construct hydrogel micro-nano robots which have demonstrated significant promise for biomedical applications. The different responsive deformation mechanisms in hydrogels are initially discussed in this study; after which, a number of preparation techniques and a variety of structural designs are introduced. This study also highlights the most recent developments in hydrogel micro-nano robots' biological applications, such as drug delivery, stem cell treatment, and cargo manipulation. On the basis of the hydrogel micro-nano robots' current state of development, current difficulties and potential future growth paths are identified.
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Affiliation(s)
- Qinghua Cao
- School of Materials Engineering, Shanghai University of Engineering Science, Shanghai 201620, China;
| | - Wenjun Chen
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China; (Y.Z.); (X.M.)
- Sauvage Laboratory for Smart Materials, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Ying Zhong
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China; (Y.Z.); (X.M.)
- Sauvage Laboratory for Smart Materials, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Xing Ma
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China; (Y.Z.); (X.M.)
- Sauvage Laboratory for Smart Materials, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Bo Wang
- School of Materials Engineering, Shanghai University of Engineering Science, Shanghai 201620, China;
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8
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Kararsiz G, Duygu YC, Wang Z, Rogowski LW, Park SJ, Kim MJ. Navigation and Control of Motion Modes with Soft Microrobots at Low Reynolds Numbers. MICROMACHINES 2023; 14:1209. [PMID: 37374794 DOI: 10.3390/mi14061209] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/16/2023] [Revised: 05/30/2023] [Accepted: 06/05/2023] [Indexed: 06/29/2023]
Abstract
This study investigates the motion characteristics of soft alginate microrobots in complex fluidic environments utilizing wireless magnetic fields for actuation. The aim is to explore the diverse motion modes that arise due to shear forces in viscoelastic fluids by employing snowman-shaped microrobots. Polyacrylamide (PAA), a water-soluble polymer, is used to create a dynamic environment with non-Newtonian fluid properties. Microrobots are fabricated via an extrusion-based microcentrifugal droplet method, successfully demonstrating the feasibility of both wiggling and tumbling motions. Specifically, the wiggling motion primarily results from the interplay between the viscoelastic fluid environment and the microrobots' non-uniform magnetization. Furthermore, it is discovered that the viscoelasticity properties of the fluid influence the motion behavior of the microrobots, leading to non-uniform behavior in complex environments for microrobot swarms. Through velocity analysis, valuable insights into the relationship between applied magnetic fields and motion characteristics are obtained, facilitating a more realistic understanding of surface locomotion for targeted drug delivery purposes while accounting for swarm dynamics and non-uniform behavior.
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Affiliation(s)
- Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
| | - Yasin Cagatay Duygu
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
| | - Zhengguang Wang
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
| | - Louis William Rogowski
- Applied Research Associates, Inc. (ARA), 4300 San Mateo Blvd. NE, Suite A-220, Albuquerque, NM 87110, USA
| | - Sung Jea Park
- School of Mechanical Engineering, Korea University of Technology and Education, Cheonan 31253, Chungnam, Republic of Korea
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
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9
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Muff LF, Mills AS, Riddle S, Buclin V, Roulin A, Chiel HJ, Quinn RD, Weder C, Daltorio KA. Modular Design of a Polymer-Bilayer-Based Mechanically Compliant Worm-Like Robot. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2210409. [PMID: 36807655 DOI: 10.1002/adma.202210409] [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: 11/09/2022] [Revised: 01/25/2023] [Indexed: 05/05/2023]
Abstract
Soft earthworm-like robots that exhibit mechanical compliance can, in principle, navigate through uneven terrains and constricted spaces that are inaccessible to traditional legged and wheeled robots. However, unlike the biological originals that they mimic, most of the worm-like robots reported to date contain rigid components that limit their compliance, such as electromotors or pressure-driven actuation systems. Here, a mechanically compliant worm-like robot with a fully modular body that is based on soft polymers is reported. The robot is composed of strategically assembled, electrothermally activated polymer bilayer actuators, which are based on a semicrystalline polyurethane with an exceptionally large nonlinear thermal expansion coefficient. The segments are designed on the basis of a modified Timoshenko model, and finite element analysis simulation is used to describe their performance. Upon electrical activation of the segments with basic waveform patterns, the robot can move through repeatable peristaltic locomotion on exceptionally slippery or sticky surfaces and it can be oriented in any direction. The soft body enables the robot to wriggle through openings and tunnels that are much smaller than its cross-section.
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Affiliation(s)
- Livius F Muff
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
| | - Austin S Mills
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Shane Riddle
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Véronique Buclin
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
| | - Anita Roulin
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
| | - Hillel J Chiel
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Roger D Quinn
- Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Christoph Weder
- Adolphe Merkle Institute, University of Fribourg, Chemin des Verdiers 4, Fribourg, CH-1700, Switzerland
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10
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Hou Y, Dai Y, Zhang W, Wang M, Zhao H, Feng L. Ultrasound-Based Real-Time Imaging of Hydrogel-Based Millirobots with Volume Change Capability. MICROMACHINES 2023; 14:422. [PMID: 36838121 PMCID: PMC9959195 DOI: 10.3390/mi14020422] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/19/2022] [Revised: 01/25/2023] [Accepted: 02/07/2023] [Indexed: 06/18/2023]
Abstract
Soft-bodied robots driven by external fields have better environmental adaptability, extending their applications. Nature also provides lots of inspiration for shape-morphing robot development, for example, larvae and jellyfish. This paper presents magnetically propelled hydrogel-based millirobots with volume changeability. The millirobot can be imaged in real time in a completely enclosed space with an ultrasound imaging system. Firstly, a custom-designed magnetic generating system with six square coils was introduced to generate a uniform field to propel the robot. The robot was fabricated using hydrogel with a thickness of around 300 μm. After programmable magnetization, the robot could change its shape and move using the rotating magnetic field. With the near-infrared illumination, the robot could shrink and could recover when the illumination stopped. Even when the robot shrank, it could be propelled by the external field, showing its potential usage in complex environments. Moreover, the posture information of the robot including the position and shape could be obtained in real time using ultrasound image technology.
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Affiliation(s)
- Yaxin Hou
- Department of Diagnostic Ultrasound, Beijing Tongren Hospital, Capital Medical University, Beijing 100730, China
| | - Yuguo Dai
- Department of Mechanical Engineering, The University of Tokyo, Tokyo 113-8656, Japan
| | - Wei Zhang
- Department of Materials Science and Engineering, College of Design and Engineering, National University of Singapore, Singapore 117583, Singapore
| | - Minghui Wang
- NO. 1 Outpatient Department of Xi Cheng District, Beijing Garrison, Beijing 100055, China
| | - Hanxue Zhao
- Department of Diagnostic Ultrasound, Beijing Tongren Hospital, Capital Medical University, Beijing 100730, China
| | - Lin Feng
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
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Xia N, Jin D, Pan C, Zhang J, Yang Z, Su L, Zhao J, Wang L, Zhang L. Dynamic morphological transformations in soft architected materials via buckling instability encoded heterogeneous magnetization. Nat Commun 2022; 13:7514. [PMID: 36473857 PMCID: PMC9727123 DOI: 10.1038/s41467-022-35212-6] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/18/2022] [Accepted: 11/23/2022] [Indexed: 12/12/2022] Open
Abstract
The geometric reconfigurations in three-dimensional morphable structures have a wide range of applications in flexible electronic devices and smart systems with unusual mechanical, acoustic, and thermal properties. However, achieving the highly controllable anisotropic transformation and dynamic regulation of architected materials crossing different scales remains challenging. Herein, we develop a magnetic regulation approach that provides an enabling technology to achieve the controllable transformation of morphable structures and unveil their dynamic modulation mechanism as well as potential applications. With buckling instability encoded heterogeneous magnetization profiles inside soft architected materials, spatially and temporally programmed magnetic inputs drive the formation of a variety of anisotropic morphological transformations and dynamic geometric reconfiguration. The introduction of magnetic stimulation could help to predetermine the buckling states of soft architected materials, and enable the formation of definite and controllable buckling states without prolonged magnetic stimulation input. The dynamic modulations can be exploited to build systems with switchable fluidic properties and are demonstrated to achieve capabilities of fluidic manipulation, selective particle trapping, sensitivity-enhanced biomedical analysis, and soft robotics. The work provides new insights to harness the programmable and dynamic morphological transformation of soft architected materials and promises benefits in microfluidics, programmable metamaterials, and biomedical applications.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, China.
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Jiachen Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Liu Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, 230026, Hefei, Anhui, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China.
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China.
- Department of Surgery, The Chinese University of Hong Kong, 999077, Hong Kong SAR, China.
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Xia N, Zhu G, Wang X, Dong Y, Zhang L. Multicomponent and multifunctional integrated miniature soft robots. SOFT MATTER 2022; 18:7464-7485. [PMID: 36189642 DOI: 10.1039/d2sm00891b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Guangda Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Yue Dong
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
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