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Fan Y, Shen Y, Zhang W, Zeng G, Liu T, Wang Y, Wang S, Zheng J, Hou X. Electrochemical Redox Synergism-Enhanced Liquid Metal Locomotion for Unrestricted Circuit Substrate Patterning. Angew Chem Int Ed Engl 2025; 64:e202424637. [PMID: 39948716 DOI: 10.1002/anie.202424637] [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: 12/16/2024] [Accepted: 02/13/2025] [Indexed: 02/26/2025]
Abstract
The critical challenge in advancing liquid metal circuits (LMCs) lies in achieving interfacial compatibility with diverse substrates while dynamically balancing fabrication efficiency and quality to ensure robust conductive stability. Here we introduce an electrochemical redox synergistic liquid metal (E-rsLM) that enables the controllable generation of diverse intermetallic bond transition layers (Cu, Au, or Fe-based) between liquid metal and unrestricted substrate surfaces, applicable in pH-universal electrolytes. It involves enhanced locomotion of the liquid metal, driven by synergistic electrochemical energy transduction from cyclic changes in gallium redox states. Characterized by expansion-contraction-expansion, it enables unique self-propelled bouncing, tuning spreading speed (up to ~26.8 mm/s) and elongation rate (up to 1192 %) with a volume of only 80 μL. Additionally, we demonstrate the adaptability of E-rsLM fabrication across 30 different substrates, highlighting its versatility. The patterning displays the superimposed efficiency and self-indicated quality, leading to superior conductivity (with time-cost savings of 30.7 % and 13.4 % in heating-cooling cycles, and a nearly 90 % reduction in output resistance). The practical viability of these circuits is further showcased by the assembly of integrated circuits, marking a significant step in expanding LMCs applications beyond laboratory-scale prototypes.
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Affiliation(s)
- Yi Fan
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
- Gating Inspired Future Technology Co., Ltd., Xiamen, 361005, China
| | - Yigang Shen
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
- Machinery and Smart Structure, Research Center for Micro-Nano Device and System, College of Engineering, Zhejiang Normal University, Jinhua, 321004, China
| | - Wenli Zhang
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
| | - Guochao Zeng
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
| | - Tete Liu
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
| | - Yilan Wang
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
| | - Shuli Wang
- Fujian Engineering Research Center for Solid-State Lighting, Department of Electronic Science, School of Electronic Science and Engineering, Xiamen University, Xiamen, 361005, China
| | - Jing Zheng
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
| | - Xu Hou
- State Key Laboratory of Physical Chemistry of Solid Surfaces, College of Chemistry and Chemical Engineering, Xiamen University, Xiamen, 361005, China
- Institute of Artificial Intelligence, Xiamen University, Xiamen, 361005, China
- Institute of Electrochemical Science and Engineering, Xiamen University, Xiamen, 361005, China
- Research Institute for Biomimetics and Soft Matter, Fujian Provincial Key Laboratory for Soft Functional Materials Research, College of Physical Innovation Laboratory for Sciences and Technologies of Energy Materials of Fujian Province (IKKEM), Xiamen, 361005, China
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2
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Zeng X, Wang Y, Morishima K. Asymmetric-bifurcation snapping, all-or-none motion of Venus flytrap. Sci Rep 2025; 15:4805. [PMID: 39922820 PMCID: PMC11807200 DOI: 10.1038/s41598-024-82156-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/11/2024] [Accepted: 12/03/2024] [Indexed: 02/10/2025] Open
Abstract
The Venus flytrap is a carnivorous plant that catches insects by snapping rapidly and reopening slowly. To understand the mechanism underlying this asymmetrically reversible motion, a three-dimensional laser profiler was used to measure both static morphological information and dynamic movements (500 frames per second) of the Venus flytrap, including its rapid closure and slow re-opening. The mean-curvature differences between the open and closed lobes were recorded and used for morphology and energy evaluations. The effects of geometric parameters such as the length, width, height, and thickness of the lobes on the closing time were analyzed, and the all-or-none motion of the Venus flytrap was examined. Moreover, a mathematical asymmetric-bifurcation buckling model was developed. The Venus flytrap has asymmetric energy states for the closing and opening conditions; therefore, storage of a larger amount of energy makes the re-opening motion slower. These pre-programmed movements of plants can facilitate the development of more intelligent soft robots.
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Affiliation(s)
- Xiangli Zeng
- Department of Mechanical Engineering, Osaka University, Osaka, Japan
| | - Yingzhe Wang
- Department of Mechanical Engineering, Osaka University, Osaka, Japan
| | - Keisuke Morishima
- Department of Mechanical Engineering, Osaka University, Osaka, Japan.
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3
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Li N, Yuan X, Li Y, Zhang G, Yang Q, Zhou Y, Guo M, Liu J. Bioinspired Liquid Metal Based Soft Humanoid Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2404330. [PMID: 38723269 DOI: 10.1002/adma.202404330] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/25/2024] [Revised: 05/07/2024] [Indexed: 08/29/2024]
Abstract
The pursuit of constructing humanoid robots to replicate the anatomical structures and capabilities of human beings has been a long-standing significant undertaking and especially garnered tremendous attention in recent years. However, despite the progress made over recent decades, humanoid robots have predominantly been confined to those rigid metallic structures, which however starkly contrast with the inherent flexibility observed in biological systems. To better innovate this area, the present work systematically explores the value and potential of liquid metals and their derivatives in facilitating a crucial transition towards soft humanoid robots. Through a comprehensive interpretation of bionics, an overview of liquid metals' multifaceted roles as essential components in constructing advanced humanoid robots-functioning as soft actuators, sensors, power sources, logical devices, circuit systems, and even transformable skeletal structures-is presented. It is conceived that the integration of these components with flexible structures, facilitated by the unique properties of liquid metals, can create unexpected versatile functionalities and behaviors to better fulfill human needs. Finally, a revolution in humanoid robots is envisioned, transitioning from metallic frameworks to hybrid soft-rigid structures resembling that of biological tissues. This study is expected to provide fundamental guidance for the coming research, thereby advancing the area.
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Affiliation(s)
- Nan Li
- State Key Laboratory of Cryogenic Science and Technology, 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
| | - Xiaohong Yuan
- School of Economics and Business Administration, Chongqing University, Chongqing, 400044, China
| | - Yuqing Li
- State Key Laboratory of Cryogenic Science and Technology, 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
| | - Guangcheng Zhang
- State Key Laboratory of Cryogenic Science and Technology, 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
| | - Qianhong Yang
- State Key Laboratory of Cryogenic Science and Technology, 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
| | - Yingxin Zhou
- State Key Laboratory of Cryogenic Science and Technology, 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
| | - Minghui Guo
- State Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, 100190, China
| | - Jing Liu
- State Key Laboratory of Cryogenic Science and Technology, 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 Biomedical Engineering, Tsinghua University, Beijing, 100084, China
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4
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Agarwal R, Mohamad A. Gallium-based liquid metals as smart responsive materials: Morphological forms and stimuli characterization. Adv Colloid Interface Sci 2024; 329:103183. [PMID: 38788305 DOI: 10.1016/j.cis.2024.103183] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/01/2023] [Revised: 04/02/2024] [Accepted: 05/11/2024] [Indexed: 05/26/2024]
Abstract
Gallium-based liquid metals (GaLMs) have garnered monumental attention from the scientific community due to their diverse actuation characteristics. These metals possess remarkable characteristics, including high surface tension, excellent electrical and thermal conductivity, phase transformation behaviour, minimal viscosity and vapour pressure, lack of toxicity, and biocompatibility. In addition, GaLMs have melting points that are either lower or near room temperature, making them incredibly beneficial when compared to solid metals since they can be easily deformed. Thus, there has been significant progress in developing multifunctional devices using GaLMs, including bio-devices, flexible and self-healing circuits, and actuators. Despite numerous reports on these liquid metals (LMs), there is an urgent need for consolidated and coherent literature regarding their actuation principles linked to the targeted application. This will ensure that the reader gets the flavour of physics behind the actuation mechanism and how it can be utilized in diverse fields. Moreover, the actuation mechanism has been scattered in the literature, and thus, the primary motive of this review is to provide a one-stop solution for the actuation mechanism and the associated dynamics while directing the readers to specialized literature. Thus, addressing this issue, we thoroughly examine and present a detailed account of the actuation mechanisms of GaLMs while highlighting the science behind them. We also discuss the various morphologies of GaLMs and their crucial physical characteristics which decide their targeted application. Furthermore, we also delve into commonly held beliefs about GaLMs in the literature, such as their toxicity and antibacterial properties, to offer readers a more accurate understanding. Finally, we have explored several key unanswered aspects of the LM that should be explored in future research. The core strength of this review lies in its simplistic approach in offering a starting point for researchers venturing this innovative field, while we make use of existing literature to develop a comprehensive understanding.
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Affiliation(s)
- Rahul Agarwal
- Department of Mechanical and Manufacturing Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, Canada.
| | - Abdulmajeed Mohamad
- Department of Mechanical and Manufacturing Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, Canada.
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5
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Xia X, Cao X, Zhang B, Zhang L, Dong J, Qin J, Xuan P, Liu L, Sun Y, Fan W, Ling S, Hofkens J, Lai F, Liu T. Human Skin-Mimicking Ionogel-Based Electronic Skin for Intelligent Robotic Sorting. Macromol Rapid Commun 2024:e2400379. [PMID: 38940242 DOI: 10.1002/marc.202400379] [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: 05/24/2024] [Revised: 06/26/2024] [Indexed: 06/29/2024]
Abstract
Creating bionic intelligent robotic systems that emulate human-like skin perception presents a considerable scientific challenge. This study introduces a multifunctional bionic electronic skin (e-skin) made from polyacrylic acid ionogel (PAIG), designed to detect human motion signals and transmit them to robotic systems for recognition and classification. The PAIG is synthesized using a suspension of liquid metal and graphene oxide nanosheets as initiators and cross-linkers. The resulting PAIGs demonstrate excellent mechanical properties, resistance to freezing and drying, and self-healing capabilities. Functionally, the PAIG effectively captures human motion signals through electromechanical sensing. Furthermore, a bionic intelligent sorting robot system is developed by integrating the PAIG-based e-skin with a robotic manipulator. This system leverages its ability to detect frictional electrical signals, enabling precise identification and sorting of materials. The innovations presented in this study hold significant potential for applications in artificial intelligence, rehabilitation training, and intelligent classification systems.
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Affiliation(s)
- Xuemeng Xia
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Xinyi Cao
- School of Physical Science and Technology, ShanghaiTech University, 393 Middle Huaxia Road, Shanghai, 201210, P. R. China
| | - Bao Zhang
- Institute of Polymer Materials, School of Materials Science and Engineering, South China University of Technology, Guangzhou, Guangdong, 510641, P. R. China
| | - Leiqian Zhang
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Jiancheng Dong
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Jingjing Qin
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Pengyang Xuan
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Leyao Liu
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Yi Sun
- School of Physical Science and Technology, ShanghaiTech University, 393 Middle Huaxia Road, Shanghai, 201210, P. R. China
| | - Wei Fan
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
| | - Shengjie Ling
- School of Physical Science and Technology, ShanghaiTech University, 393 Middle Huaxia Road, Shanghai, 201210, P. R. China
| | - Johan Hofkens
- Department of Chemistry, KU Leuven, Celestijnenlaan 200F, Leuven, 3001, Belgium
- Department of Molecular Spectroscopy, Max Planck Institute for Polymer Research, Ackermannweg 10, 55128, Mainz, Germany
| | - Feili Lai
- Department of Chemistry, KU Leuven, Celestijnenlaan 200F, Leuven, 3001, Belgium
- State Key Laboratory of Metal Matrix Composites, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, P. R. China
| | - Tianxi Liu
- Key Laboratory of Synthetic and Biological Colloids, Ministry of Education, School of Chemical and Material Engineering, International Joint Research Laboratory for Nano Energy Composites, Jiangnan University, Wuxi, 214122, P. R. China
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6
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Wu B, Si M, Hua L, Zhang D, Li W, Zhao C, Lu W, Chen T. Cephalopod-Inspired Chemical-Gated Hydrogel Actuation Systems for Information 3D-Encoding Display. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2401659. [PMID: 38533903 DOI: 10.1002/adma.202401659] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Revised: 03/14/2024] [Indexed: 03/28/2024]
Abstract
Cephalopods evolve the acetylcholine-gated actuation control function of their skin muscles, which enables their dynamic/static multimode display capacities for achieving perfectly spatial control over the colors/patterns on every inch of skin. Reproduction of artificial analogs that exhibit similar multimodal display is essential to reach advanced information three-dimensional (3D) encoding with higher security than the classic 2D-encoding strategy, but remains underdeveloped. The core difficulty is how to replicate such chemical-gated actuation control function into artificial soft actuating systems. Herein, this work proposes to develop azobenzene-functionalized poly(acrylamide) (PAAm) hydrogel systems, whose upper critical solution temperature (UCST) type actuation responsiveness can be intelligently programmed or even gated by the addition of hydrophilic α-cyclodextrin (α-CD) molecules for reversible association with pendant azobenzene moieties via supramolecular host-guest interactions. By employing such α-CD-gated hydrogel actuator as an analogue of cephalopods' skin muscle, biomimetic mechanically modulated multicolor fluorescent display systems are designed, which demonstrate a conceptually new α-CD-gated "thermal stimulation-hydrogel actuation-fluorescence output" display mechanism. Consequently, high-security 3D-encoding information carriers with an unprecedented combination of single-input multiple-output, dynamic/static dual-mode and spatially controlled display capacities are achieved. This bioinspired strategy brings functional-integrated features for artificial display systems and opens previously unidentified avenues for information security.
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Affiliation(s)
- Baoyi Wu
- Laboratory of Advanced Marine Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing, 100049, China
| | - Muqing Si
- Laboratory of Advanced Marine Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing, 100049, China
| | - Luqin Hua
- School of Materials Science & Chemical Engineering, Ningbo University, Ningbo, 315211, China
| | - Dong Zhang
- The Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology and Emory University, Atlanta, GA, 30332, USA
| | - Wanning Li
- Laboratory of Advanced Marine Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing, 100049, China
| | - Chuanzhuang Zhao
- School of Materials Science & Chemical Engineering, Ningbo University, Ningbo, 315211, China
| | - Wei Lu
- Laboratory of Advanced Marine Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing, 100049, China
| | - Tao Chen
- Laboratory of Advanced Marine Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China
- School of Chemical Sciences, University of Chinese Academy of Sciences, 19A Yuquan Road, Beijing, 100049, China
- College of Material Chemistry and Chemical Engineering, Key Laboratory of Organosilicon Chemistry and Material Technology, Ministry of Education, Hangzhou Normal University, Hangzhou, 311121, China
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7
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Kong X, Dong M, Du M, Qian J, Yin J, Zheng Q, Wu ZL. Recent Progress in 3D Printing of Polymer Materials as Soft Actuators and Robots. CHEM & BIO ENGINEERING 2024; 1:312-329. [PMID: 39974466 PMCID: PMC11835162 DOI: 10.1021/cbe.4c00028] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Revised: 04/06/2024] [Accepted: 04/06/2024] [Indexed: 02/21/2025]
Abstract
With inspiration from natural systems, various soft actuators and robots have been explored in recent years with versatile applications in biomedical and engineering fields. Soft active materials with rich stimulus-responsive characteristics have been an ideal candidate to devise these soft machines by using different manufacturing technologies. Among these technologies, three-dimensional (3D) printing shows advantages in fabricating constructs with multiple materials and sophisticated architectures. In this Review, we aim to provide an overview of recent progress on 3D printing of soft materials, robotics performances, and representative applications. Typical 3D printing techniques are briefly introduced, followed by state-of-the-art advances in 3D printing of hydrogels, shape memory polymers, liquid crystalline elastomers, and their hybrids as soft actuators and robots. From the perspective of material properties, the commonly used printing techniques and action-generation principles for typical printed constructs are discussed. Actuation performances, locomotive behaviors, and representative applications of printed soft materials are summarized. The relationship between printing structures and action performances of soft actuators and robots is also briefly discussed. Finally, the advantages and limitations of each soft material are compared, and the remaining challenges and future directions in this field are prospected.
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Affiliation(s)
- Xiangren Kong
- Key
Laboratory of Soft Machines and Smart Devices of Zhejiang Province,
Department of Engineering Mechanics, Zhejiang
University, Hangzhou 310027, China
- Ministry
of Education Key Laboratory of Macromolecular Synthesis and Functionalization,
Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310058, China
| | - Min Dong
- Ministry
of Education Key Laboratory of Macromolecular Synthesis and Functionalization,
Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310058, China
| | - Miao Du
- Ministry
of Education Key Laboratory of Macromolecular Synthesis and Functionalization,
Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310058, China
| | - Jin Qian
- Key
Laboratory of Soft Machines and Smart Devices of Zhejiang Province,
Department of Engineering Mechanics, Zhejiang
University, Hangzhou 310027, China
| | - Jun Yin
- The
State Key Laboratory of Fluid Power and Mechatronic Systems, Key Laboratory
of 3D Printing Process and Equipment of Zhejiang Province, School
of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Qiang Zheng
- Ministry
of Education Key Laboratory of Macromolecular Synthesis and Functionalization,
Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310058, China
| | - Zi Liang Wu
- Ministry
of Education Key Laboratory of Macromolecular Synthesis and Functionalization,
Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310058, China
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8
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Chen G, Ma B, Chen Y, Chen Y, Zhang J, Liu H. Soft Robots with Plant-Inspired Gravitropism Based on Fluidic Liquid Metal. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2306129. [PMID: 38447146 PMCID: PMC11095172 DOI: 10.1002/advs.202306129] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/17/2023] [Revised: 01/24/2024] [Indexed: 03/08/2024]
Abstract
Plants can autonomously adjust their growth direction based on the gravitropic response to maximize energy acquisition, despite lacking nerves and muscles. Endowing soft robots with gravitropism may facilitate the development of self-regulating systems free of electronics, but remains elusive. Herein, acceleration-regulated soft actuators are described that can respond to the gravitational field by leveraging the unique fluidity of liquid metal in its self-limiting oxide skin. The soft actuator is obtained by magnetic printing of the fluidic liquid metal heater circuit on a thermoresponsive liquid crystal elastomer. The Joule heat of the liquid metal circuit with gravity-regulated resistance can be programmed by changing the actuator's pose to induce the flow of liquid metal. The actuator can autonomously adjust its bending degree by the dynamic interaction between its thermomechanical response and gravity. A gravity-interactive soft gripper is also created with controllable grasping and releasing by rotating the actuator. Moreover, it is demonstrated that self-regulated oscillation motion can be achieved by interfacing the actuator with a monostable tape spring, allowing the electronics-free control of a bionic walker. This work paves the avenue for the development of liquid metal-based reconfigurable electronics and electronics-free soft robots that can perceive gravity or acceleration.
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Affiliation(s)
- Gangsheng Chen
- State Key Laboratory of Digital Medical EngineeringSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing210096China
| | - Biao Ma
- State Key Laboratory of Digital Medical EngineeringSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing210096China
| | - Yi Chen
- State Key Laboratory of Digital Medical EngineeringSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing210096China
| | - Yanjie Chen
- State Key Laboratory of Digital Medical EngineeringSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing210096China
| | - Jin Zhang
- State Key Laboratory of Digital Medical EngineeringSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing210096China
| | - Hong Liu
- State Key Laboratory of Digital Medical EngineeringSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing210096China
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9
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Yang Y, Shen Y. A liquid metal-based module emulating the intelligent preying logic of flytrap. Nat Commun 2024; 15:3398. [PMID: 38649382 PMCID: PMC11035631 DOI: 10.1038/s41467-024-47791-7] [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: 10/09/2023] [Accepted: 04/11/2024] [Indexed: 04/25/2024] Open
Abstract
Plant species like the Venus flytrap possess unique abilities to intelligently respond to various external stimuli, ensuring successful prey capture. Their nerve-devoided structure provides valuable insights for exploring natural intelligence and constructing intelligent systems solely from materials, but limited knowledge is currently available and the engineering realization of such concept remains a significant challenge. Drawing upon the flytrap's action potential resulting from ion diffusion, we propose a signal accumulation/attenuation model and a corresponding liquid metal-based logic module, which operates on the basis of the shape change of liquid metal within a sodium hydroxide buffer solution. The module itself exhibits memory and counting properties without involving any other electronic components, intelligently responding to various stimulus sequences, and reproducing the flytrap's most logical function. We also demonstrate and forecast its potential as a moving window integration-based high-pass filter, artificial synapse in neural networks, and other related applications. This research provides a fresh perspective on comprehending the intelligence inherent in nature and its realization through physical structures, which is expected to inspire logic device development in a broad engineering field.
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Affiliation(s)
- Yuanyuan Yang
- School of Aerospace Engineering, Xiamen University, Xiamen, China
| | - Yajing Shen
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China.
- Center for Smart Manufacturing, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong, China.
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10
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Zhao Z, Wu Q, Wang J, Zhang B, Zhong C, Zhilenkov AA. Exploring Embodied Intelligence in Soft Robotics: A Review. Biomimetics (Basel) 2024; 9:248. [PMID: 38667259 PMCID: PMC11047907 DOI: 10.3390/biomimetics9040248] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Revised: 04/08/2024] [Accepted: 04/16/2024] [Indexed: 04/28/2024] Open
Abstract
Soft robotics is closely related to embodied intelligence in the joint exploration of the means to achieve more natural and effective robotic behaviors via physical forms and intelligent interactions. Embodied intelligence emphasizes that intelligence is affected by the synergy of the brain, body, and environment, focusing on the interaction between agents and the environment. Under this framework, the design and control strategies of soft robotics depend on their physical forms and material properties, as well as algorithms and data processing, which enable them to interact with the environment in a natural and adaptable manner. At present, embodied intelligence has comprehensively integrated related research results on the evolution, learning, perception, decision making in the field of intelligent algorithms, as well as on the behaviors and controls in the field of robotics. From this perspective, the relevant branches of the embodied intelligence in the context of soft robotics were studied, covering the computation of embodied morphology; the evolution of embodied AI; and the perception, control, and decision making of soft robotics. Moreover, on this basis, important research progress was summarized, and related scientific problems were discussed. This study can provide a reference for the research of embodied intelligence in the context of soft robotics.
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Affiliation(s)
- Zikai Zhao
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310018, China; (Z.Z.)
| | - Qiuxuan Wu
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310018, China; (Z.Z.)
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
- International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou 310018, China
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, 190121 Sankt-Petersburg, Russia;
| | - Jian Wang
- HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou 310018, China; (Z.Z.)
- International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou 310018, China
| | - Botao Zhang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
- International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou 310018, China
| | - Chaoliang Zhong
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
| | - Anton A. Zhilenkov
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, 190121 Sankt-Petersburg, Russia;
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11
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Liang Z, Jin B, Zhao H, He Z, Jiang Z, Jiang S. Rotini-like MXene@LCE Actuator with Diverse and Programmable Actuation Based on Dual-mode Synergy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305371. [PMID: 38018306 DOI: 10.1002/smll.202305371] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 10/22/2023] [Indexed: 11/30/2023]
Abstract
Liquid crystalline elastomer (LCE) exhibits muscle-like actuation upon order-disturbed stimulus, offering ample room for designing soft robotic systems. Multimodal LCE is demonstrated to unleash the potential to perform multitasks. However, each actuation mode is typically isolated. In contrast, coordination between different actuation modes based on an MXene-doped LCE is realized, whose actuation can be triggered either by directly heating/cooling or using near-infrared light due to the photo-thermal effect of MXene. As such, the two activation modes (heat and light) not only can work individually to offer stable actuation under different conditions but also can collaborate synergistically to generate more intelligent motions, such as achieving the brake and turn of an autonomous rolling. The principle therefore can diversify the design principles for multifunctional soft actuators and robotics.
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Affiliation(s)
- Ziwei Liang
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
| | - Binjie Jin
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Haotian Zhao
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
| | - Zhenhua He
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
| | - Zhanghe Jiang
- Guangzhou Academy of Special Mechanical and Electrical Equipment Inspection & Testing, Guangzhou, 510180, China
| | - Saihua Jiang
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
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12
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Damoc M, Tiron V, Tugui C, Varganici CD, Stoica AC, Novitchi G, Dascalu M, Cazacu M. Ferronematic Co(II) Complex: An Active Filler for Magnetically Actuated Soft Materials. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2307006. [PMID: 37992252 DOI: 10.1002/smll.202307006] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/15/2023] [Revised: 11/08/2023] [Indexed: 11/24/2023]
Abstract
Ferronematics that are generally based on nematic liquid crystals (LCs) doped with magnetic nanoparticles, synergistically taking advantage of the anisotropic and flow characteristics of the nematic host and the magnetic susceptibility of the dopant, have powerful applications as magnetically actuated soft materials. In this work, a Co(II) complex, which alone presents both characteristics, is built with a salen-type ligand 3,5-dichlorosubstituted at the aromatic nuclei and has a tetramethyldisiloxane spacer, which makes it one of the few metallomesogens containing this structural motif. Paramagnetic crystals, through heat treatment above 110 °C, change into magnetic nematic LCs. Applying a perpendicular magnetic field of 50 mT, the nematic droplets align two by two through dipole-dipole interactions. By incorporating it into a silicone matrix consisting mainly of polydimethylsiloxane, a 3D printable ink is formulated and crosslinked under various shapes. In this environment, the cobalt complex is stabilized in an LC state at room temperature and, due to its anisotropy, facilitates the mechanical response to magnetic stimuli. The resulting objects can be easily manipulated on fluid or rough surfaces using external magnetic fields, behave like magnets by themselves, and show reversible locomotion.
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Affiliation(s)
- Madalin Damoc
- Department of Inorganic Polymers, "Petru Poni" Institute of Macromolecular Chemistry, Aleea Gr. Ghica Voda 41A, Iasi, 700487, Romania
| | - Vasile Tiron
- Research Center on Advanced Materials and Technologies, Department of Exact and Natural Sciences, Institute of Interdisciplinary Research, Alexandru Ioan Cuza University of Iasi, Blvd. Carol no. 11, Iasi, 700506, Romania
| | - Codrin Tugui
- Department of Inorganic Polymers, "Petru Poni" Institute of Macromolecular Chemistry, Aleea Gr. Ghica Voda 41A, Iasi, 700487, Romania
| | - Cristian-Dragos Varganici
- Centre of Advanced Research in Bionanoconjugates and Biopolymers, "Petru Poni" Institute of Macromolecular Chemistry, Aleea Gr. Ghica Voda 41A, Iasi, 700487, Romania
| | - Alexandru-Constantin Stoica
- Department of Inorganic Polymers, "Petru Poni" Institute of Macromolecular Chemistry, Aleea Gr. Ghica Voda 41A, Iasi, 700487, Romania
| | - Ghenadie Novitchi
- Laboratoire National des Champs Magnétiques Intenses, CNRS UPR 3228, 25 Rue des Martyrs, Grenoble, 38042, France
| | - Mihaela Dascalu
- Department of Inorganic Polymers, "Petru Poni" Institute of Macromolecular Chemistry, Aleea Gr. Ghica Voda 41A, Iasi, 700487, Romania
| | - Maria Cazacu
- Department of Inorganic Polymers, "Petru Poni" Institute of Macromolecular Chemistry, Aleea Gr. Ghica Voda 41A, Iasi, 700487, Romania
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13
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Sakorikar T, Mihaliak N, Krisnadi F, Ma J, Kim TI, Kong M, Awartani O, Dickey MD. A Guide to Printed Stretchable Conductors. Chem Rev 2024; 124:860-888. [PMID: 38291556 DOI: 10.1021/acs.chemrev.3c00569] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/01/2024]
Abstract
Printing of stretchable conductors enables the fabrication and rapid prototyping of stretchable electronic devices. For such applications, there are often specific process and material requirements such as print resolution, maximum strain, and electrical/ionic conductivity. This review highlights common printing methods and compatible inks that produce stretchable conductors. The review compares the capabilities, benefits, and limitations of each approach to help guide the selection of a suitable process and ink for an intended application. We also discuss methods to design and fabricate ink composites with the desired material properties (e.g., electrical conductance, viscosity, printability). This guide should help inform ongoing and future efforts to create soft, stretchable electronic devices for wearables, soft robots, e-skins, and sensors.
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Affiliation(s)
- Tushar Sakorikar
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Nikolas Mihaliak
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Febby Krisnadi
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Jinwoo Ma
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Tae-Il Kim
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
- School of Chemical Engineering, Sungkyunkwan University (SKKU), Suwon, Gyeonggi 16419, South Korea
| | - Minsik Kong
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
- Department of Materials Science and Engineering, Pohang University of Science and Technology (POSTECH), Pohang, 37673, Republic of Korea
| | - Omar Awartani
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
| | - Michael D Dickey
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, North Carolina 27695, United States
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14
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Liao J, Majidi C, Sitti M. Liquid Metal Actuators: A Comparative Analysis of Surface Tension Controlled Actuation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2300560. [PMID: 37358049 DOI: 10.1002/adma.202300560] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/18/2023] [Revised: 06/09/2023] [Indexed: 06/27/2023]
Abstract
Liquid metals, with their unique combination of electrical and mechanical properties, offer great opportunities for actuation based on surface tension modulation. Thanks to the scaling laws of surface tension, which can be electrochemically controlled at low voltages, liquid metal actuators stand out from other soft actuators for their remarkable characteristics such as high contractile strain rates and higher work densities at smaller length scales. This review summarizes the principles of liquid metal actuators and discusses their performance as well as theoretical pathways toward higher performances. The objective is to provide a comparative analysis of the ongoing development of liquid metal actuators. The design principles of the liquid metal actuators are analyzed, including low-level elemental principles (kinematics and electrochemistry), mid-level structural principles (reversibility, integrity, and scalability), and high-level functionalities. A wide range of practical use cases of liquid metal actuators from robotic locomotion and object manipulation to logic and computation is reviewed. From an energy perspective, strategies are compared for coupling the liquid metal actuators with an energy source toward fully untethered robots. The review concludes by offering a roadmap of future research directions of liquid metal actuators.
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Affiliation(s)
- Jiahe Liao
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
| | - Carmel Majidi
- Robotics Institute, Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, 15213, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich, 8092, Switzerland
- School of Medicine, College of Engineering, Koç University, Istanbul, 34450, Turkey
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15
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Antezana PE, Municoy S, Ostapchuk G, Catalano PN, Hardy JG, Evelson PA, Orive G, Desimone MF. 4D Printing: The Development of Responsive Materials Using 3D-Printing Technology. Pharmaceutics 2023; 15:2743. [PMID: 38140084 PMCID: PMC10747900 DOI: 10.3390/pharmaceutics15122743] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/10/2023] [Revised: 12/01/2023] [Accepted: 12/04/2023] [Indexed: 12/24/2023] Open
Abstract
Additive manufacturing, widely known as 3D printing, has revolutionized the production of biomaterials. While conventional 3D-printed structures are perceived as static, 4D printing introduces the ability to fabricate materials capable of self-transforming their configuration or function over time in response to external stimuli such as temperature, light, or electric field. This transformative technology has garnered significant attention in the field of biomedical engineering due to its potential to address limitations associated with traditional therapies. Here, we delve into an in-depth review of 4D-printing systems, exploring their diverse biomedical applications and meticulously evaluating their advantages and disadvantages. We emphasize the novelty of this review paper by highlighting the latest advancements and emerging trends in 4D-printing technology, particularly in the context of biomedical applications.
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Affiliation(s)
- Pablo Edmundo Antezana
- Universidad de Buenos Aires, Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), Instituto de la Química y Metabolismo del Fármaco (IQUIMEFA), Facultad de Farmacia y Bioquímica Junín 956, Piso 3, Buenos Aires 1113, Argentina; (P.E.A.); (S.M.)
- Universidad de Buenos Aires, Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), Instituto de Bioquímica y Medicina Molecular (IBIMOL), Facultad de Farmacia y Bioquímica, Buenos Aires 1428, Argentina;
| | - Sofia Municoy
- Universidad de Buenos Aires, Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), Instituto de la Química y Metabolismo del Fármaco (IQUIMEFA), Facultad de Farmacia y Bioquímica Junín 956, Piso 3, Buenos Aires 1113, Argentina; (P.E.A.); (S.M.)
| | - Gabriel Ostapchuk
- Instituto de Nanociencia y Nanotecnología (CNEA-CONICET), Nodo Constituyentes, Av. Gral. Paz 1499 (B1650KNA), San Martín, Buenos Aires 8400, Argentina; (G.O.); (P.N.C.)
- Departamento de Micro y Nanotecnología, Gerencia de Desarrollo Tecnológico y Proyectos Especiales, Gerencia de Área de Investigación, Desarrollo e Innovación, Centro Atómico Constituyentes, Comisión Nacional de Energía Atómica, Av. Gral. Paz 1499 (B1650KNA), San Martín, Buenos Aires 8400, Argentina
| | - Paolo Nicolás Catalano
- Instituto de Nanociencia y Nanotecnología (CNEA-CONICET), Nodo Constituyentes, Av. Gral. Paz 1499 (B1650KNA), San Martín, Buenos Aires 8400, Argentina; (G.O.); (P.N.C.)
- Departamento de Micro y Nanotecnología, Gerencia de Desarrollo Tecnológico y Proyectos Especiales, Gerencia de Área de Investigación, Desarrollo e Innovación, Centro Atómico Constituyentes, Comisión Nacional de Energía Atómica, Av. Gral. Paz 1499 (B1650KNA), San Martín, Buenos Aires 8400, Argentina
- Universidad de Buenos Aires, Facultad de Farmacia y Bioquímica, Departamento de Ciencias Químicas, Cátedra de Química Analítica Instrumental, Junín 954, Buenos Aires 1113, Argentina
| | - John G. Hardy
- Materials Science Institute, Lancaster University, Lancaster LA1 4YB, UK;
- Department of Chemistry, Faraday Building, Lancaster University, Lancaster LA1 4YB, UK
| | - Pablo Andrés Evelson
- Universidad de Buenos Aires, Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), Instituto de Bioquímica y Medicina Molecular (IBIMOL), Facultad de Farmacia y Bioquímica, Buenos Aires 1428, Argentina;
| | - Gorka Orive
- NanoBioCel Research Group, School of Pharmacy, University of the Basque Country (UPV/EHU), 01006 Vitoria-Gasteiz, Spain;
- Bioaraba, NanoBioCel Research Group, 01009 Vitoria-Gasteiz, Spain
- Biomedical Research Networking Centre in Bioengineering, Biomaterials and Nanomedicine (CIBER-BBN), Institute of Health Carlos III, Av Monforte de Lemos 3-5, 28029 Madrid, Spain
- University Institute for Regenerative Medicine and Oral Implantology—UIRMI (UPV/EHU-Fundación Eduardo Anitua), 01007 Vitoria-Gasteiz, Spain
| | - Martin Federico Desimone
- Universidad de Buenos Aires, Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), Instituto de la Química y Metabolismo del Fármaco (IQUIMEFA), Facultad de Farmacia y Bioquímica Junín 956, Piso 3, Buenos Aires 1113, Argentina; (P.E.A.); (S.M.)
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16
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Shan Y, Zhao Y, Wang H, Dong L, Pei C, Jin Z, Sun Y, Liu T. Variable stiffness soft robotic gripper: design, development, and prospects. BIOINSPIRATION & BIOMIMETICS 2023; 19:011001. [PMID: 37948756 DOI: 10.1088/1748-3190/ad0b8c] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Accepted: 11/10/2023] [Indexed: 11/12/2023]
Abstract
The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules. To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact, lines contact, surfaces contact, and full-bodies contact, elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.
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Affiliation(s)
- Yu Shan
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yanzhi Zhao
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Haobo Wang
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Liming Dong
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Changlei Pei
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Zhaopeng Jin
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yue Sun
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Tao Liu
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
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17
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Fan X, Zhang Y, Wu Z, Xie H, Sun L, Chen T, Yang Z. Combined three dimensional locomotion and deformation of functional ferrofluidic robots. NANOSCALE 2023. [PMID: 37982182 DOI: 10.1039/d3nr02535g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/21/2023]
Abstract
Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.
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Affiliation(s)
- Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
| | - Yunfei Zhang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Lining Sun
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
| | - Tao Chen
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
- School of Future Science and Engineering, Soochow University, No. 1, Jiuyongxi Road, Suzhou 215222, China.
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
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18
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Lee J, So H. Aphid-Inspired and Thermally-Actuated Soft Gripper Using 3D Printing Technology. Macromol Rapid Commun 2023; 44:e2300352. [PMID: 37594907 DOI: 10.1002/marc.202300352] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/16/2023] [Revised: 07/31/2023] [Indexed: 08/20/2023]
Abstract
Herein, a thermo-actuated aphid-inspired dry adhesive (TADA) that offers tunable and reversible adhesion is reported. It is easily fabricated through 3D printing using a polylactic acid (PLA) filament and silicone elastomer, avoiding the use of unfavorable methods for micro- and nanofabrication and unwanted particles for actuation. The tunable adhesive system mimics aphid biology to achieve adhesion switchability. Switching between adhesion states is enabled by the thermo-actuated PLA, which has shape memory properties. Additionally, silicone elastomer enables adherence to flat substrates such as glass, silicon wafers, and acrylic plates. The detachment time of the TADA can be controlled by changing the printing layer height, which is a 3D-printing parameter that results in a short detachment time when the printing layer height is small. The adhesion strength is measured by applying different preloads and varying the size of the adhesive area. The reversibility between the adhesion-on and adhesion-off states, revealing good repeatability with similar adhesion strengths is also demonstrated. The TADA has potential applications in transferring silicon wafers. In addition, it can be printed to fit a flat plate of any shape, enabling it to grip the plate stably.
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Affiliation(s)
- Jihun Lee
- Department of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea
| | - Hongyun So
- Department of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea
- Institute of Nano Science and Technology, Hanyang University, Seoul, 04763, South Korea
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19
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Liang S, Yang J, Li F, Xie S, Song N, Hu L. Recent progress in liquid metal printing and its applications. RSC Adv 2023; 13:26650-26662. [PMID: 37681047 PMCID: PMC10481125 DOI: 10.1039/d3ra04356h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Accepted: 08/31/2023] [Indexed: 09/09/2023] Open
Abstract
This paper focuses on the latest research printing technology and broad application for flexible liquid metal (LM) materials. Through the newest template printing method, centrifugal force assisted method, pen lithography technology, and laser method, the precision of liquid metal printing on the devices was improved to 10 nm. The development of novel liquid metal inks, such as PVA-LM ink and ethanol/PDMS/LM double emulsion ink, have further enhanced the recovery, rapid printing, high conductivity, and strain resistance. At the same time, liquid metals also show promise in the application of biochemical sensors, photocatalysts, composite materials, driving machines, and electrode materials. Liquid metals have been applied to biomedical, pressure/gas, and electrochemical sensors. The sensitivity, biostability, and electrochemical performance of these LM sensors were improved rapidly. They could continue to be used in healthy respiratory, heartbeat monitoring, and dopamine detection. Meanwhile, the applications of liquid metal droplets in catalytic-assisted MoS2 deposition, catalytic growth of two-dimensional (2D) lamellar, catalytic free radical polymerization, catalytic hydrogen absorption/dehydrogenation, photo/electrocatalysis, and other fields were also summarized. Through improving liquid metal composites, magnetic, thermal, electrical, and tensile enhancement alloys, and shape memory alloys with excellent properties could also be prepared. Finally, the applications of liquid metal in micro-motors, intelligent robot feet, nanorobots, self-actuation, and electrode materials were also summarized. This paper comprehensively summarizes the practical application of liquid metals in different fields, which helps understand LMs development trends, and lays a foundation for subsequent research.
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Affiliation(s)
- Shuting Liang
- College of Chemical and Environmental Engineering, Chongqing Key Laboratory of Environmental Materials & Remediation Technologies, Chongqing University of Arts and Sciences Chongqing 402160 PR China
- Key Laboratory of Intelligent Textile and Flexible Interconnection of Zhejiang Province Hangzhou 310018 China
| | - Jie Yang
- College of Chemical and Environmental Engineering, Chongqing Key Laboratory of Environmental Materials & Remediation Technologies, Chongqing University of Arts and Sciences Chongqing 402160 PR China
| | - Fengjiao Li
- Shenzhen Automotive Research Institute, Beijing Institute of Technology Shenzhen 518118 PR China
| | - Shunbi Xie
- College of Chemical and Environmental Engineering, Chongqing Key Laboratory of Environmental Materials & Remediation Technologies, Chongqing University of Arts and Sciences Chongqing 402160 PR China
| | - Na Song
- Department of Oncology, Chongqing Municipal Chinese Medicine Hospital Chongqing 400021 China
| | - Liang Hu
- Key Laboratory of Biomechanics and Mechanobiology, School of Biological Science and Medical Engineering, Beihang University Beijing 100083 PR China
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20
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Zheng L, Hart N, Zeng Y. Micro-/nanoscale robotics for chemical and biological sensing. LAB ON A CHIP 2023; 23:3741-3767. [PMID: 37496448 PMCID: PMC10530003 DOI: 10.1039/d3lc00404j] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/28/2023]
Abstract
The field of micro-/nanorobotics has attracted extensive interest from a variety of research communities and witnessed enormous progress in a broad array of applications ranging from basic research to global healthcare and to environmental remediation and protection. In particular, micro-/nanoscale robots provide an enabling platform for the development of next-generation chemical and biological sensing modalities, owing to their unique advantages as programmable, self-sustainable, and/or autonomous mobile carriers to accommodate and promote physical and chemical processes. In this review, we intend to provide an overview of the state-of-the-art development in this area and share our perspective in the future trend. This review starts with a general introduction of micro-/nanorobotics and the commonly used methods for propulsion of micro-/nanorobots in solution, along with the commonly used methods in their fabrication. Next, we comprehensively summarize the current status of the micro/nanorobotic research in relevance to chemical and biological sensing (e.g., motion-based sensing, optical sensing, and electrochemical sensing). Following that, we provide an overview of the primary challenges currently faced in the micro-/nanorobotic research. Finally, we conclude this review by providing our perspective detailing the future application of soft robotics in chemical and biological sensing.
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Affiliation(s)
- Liuzheng Zheng
- Department of Chemistry, University of Florida, Gainesville, Florida, 32611, USA.
| | - Nathan Hart
- Department of Chemistry, University of Florida, Gainesville, Florida, 32611, USA.
| | - Yong Zeng
- Department of Chemistry, University of Florida, Gainesville, Florida, 32611, USA.
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21
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Zhang X, Liao W, Wang Y, Yang Z. Thermal-Responsive Liquid Crystal Elastomer Foam-based Compressible and Omnidirectional Gripper. Chem Asian J 2023; 18:e202300340. [PMID: 37325932 DOI: 10.1002/asia.202300340] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/19/2023] [Revised: 06/13/2023] [Accepted: 06/15/2023] [Indexed: 06/17/2023]
Abstract
Liquid crystal elastomers (LCEs) are considered to be a promising material for the fabrication of soft grippers because of their large and reversible deformations, an LCE gripper with suitable compressibility and omnidirectionality has not yet been developed. To overcome these obstacles, this study utilizes salt template method to fabricate a rod-like LCE foam as gripper. The thickness of the compressible foam can be reduced by up to 77%, temporarily maintaining the deformation and enabling the gripper to pass through slits. The foam was aligned along the long axis and the length of the foam exhibits reversible thermal responsiveness and contract up to 57% along its alignment. Additionally, when the foam approaches a heat source, the generated temperature gradient results in a contraction gradient owing to the low thermal conductivity of the LCE foam. This in turn causes the foam to reversibly bend with a bending angle up to 93° and follow the movement of a heat source omnidirectionally. The developed gripper successfully grasps, moves, and releases hot objects in a cold and safe place, demonstrating its potential for emergency disposal. Thus, LCE foams can be considered suitable materials for novel gripper design and construction.
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Affiliation(s)
- Xinyuhang Zhang
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, 100084, Beijing, P. R. China
| | - Wei Liao
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, 100084, Beijing, P. R. China
| | - Yunpeng Wang
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, 100084, Beijing, P. R. China
| | - Zhongqiang Yang
- Key Laboratory of Organic Optoelectronics & Molecular Engineering of the Ministry of Education, Department of Chemistry, Tsinghua University, 100084, Beijing, P. R. China
- Laboratory of Flexible Electronics Technology, Tsinghua University, 100084, Beijing, P. R. China
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22
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Zhao L, Tian H, Liu H, Zhang W, Zhao F, Song X, Shao J. Bio-Inspired Soft-Rigid Hybrid Smart Artificial Muscle Based on Liquid Crystal Elastomer and Helical Metal Wire. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2206342. [PMID: 36653937 DOI: 10.1002/smll.202206342] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/15/2022] [Revised: 01/01/2023] [Indexed: 06/17/2023]
Abstract
Artificial muscles are of significant value in robotic applications. Rigid artificial muscles possess a strong load-bearing capacity, while their deformation is small; soft artificial muscles can be shifted to a large degree; however, their load-bearing capacity is weak. Furthermore, artificial muscles are generally controlled in an open loop due to a lack of deformation-related feedback. Human arms include muscles, bones, and nerves, which ingeniously coordinate the actuation, load-bearing, and sensory systems. Inspired by this, a soft-rigid hybrid smart artificial muscle (SRH-SAM) based on liquid crystal elastomer (LCE) and helical metal wire is proposed. The thermotropic responsiveness of the LCE is adopted for large reversible deformation, and the helical metal wire is used to fulfill high bearing capacity and electric heating function requirements. During actuation, the helical metal wire's resistance changes with the LCE's electrothermal deformation, thereby achieving deformation-sensing characteristics. Based on the proposed SRH-SAM, a reconfigurable blazed grating plane and the effective switch between attachment and detachment in bionic dry adhesion are accomplished. The SRH-SAM opens a new avenue for designing smart artificial muscles and can promote the development of artificial muscle-based devices.
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Affiliation(s)
- Limeng Zhao
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Hongmiao Tian
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Haoran Liu
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Weitian Zhang
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Fabo Zhao
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Xiaowen Song
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Jinyou Shao
- Micro-/Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
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23
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Wu S, Hong Y, Zhao Y, Yin J, Zhu Y. Caterpillar-inspired soft crawling robot with distributed programmable thermal actuation. SCIENCE ADVANCES 2023; 9:eadf8014. [PMID: 36947625 PMCID: PMC10032605 DOI: 10.1126/sciadv.adf8014] [Citation(s) in RCA: 54] [Impact Index Per Article: 27.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/14/2022] [Accepted: 02/21/2023] [Indexed: 06/14/2023]
Abstract
Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)-based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Department of Materials Science and Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and NC State University, Chapel Hill, NC 27599, USA
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24
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Zhang J, Ma B, Chen G, Chen Y, Xu C, Hao Q, Zhao C, Liu H. Surface-Embedded Liquid Metal Electrodes with Abrasion Resistance via Direct Magnetic Printing. ACS APPLIED MATERIALS & INTERFACES 2022; 14:53405-53412. [PMID: 36382935 DOI: 10.1021/acsami.2c15282] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Gallium-based liquid metals (LMs) featuring both high conductivity and fluidity are ideal conductors for soft and stretchable electronics. However, their liquid nature is a double-edged sword in many key applications since LMs are inherently prone to mechanical damage. Although additional encapsulation is frequently used for the protection of delicate LM electrodes, it hinders the electrical interfacing with other objects for interconnection, sensing, and stimulation. Here, different from conventional patterning methods that deposit LM on or inside substrates, we for the first time report a simple strategy to create surface-embedded LM of eutectic gallium-indium (EGaIn) circuits with mechanical damage endurance. This was achieved by using direct magnetic printing to overcome the high surface tension of LM, allowing it to be passively filled into the laser-patterned microgrooves on soft substrates. We show that the surface-embedded LM circuits are resistant to mechanical erasure, washing, and peeling. We also show the applications of our surface-embedded LM electrodes in respiration monitoring and electrical stimulation of nerves. This work provides a simple and efficient way to create mechanically reliable LM microelectrodes, holding great promise for wearable and implantable bioelectronics.
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Affiliation(s)
- Jin Zhang
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Biao Ma
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Gangsheng Chen
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Yi Chen
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Chengtao Xu
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Qing Hao
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Chao Zhao
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
| | - Hong Liu
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing 210096, China
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25
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Yan H, He Y, Yao L, Wang X, Zhang X, Zhang Y, Han D, Li C, Sun L, Zhang J. Thermo-crosslinking assisted preparation of thiol-acrylate main-chain liquid-crystalline elastomers. JOURNAL OF POLYMER RESEARCH 2022. [DOI: 10.1007/s10965-022-03238-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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26
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Xiao YY, Jiang ZC, Hou JB, Chen XS, Zhao Y. Electrically driven liquid crystal network actuators. SOFT MATTER 2022; 18:4850-4867. [PMID: 35730498 DOI: 10.1039/d2sm00544a] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Soft actuators based on liquid crystal networks (LCNs) have aroused great scientific interest for use as stimuli-controlled shape-changing and moving components for robotic devices due to their fast, large, programmable and solvent-free actuation responses. Recently, various LCN actuators have been implemented in soft robotics using stimulus sources such as heat, light, humidity and chemical reactions. Among them, electrically driven LCN actuators allow easy modulation and programming of the input electrical signals (amplitude, phase, and frequency) as well as stimulation throughout the volume, rendering them promising actuators for practical applications. Herein, the progress of electrically driven LCN actuators regarding their construction, actuation mechanisms, actuation performance, actuation programmability and the design strategies for intelligent systems is elucidated. We also discuss new robotic functions and advanced actuation control. Finally, an outlook is provided, highlighting the research challenges faced with this type of actuator.
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Affiliation(s)
- Yao-Yu Xiao
- Département de Chimie, Université de Sherbrooke, Sherbrooke, Québec, Canada.
| | - Zhi-Chao Jiang
- Département de Chimie, Université de Sherbrooke, Sherbrooke, Québec, Canada.
| | - Jun-Bo Hou
- Département de Chimie, Université de Sherbrooke, Sherbrooke, Québec, Canada.
| | - Xin-Shi Chen
- Département de Chimie, Université de Sherbrooke, Sherbrooke, Québec, Canada.
| | - Yue Zhao
- Département de Chimie, Université de Sherbrooke, Sherbrooke, Québec, Canada.
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27
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Guan Z, Wang L, Bae J. Advances in 4D printing of liquid crystalline elastomers: materials, techniques, and applications. MATERIALS HORIZONS 2022; 9:1825-1849. [PMID: 35504034 DOI: 10.1039/d2mh00232a] [Citation(s) in RCA: 33] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Liquid crystalline elastomers (LCEs) are polymer networks exhibiting anisotropic liquid crystallinity while maintaining elastomeric properties. Owing to diverse polymeric forms and self-alignment molecular behaviors, LCEs have fascinated state-of-the-art efforts in various disciplines other than the traditional low-molar-mass display market. By patterning order to structures, LCEs demonstrate reversible high-speed and large-scale actuations in response to external stimuli, allowing for close integration with 4D printing and architectures of digital devices, which is scarcely observed in homogeneous soft polymer networks. In this review, we collect recent advances in 4D printing of LCEs, with emphases on synthesis and processing methods that enable microscopic changes in the molecular orientation and hence macroscopic changes in the properties of end-use objects. Promising potentials of printed complexes include fields of soft robotics, optics, and biomedical devices. Within this scope, we elucidate the relationships among external stimuli, tailorable morphologies in mesophases of liquid crystals, and programmable topological configurations of printed parts. Lastly, perspectives and potential challenges facing 4D printing of LCEs are discussed.
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Affiliation(s)
- Zhecun Guan
- Department of Nanoengineering, University of California San Diego, La Jolla, CA 92093, USA.
| | - Ling Wang
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, P. R. China.
| | - Jinhye Bae
- Department of Nanoengineering, University of California San Diego, La Jolla, CA 92093, USA.
- Chemical Engineering Program, University of California San Diego, La Jolla, CA 92093, USA
- Materials Science and Engineering Program, University of California San Diego, La Jolla, CA 92093, USA
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28
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Self-Healable and Recyclable Dual-Shape Memory Liquid Metal–Elastomer Composites. Polymers (Basel) 2022; 14:polym14112259. [PMID: 35683935 PMCID: PMC9182922 DOI: 10.3390/polym14112259] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2022] [Revised: 05/25/2022] [Accepted: 05/26/2022] [Indexed: 02/01/2023] Open
Abstract
Liquid metal (LM)–polymer composites that combine the thermal and electrical conductivity of LMs with the shape-morphing capability of polymers are attracting a great deal of attention in the fields of reconfigurable electronics and soft robotics. However, investigation of the synergetic effect between the shape-changing properties of LMs and polymer matrices is lacking. Herein, a self-healable and recyclable dual-shape memory composite, comprising an LM (gallium) and a Diels–Alder (DA) crosslinked crystalline polyurethane (PU) elastomer, is reported. The composite exhibits a bilayer structure and achieves excellent shape programming abilities, due to the phase transitions of the LM and the crystalline PU elastomers. To demonstrate these shape-morphing abilities, a heat-triggered soft gripper, which can grasp and release objects according to the environmental temperature, is designed and built. Similarly, combining the electrical conductivity and the dual-shape memory effect of the composite, a light-controlled reconfigurable switch for a circuit is produced. In addition, due to the reversible nature of DA bonds, the composite is self-healable and recyclable. Both the LM and PU elastomer are recyclable, demonstrating the extremely high recycling efficiency (up to 96.7%) of the LM, as well as similar mechanical properties between the reprocessed elastomers and the pristine ones.
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29
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Hu J, Yu M, Wang M, Choy KL, Yu H. Design, Regulation, and Applications of Soft Actuators Based on Liquid-Crystalline Polymers and Their Composites. ACS APPLIED MATERIALS & INTERFACES 2022; 14:12951-12963. [PMID: 35259869 DOI: 10.1021/acsami.1c25103] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Soft actuators designed from stimuli-responsive polymers often possess a certain amount of bionic functionality because of their versatile deformation. Liquid-crystalline polymers (LCPs) and their composites are among the most fascinating materials for soft actuators due to their great advantages of flexible structure design and easy regulation. In this Spotlight on Applications, we mainly focus on our group's latest research progress in soft actuators based on LCPs and their composites. Some representative research findings from other groups are also included for a better understanding of this research field. Above all, the essential principles for the responsive behavior and reconfigurable performance of the soft actuators are discussed, from the perspective of material morphology and structure design. Further on, we analyze recent work on how to precisely regulate the responsive modes and quantify the operating parameters of soft actuators. Finally, some application examples are given to demonstrate well-designed soft actuators with different functions under varied working environments, which is expected to provide inspiration for future research in developing more intelligent and multifunctional integrated soft actuators.
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Affiliation(s)
- Jing Hu
- College of Mechanical Engineering, Shenyang University, Shenyang 110044, People's Republic of China
- Institute of New Structural Materials, School of Materials Science and Engineering, and Key Laboratory of Polymer Chemistry and Physics of Ministry of Education, Peking University, Beijing 100871, People's Republic of China
| | - Mingming Yu
- College of Chemistry, Zhengzhou University, Zhengzhou 450001, People's Republic of China
| | - Mingqing Wang
- Institute for Materials Discovery, University College of London, London WC1E 7JE, United Kingdom
| | - Kwang-Leong Choy
- Institute for Materials Discovery, University College of London, London WC1E 7JE, United Kingdom
| | - Haifeng Yu
- Institute of New Structural Materials, School of Materials Science and Engineering, and Key Laboratory of Polymer Chemistry and Physics of Ministry of Education, Peking University, Beijing 100871, People's Republic of China
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30
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Fang J, Zhuang Y, Liu K, Chen Z, Liu Z, Kong T, Xu J, Qi C. A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2104347. [PMID: 35072360 PMCID: PMC8922102 DOI: 10.1002/advs.202104347] [Citation(s) in RCA: 22] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/29/2021] [Revised: 11/30/2021] [Indexed: 05/07/2023]
Abstract
Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.
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Affiliation(s)
- Jielun Fang
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Yanfeng Zhuang
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Kailang Liu
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
| | - Zhuo Chen
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Zhou Liu
- College of Chemistry and Environmental EngineeringShenzhen UniversityShenzhenGuangdong518000China
| | - Tiantian Kong
- Department of Biomedical EngineeringSchool of MedicineShenzhen UniversityShenzhenGuangdong518000China
| | - Jianhong Xu
- The State Key Laboratory of Chemical EngineeringDepartment of Chemical EngineeringTsinghua UniversityBeijing100084China
| | - Cheng Qi
- College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518000China
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31
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Kotikian A, Morales JM, Lu A, Mueller J, Davidson ZS, Boley JW, Lewis JA. Innervated, Self-Sensing Liquid Crystal Elastomer Actuators with Closed Loop Control. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2101814. [PMID: 34057260 DOI: 10.1002/adma.202101814] [Citation(s) in RCA: 84] [Impact Index Per Article: 21.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/07/2021] [Revised: 04/01/2021] [Indexed: 06/12/2023]
Abstract
The programmable assembly of innervated LCE actuators (iLCEs) with prescribed contractile actuation, self-sensing, and closed loop control via core-shell 3D printing is reported. This extrusion-based direct ink writing method enables coaxial filamentary features composed of pure LM core surrounded by an LCE shell, whose director is aligned along the print path. Specifically, the thermal response of the iLCE fiber-type actuators is programmed, measured, and modeled during Joule heating, including quantifying the concomitant changes in fiber length and resistance that arise during simultaneous heating and self-sensing. Due to their reversible, high-energy actuation and their resistive feedback, it is also demonstrated that iLCEs can be regulated with closed loop control even when perturbed with large bias loads. Finally, iLCE architectures capable of programmed, self-sensing 3D shape change with closed loop control are fabricated.
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Affiliation(s)
- Arda Kotikian
- John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, 02138, USA
| | - Javier M Morales
- Mechanical Engineering Department, Boston University, Boston, MA, 02215, USA
| | - Aric Lu
- John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, 02138, USA
- Biological Engineering Division, Draper Laboratory, Cambridge, MA, 02139, USA
| | - Jochen Mueller
- John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, 02138, USA
| | - Zoey S Davidson
- John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, 02138, USA
| | - J William Boley
- Mechanical Engineering Department, Boston University, Boston, MA, 02215, USA
| | - Jennifer A Lewis
- John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, 02138, USA
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