Mechanochemically Active Soft Robots

Minimally designed thermo-magnetic dual responsive soft robots for complex applications

The fabrication of thermo-magnetic dual-responsive soft robots often requires intricate designs to implement complex locomotion patterns and utilize the implemented responsive behaviors. This work demonstrates a minimally designed soft robot based on poly-N-isopropylacrylamide (pNIPAM) and ferromagnetic particles, showcasing excellent control over both thermo- and magnetic responses. Free radical polymerization enables the magnetic particles to be entrapped homogeneously within the polymeric network. The integration of magnetic shape programming and temperature response allows the robot to perform various tasks including shaping, locomotion, pick-and-place, and release maneuvers of objects using independent triggers. The robot can be immobilized in a gripping state through magnetic actuation, and a subsequent increase in temperature transitions the robot from a swollen to a collapsed state. The temperature switch enables the robot to maintain a secured configuration while executing other movements via magnetic actuation. This approach offers a straightforward yet effective solution for achieving full control over both stimuli in dual-responsive soft robotics.

Programming tunable active dynamics in a self-propelled robot

We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities are calculated by equating robot's equations of motion in two dimensions with well-established active particle models and encoded into the robot's microcontroller. We demonstrate that the robot can depict active Brownian, run and tumble, and Brownian dynamics with a wide range of parameters. The resulting motion analyzed using particle tracking shows excellent agreement with the theoretically predicted trajectories. Later, we show that its motion can be switched between different dynamics using light intensity as an external parameter. Intriguingly, we demonstrate that the robot can efficiently navigate through many obstacles by performing stochastic reorientations driven by the gradient in light intensity towards a desired location, namely the target. This work opens an avenue for designing tunable active systems with the potential of revealing the physics of active matter and its application for bio- and nature-inspired robotics.

Structural heterogeneity in tetra-armed gels revealed by computer simulation: Evidence from a graph theory assisted characterization

Designing homogeneous networks is considered one typical strategy for solving the problem of strength and toughness conflict of polymer network materials. Experimentalists have proposed the hypothesis of obtaining a structurally homogeneous hydrogel by crosslinking tetra-armed polymers, whose homogeneity was claimed to be verified by scattering characterization and other methods. Nevertheless, it is highly desirable to further evaluate this issue from other perspectives. In this study, a coarse-grained molecular dynamics simulation coupled with a stochastic reaction model is applied to reveal the topological structure of a polymer network synthesized by tetra-armed monomers as precursors. Two different scenarios, distinguished by whether internal cross-linking is allowed, are considered. We introduce the Dijkstra algorithm from graph theory to precisely characterize the network structure. The microscopic features of the network structure, e.g., loop size, dispersity, and size distribution, are obtained via the Dijkstra algorithm. By comparing the two reaction scenarios, Scenario II exhibits an overall more idealized structure. Our results demonstrate the feasibility of the Dijkstra algorithm for precisely characterizing the polymer network structure. We expect this work will provide a new insight for the evaluation and description of gel networks and further help to reveal the dynamic process of network formation.

Advancements in materials, manufacturing, propulsion and localization: propelling soft robotics for medical applications

Soft robotics is an emerging field showing immense potential for biomedical applications. This review summarizes recent advancements in soft robotics for in vitro and in vivo medical contexts. Their inherent flexibility, adaptability, and biocompatibility enable diverse capabilities from surgical assistance to minimally invasive diagnosis and therapy. Intelligent stimuli-responsive materials and bioinspired designs are enhancing functionality while improving biocompatibility. Additive manufacturing techniques facilitate rapid prototyping and customization. Untethered chemical, biological, and wireless propulsion methods are overcoming previous constraints to access new sites. Meanwhile, advances in tracking modalities like computed tomography, fluorescence and ultrasound imaging enable precision localization and control enable in vivo applications. While still maturing, soft robotics promises more intelligent, less invasive technologies to improve patient care. Continuing research into biocompatibility, power supplies, biomimetics, and seamless localization will help translate soft robots into widespread clinical practice.

Mechanochemically assisted morphing of shape shifting polymers

Morphing in creatures has inspired various synthetic polymer materials that are capable of shape shifting. The morphing of polymers generally relies on stimuli-active (typically heat and light active) units that fix the shape after a mechanical load-based shape programming. Herein, we report a strategy that uses a mechanochemically active 2,2'-bis(2-phenylindan-1,3-dione) (BPID) mechanophore as a switching unit for mechanochemical morphing. The mechanical load on the polymer triggers the dissociation of the BPID moiety into stable 2-phenylindan-1,3-dione (PID) radicals, whose subsequent spontaneous dimerization regenerates BPID and fixes the temporary shapes that can be effectively recovered to the permanent shapes by heating. A greater extent of BPID activation, through a higher BPID content or mechanical load, leads to higher mechanochemical shape fixity. By contrast, a relatively mechanochemically less active hexaarylbiimidazole (HABI) mechanophore shows a lower fixing efficiency when subjected to the same programing conditions. Another control system without a mechanophore shows a low fixing efficiency comparable to the HABI system. Additionally, the introduction of the BPID moiety also manifests remarkable mechanochromic behavior during the shape programing process, offering a visualizable indicator for the pre-evaluation of morphing efficiency. Unlike conventional mechanical mechanisms that simultaneously induce morphing, such as strain-induced plastic deformation or crystallization, our mechanochemical method allows for shape programming after the mechanical treatment. Our concept has potential for the design of mechanochemically programmable and mechanoresponsive shape shifting polymers.

Multi-material 3D Printing of Mechanochromic Double Network Hydrogels for On-Demand Patterning

Cephalopods can change their color and patterns by activating the skin chromatophores for camouflage. However, in the man-made soft material systems, it is greatly challenging to fabricate the color-change structure in the desired patterns and shapes. Herein, we employ a multi-material microgel direct ink writing (DIW) printing method to make mechanochromic double network hydrogels in arbitrary shapes. We prepare the microparticles by grinding the freeze-dried polyelectrolyte hydrogel and immobilize the microparticles in the precursor solution to produce the printing ink. The polyelectrolyte microgels contain mechanophores as the cross-linkers. We adjust the rheological and printing properties of the microgel ink by tailoring the grinding time of freeze-dried hydrogels and microgel concentration. The multi-material DIW 3D printing technique is utilized to fabricate various 3D hydrogel structures which could change into a colorful pattern in response to applied force. The microgel printing strategy shows great potential in the fabrication of the mechanochromic device with arbitrary patterns and shapes.

Covalent Mechanochemistry and Contemporary Polymer Network Chemistry: A Marriage in the Making

Over the past 20 years, the field of polymer mechanochemistry has amassed a toolbox of mechanophores that translate mechanical energy into a variety of functional responses ranging from color change to small-molecule release. These productive chemical changes typically occur at the length scale of a few covalent bonds (Å) but require large energy inputs and strains on the micro-to-macro scale in order to achieve even low levels of mechanophore activation. The minimal activation hinders the translation of the available chemical responses into materials and device applications. The mechanophore activation challenge inspires core questions at yet another length scale of chemical control, namely: What are the molecular-scale features of a polymeric material that determine the extent of mechanophore activation? Further, how do we marry advances in the chemistry of polymer networks with the chemistry of mechanophores to create stress-responsive materials that are well suited for an intended application? In this Perspective, we speculate as to the potential match between covalent polymer mechanochemistry and recent advances in polymer network chemistry, specifically, topologically controlled networks and the hierarchical material responses enabled by multi-network architectures and mechanically interlocked polymers. Both fundamental and applied opportunities unique to the union of these two fields are discussed.

A Modern Look at Spiropyrans: From Single Molecules to Smart Materials

Photochromic compounds of the spiropyran family have two main isomers capable of inter-switching with UV or visible light. In the current review, we discuss recent advances in the synthesis, investigation of properties, and applications of spiropyran derivatives. Spiropyrans of the indoline series are in focus as the most promising representatives of multi-sensitive spirocyclic compounds, which can be switched by a number of external stimuli, including light, temperature, pH, presence of metal ions, and mechanical stress. Particular attention is paid to the structural features of molecules, their influence on photochromic properties, and the reactions taking place during isomerization, as the understanding of the structure-property relationships will rationalize the synthesis of compounds with predetermined characteristics. The main prospects for applications of spiropyrans in such fields as smart material production, molecular electronics and nanomachinery, sensing of environmental and biological molecules, and photopharmacology are also discussed.

SoftSAR: The New Softer Side of Socially Assistive Robots-Soft Robotics with Social Human-Robot Interaction Skills

When we think of "soft" in terms of socially assistive robots (SARs), it is mainly in reference to the soft outer shells of these robots, ranging from robotic teddy bears to furry robot pets. However, soft robotics is a promising field that has not yet been leveraged by SAR design. Soft robotics is the incorporation of smart materials to achieve biomimetic motions, active deformations, and responsive sensing. By utilizing these distinctive characteristics, a new type of SAR can be developed that has the potential to be safer to interact with, more flexible, and uniquely uses novel interaction modes (colors/shapes) to engage in a heighted human-robot interaction. In this perspective article, we coin this new collaborative research area as SoftSAR. We provide extensive discussions on just how soft robotics can be utilized to positively impact SARs, from their actuation mechanisms to the sensory designs, and how valuable they will be in informing future SAR design and applications. With extensive discussions on the fundamental mechanisms of soft robotic technologies, we outline a number of key SAR research areas that can benefit from using unique soft robotic mechanisms, which will result in the creation of the new field of SoftSAR.

On-demand, remote and lossless manipulation of biofluid droplets

The recent global outbreaks of epidemics and pandemics have shown us that we are severely under-prepared to cope with infectious agents. Exposure to infectious agents present in biofluids (e.g., blood, saliva, urine etc.) poses a severe risk to clinical laboratory personnel and healthcare workers, resulting in hundreds of millions of hospital-acquired and laboratory-acquired infections annually. Novel technologies that can minimize human exposure through remote and automated handling of infectious biofluids will mitigate such risk. In this work, we present biofluid manipulators, which allow on-demand, remote and lossless manipulation of virtually any liquid droplet. Our manipulators are designed by integrating thermo-responsive soft actuators with superomniphobic surfaces. Utilizing our manipulators, we demonstrate on-demand, remote and lossless manipulation of biofluid droplets. We envision that our biofluid manipulators will not only reduce manual operations and minimize exposure to infectious agents, but also pave the way for developing inexpensive, simple and portable robotic systems, which can allow point-of-care operations, particularly in developing nations.

Highly robust and soft biohybrid mechanoluminescence for optical signaling and illumination

Biohybrid is a newly emerging and promising approach to construct soft robotics and soft machines with novel functions, high energy efficiency, great adaptivity and intelligence. Despite many unique advantages of biohybrid systems, it is well known that most biohybrid systems have a relatively short lifetime, require complex fabrication process, and only remain functional with careful maintenance. Herein, we introduce a simple method to create a highly robust and power-free soft biohybrid mechanoluminescence, by encapsulating dinoflagellates, bioluminescent unicellular marine algae, into soft elastomeric chambers. The dinoflagellates retain their intrinsic bioluminescence, which is a near-instantaneous light response to mechanical forces. We demonstrate the robustness of various geometries of biohybrid mechanoluminescent devices, as well as potential applications such as visualizing external mechanical perturbations, deformation-induced illumination, and optical signaling in a dark environment. Our biohybrid mechanoluminescent devices are ultra-sensitive with fast response time and can maintain their light emission capability for weeks without special maintenance.

Wireless Micro Soft Actuator without Payloads Using 3D Helical Coils

To receive a greater power and to demonstrate the soft bellows-shaped actuator's wireless actuation, micro inductors were built for wireless power transfer and realized in a three-dimensional helical structure, which have previously been built in two-dimensional spiral structures. Although the three-dimensional helical inductor has the advantage of acquiring more magnetic flux linkage than the two-dimensional spiral inductor, the existing microfabrication technique produces a device on a two-dimensional plane, as it has a limit to building a complete three-dimensional structure. In this study, by using a three-dimensional printed soluble mold technique, a three-dimensional heater with helical coils, which have a larger heating area than a two-dimensional heater, was fabricated with three-dimensional receiving inductors for enhanced wireless power transfer. The three-dimensional heater connected to the three-dimensional helical inductor increased the temperature of the liquid and gas inside the bellows-shaped actuator while reaching 176.1% higher temperature than the heater connected to the two-dimensional spiral inductor. Thereby it enables a stroke of the actuator up to 522% longer than when it is connected to the spiral inductor. Therefore, three-dimensional micro coils can offer a significant approach to the development of wireless micro soft robots without incurring heavy and bulky parts such as batteries.

Soft elastomers: A playground for guided waves

Mechanical waves propagating in soft materials play an important role in physiology. They can be natural, such as the cochlear wave in the inner ear of mammalians, or controlled, such as in elastography in the context of medical imaging. In a recent study, Lanoy, Lemoult, Eddi, and Prada [Proc. Natl. Acad. Sci. U.S.A. 117(48), 30186-30190 (2020)] implemented an experimental tabletop platform that allows direct observation of in-plane guided waves in a soft strip. Here, a detailed description of the setup and signal processing steps is presented as well as the theoretical framework supporting them. One motivation is to propose a tutorial experiment for visualizing the propagation of guided elastic waves. Last, the versatility of the experimental platform is exploited to illustrate experimentally original features of wave physics, such as backward modes, stationary modes, and Dirac cones.

Polymer mechanochemistry for the release of small cargoes

The field of force-induced release of small cargoes within polymeric materials has experienced rapid growth over the past decade, not only including achieving diversified functional materials that report force, trigger degradation, activate drugs and release catalysts, but also involving investigations on the interesting force-coupled reactivity of mechanophores, such as ferrocenes. In this highlight article, we review the recent progress on polymer mechanochemistry that releases small cargoes, including small molecules and metal ions. Since mechanophores play a key role in force-responsive materials, we introduce the progress by discussing different types of mechanophores and their mechanochemical reactions for the release of acids, gases, fluorophores, drugs, iron ions, and so on. At the end, we provide our perspectives on the remaining challenges and future targets in this growing field.

Mechanochromophore-linked Polymeric Materials with Visible Color Changes

Mechanical force as a type of stimuli for smart materials has obtained much attention in the past decade. Color-changing materials in response to mechanical stimuli have shown great potential in the applications such as sensors and displays. Mechanochromophore-linked polymeric materials, which are a growing sub-class of these materials, are discussed in detail in this review. Two main types of mechanochromophores which exhibit visible color change, summarized herein, involve either isomerization or radical generation mechanisms. This review focuses on their synthesis and incorporation into polymer matrices, the type of mechanical force used, factors affecting the mechanochromic properties, and their applications. This article is protected by copyright. All rights reserved.

Stretchable Soft Composites with Strain-Induced Architectured Color

Colors enable interaction and communication between living species in a myriad of biological and artificial environments. While living organisms feature low-power mechanisms to dynamically control color in soft tissues, man-made color-changing devices remain predominantly rigid and energy intensive. Here, architectured composites that display striking color changes when stretched in selective directions under ambient light with minimum power input are reported. The orientation-dependent color change results from the rotation of reflective coated platelets that are embedded in a soft polymer matrix and pre-aligned in a well-defined architecture. The light reflected by the platelets generates structural color defined by the oxide coating on the platelet surface. By magnetically programming the initial orientation and spatial distribution of selected platelets within the soft matrix, composites with strain-modulated color-changing effects that cannot be achieved using state-of-the-art technologies are created. The proposed concept of strain-induced architectured color can be harnessed to develop low-power smart stretchable displays, tactile synthetic skins, and autonomous soft robotic devices that undergo fast and reversible color changes through the mechano-optic coupling programmed within their soft composite architecture.

Mechanochromic Luminescence of Bionanocomposite Hydrogel

Bionanocomposite hydrogels were prepared from gelatin hydrogel and subsequent ionic crosslinking in the presence of the smectite with adsorbed cyanine dye (pseudoisocyanine). In addition to the improved mechanical properties achieved...

Heterocyclic Mechanophores in Polymer Mechanochemistry

This Account covers the recent progress made on heterocyclic mechanophores in the field of polymer mechanochemistry. In particular, the types of such mechanophores as well as the mechanisms and applications of their force-induced structural transformations are discussed and related perspectives and future challenges proposed.

1 Introduction

2 Types of Mechanophores

3 Methods to Incorporate Heterocycle Mechanophores into Polymer Systems

4 Mechanochemical Reactions of Heterocyclic Mechanophores

4.1 Three-Membered-Ring Mechanophores

4.2 Four-Membered-Ring Mechanophores

4.3 Six-Membered-Ring Mechanophores

4.4 Bicyclic Mechanophores

5 Applications

5.1 Cross-Linking of Polymer

5.2 Degradable Polymer

5.3 Mechanochromic Polymer

6 Concluding Remarks and Outlook

Mechanochemistry unveils stress transfer during sacrificial bond fracture of tough multiple network elastomers

The molecular level transfer of stress from a stiff percolating filler to a stretchable matrix is a crucial and generic mechanism of toughening in soft materials. Yet the molecular details of how this transfer occurs have so far been experimentally unreachable. Model multiple network elastomers containing spiropyran (SP) force sensors incorporated into the stiff filler network or into the stretchable matrix network are used here to detect and investigate the mechanism of stress transfer between distinct populations of polymer strands. We find that as the filler network progressively breaks by random bond scission, there is a critical stress where cooperative bond scission occurs and the macroscopic stretch increases discontinuously by necking. Surprisingly, SP molecules reveal that even in the necked region both filler and matrix chains share the load, with roughly 90% of the SPs force-activated in the filler chains before necking still being loaded in the necked region where significant activation of the SP incorporated into the matrix chains occurs. This result, where both networks remain loaded upon necking, is qualitatively consistent with the model proposed by Brown, where holes or microcracks are formed in the stiff regions and are bridged by stretched matrix chains. Detection of merocyanine (i.e. activated SP) fluorescence by confocal microscopy shows that such microcrack formation is also active at the crack tip even for materials that do not exhibit macroscopic necking. Additionally, we demonstrate that when the ethyl acrylate monomer is replaced by hexyl methacrylate in the first network, preventing molecular connections between the two networks, the stress transmission is less efficient. This study outlines the different roles played by these multiple networks in the onset of fracture and provides molecular insights for the construction of molecular models of fracture of elastomers.

Folded Perylene Diimide Loops as Mechanoresponsive Motifs

A supramolecular mechanophore that can be integrated into polymers and indicates deformation by a fluorescence color change is reported. Two perylene diimides (PDIs) were connected by a short spacer and equipped with peripheral atom transfer polymerization initiators. In the idle state, the motif folds into a loop and its emission is excimer dominated. Poly(methyl acrylate) (PMA) chains were grown from the motif and the mechanophore-containing polymer was blended with unmodified PMA to afford materials that display a visually discernible fluorescence color change upon deformation, which causes the loops to unfold. The response is instant, and correlates linearly with the applied strain. Experiments with a reference polymer containing only one PDI moiety show that looped mechanophores that display intramolecular excimer formation offer considerable advantages over intermolecular dye aggregates, including a concentration-independent response, direct signaling of mechanical processes, and a more pronounced optical change.

Somatosensitive film soft crawling robots driven by artificial muscle for load carrying and multi-terrain locomotion

Somatosensitive soft crawling robotics is highly desired for load carrying and multi-terrain locomotion. The motor-driven skeleton robots and pneumatic robots are effective and well-developed, while the bulk size, rigidity, or complexity limit their applications. In this paper, a somatosensitive film soft crawling robot driven by an artificial muscle was developed, which can carry heavy loads and crawl on multiple terrains. A bow-shaped film skeleton connected with a twisted-fiber artificial muscle is not easily deformed while carrying a load. A strain sensor coating on the film skeleton was used to detect the body deformation of the robot and a controller was designed for feedback control to make the robot self-crawling. This film soft crawling robot was demonstrated to crawl on the multi-terrain such as flat, mountainous, and underwater, as well as surfaces with different roughness. This work provides a new design strategy for multi-functional compact soft crawling robotics.

FRET processes of bi-fluorophoric sensor material containing tetraphenylethylene donor and optical-switchable merocyanine acceptor for lead ion (Pb2+) detection in semi-aqueous media

A novel aggregation-induced emission (AIE) structure containing a tetraphenylethene (TPE) unit covalently linked with a merocyanine (MC) unit was synthesized and investigated in semi-aqueous solutions with 90% water fraction. The open-form structure of red-emissive MC unit combined with TPE unit was utilized as a bi-fluorophoric sensor to detect lead(II) ion, which could be transformed from the close-form structure of non-emissive SP unit upon UV exposure. Moreover, the TPE unit as an energy donor with the blue-green photoluminescence (PL) emission at 480 nm was combined with the MC unit as an energy acceptor with the red PL emission at 635 nm. Due to the Förster resonance energy transfer (FRET) processes, the bi-fluorophoric sensor produced more efficient ratiometric PL behavior to induce a stronger red PL emission than that of the mono-fluorophoric MC unit. Hence, the PL sensor responses of the AIE bi-fluorophoric structure toward lead(II) ion could be further amplified via the FRET-OFF processes to turn off red PL emission of the coordinated MC acceptor and to recover blue-green PL emission of the TPE donor. Accordingly, the best LOD value for the AIE sensor detection toward Pb2+ was 0.27 μM. The highest red MC emission with the optimum FRET process of AIE sensor could be utilized in cell viability tests to prove the non-toxic and remarkable bio-marker of AIE sensor to detect lead(II) ion in live cells. The developed FRET-OFF processes with ratiometric PL behavior of the bi-fluorophoric AIE sensor can be utilized for future chemo- and bio-sensor applications.

Modeling ultrasound-induced molecular weight decrease of polymers with multiple scissile azo-mechanophores

Selective and non-selective chain scission compete upon ultrasonic treatment of polymers with randomly distributed azo units.

Mechanochemical tools for polymer materials

This review aims to provide a field guide for the implementation of mechanochemistry in synthetic polymers by summarizing the molecules, materials, and methods that have been developed in this field.

Fast reversible isomerization of merocyanine as a tool to quantify stress history in elastomers

A mechanochemistry based approach is proposed to detect and map stress history during dynamic processes. Spiropyran (SP), a force sensitive molecular probe, was incorporated as a crosslinker into multiple network elastomers (MNE). When these mechanochromic MNEs are loaded, SP undergoes a well-known force-activated reaction to merocyanine (MC) changing its absorption in the visible range (visible blue color). This SP to MC transition is not reversible within the time frame of the experiment and the color change reports the concentration of activated molecules. During subsequent loading–unloading cycles the MC undergoes a fast and reversible isomerization resulting in a slight shift of absorption spectrum and results in a second color change (blue to purple color corresponding to the loading–unloading cycles). Quantification of the color changes by using chromaticity shows that the exact color observed upon unloading is characteristic not only of the current stress (reported by the shift in color due to MC isomerization), but of the maximum stress that the material has seen during the loading cycle (reported by the shift in color due to the change in MC concentration). We show that these two color changes can be separated unambiguously and we use them to map the stress history in the loading and unloading process occurring as a crack opens up and propagates, breaking the material. Color maps on fractured samples are compared with finite element simulations and the agreement is excellent.

A mechanochemistry based approach is proposed to detect and map stress history during dynamic processes.

Monolithic Spiropyran-Based Porous Polysilsesquioxanes with Stimulus-Responsive Properties

Dynamic materials comprising spiropyrans have emerged as one of the most interesting and promising class of stimulus-responsive materials. Spiropyrans are often embedded in polymer matrices; their covalent attachment into porous monolithic silsesquioxane frameworks, however, is virtually unexplored. We demonstrate that a silylated spiropyran derivative can be covalently incorporated into ultralight silsesquioxane-based bulk materials by a two-step co-condensation sol-gel approach without restricting its conformational freedom and thus its stimulus-responsive properties. UV-vis measurements prove the conversion of the colorless closed-ring form of the spiropyran molecule into its highly colored purple isomer or the yellow colored protonated structure thereof. The transformation can be triggered simply by irradiation of the spiropyran-containing silsesquioxane monolith with UV or visible light or by the pH value of the chemical environment. A strong dependence of the surface polarity and water wettability on the prevalent isomer was observed. The contact angle of a water droplet on the monolithic surface can be altered from 146 to 100° by irradiation of the monolith with UV light for 3 min. Additionally, the prepared materials possess high specific surface areas, low bulk densities, and porosities of up to 84%.

Kouzani A, Mosadegh B, Gharaie S. Blood Pressure Sensors: Materials, Fabrication Methods, Performance Evaluations and Future Perspectives

Advancements in materials science and fabrication techniques have contributed to the significant growing attention to a wide variety of sensors for digital healthcare. While the progress in this area is tremendously impressive, few wearable sensors with the capability of real-time blood pressure monitoring are approved for clinical use. One of the key obstacles in the further development of wearable sensors for medical applications is the lack of comprehensive technical evaluation of sensor materials against the expected clinical performance. Here, we present an extensive review and critical analysis of various materials applied in the design and fabrication of wearable sensors. In our unique transdisciplinary approach, we studied the fundamentals of blood pressure and examined its measuring modalities while focusing on their clinical use and sensing principles to identify material functionalities. Then, we carefully reviewed various categories of functional materials utilized in sensor building blocks allowing for comparative analysis of the performance of a wide range of materials throughout the sensor operational-life cycle. Not only this provides essential data to enhance the materials' properties and optimize their performance, but also, it highlights new perspectives and provides suggestions to develop the next generation pressure sensors for clinical use.

Biomedical soft robots: current status and perspective

This paper reviews the current status of soft robots in biomedical field. Soft robots are made of materials that have comparable modulus of elasticity to that of biological systems. Several advantages of soft robots over rigid robots are safe human interaction, ease of adaptation with wearable electronics and simpler gripping. We review design factors of soft robots including modeling, controls, actuation, fabrication and application, as well as their limitations and future work. For modeling, we survey kinematic, multibody and numerical finite element methods. Finite element methods are better suited for the analysis of soft robots, since they can accurately model nonlinearities in geometry and materials. However, their real-time integration with controls is challenging. We categorize the controls of soft robots as model-based and model-free. Model-free controllers do not rely on an explicit analytical or numerical model of the soft robot to perform actuation. Actuation is the ability to exert a force using actuators such as shape memory alloys, fluid gels, elastomers and piezoelectrics. Nonlinear geometry and materials of soft robots restrict using conventional rigid body controls. The fabrication techniques used for soft robots differ significantly from that of rigid robots. We survey a wide range of techniques used for fabrication of soft robots from simple molding to more advanced additive manufacturing methods such as 3D printing. We discuss the applications and limitations of biomedical soft robots covering aspects such as functionality, ease of use and cost. The paper concludes with the future discoveries in the emerging field of soft robots.

Mechanochromic Polymers Based on Microencapsulated Solvatochromic Dyes

The development of polymers with built-in sensors that provide readily perceptible optical warning signs of mechanical events has received considerable interest. A simple and versatile concept to bestow polymers with mechanochromic behavior is the incorporation of dye-filled microcapsules. Such capsules release their cargo when their shell is damaged, and the dye is subsequently activated through a chemical or physical change that causes a chromogenic response. Here, we report the preparation of fluorescent poly(urea-formaldehyde) microcapsules containing solutions of a solvatochromic cyanostilbene dye and their integration in different polymers. When objects made from such composites are damaged, the dye solution is released from the containers, diffuses into the matrix, and the solvent evaporates. As a result, the polarity around the dye molecules changes, and this leads to a change of the fluorescence color. Alternatively, the dye is blended into the polymer matrix, microcapsules are loaded with a solvent, and the release of the latter triggers the color change. Both mechanisms afford ratiometric signals because the capsules that remain intact or dye molecules that are not exposed to the solvent can be used as a built-in reference; therefore, a quantitative assessment of the damage inflicted on the material is a priori possible.

Mechanically-Driven Vase-Kite Conformational Switch in Cavitand Cross-Linked Polyurethanes

The eligibility of tetraquinoxaline cavitands (QxCav) as molecular grippers relies on their unique conformational mobility between a closed (vase) and an open (kite) form, triggered in solution by conventional stimuli like pH, temperature and ion concentration. In the present paper, the mechanochemical conformational switching of ad hoc functionalized QxCav covalently embedded in an elastomeric polydimethylsiloxane and in a more rigid polyurethane matrix is investigated. The rigid polymer matrix is more effective in converting mechanical force into a conformational switch at the molecular level, provided that all four quinoxaline wings are covalently connected to the polymer.

Methods for Exerting and Sensing Force in Polymer Materials Using Mechanophores

In recent years, polymer mechanochemistry has evolved as a methodology to provide insights into the action-reaction relationships of polymers and polymer-based materials and composites in terms of macroscopic force application (stress) and subsequent deformation (strain) through a mechanophore-assisted coupling of mechanical and chemical phenomena. The perplexity of the process, however, from the viewpoint of mechanophore activation via a molecular-scaled disruption of the structure that yields a macroscopically detectable optical signal, renders this otherwise rapidly evolving field challenging. Motivated by this, we highlight here recent advancements of polymer mechanochemistry with particular focus on the establishment of methodologies for the efficient activation and quantification of mechanophores and anticipate to aptly pinpoint unresolved matters and limitations of the respective approaches, thus highlighting possible developments.

Polymer mechanochemistry-enabled pericyclic reactions

Polymer mechanochemical pericyclic reactions are reviewed with regard to their structural features and substitution prerequisites to the polymer framework.

Color and shape reversible, recoverable and repeatable mechanochromic shape memory polycaprolactone: a single material with dual functions

A polycaprolactone-based mechanochromic shape memory material exhibits reversible and repeatable shape and color as a result of its crystallinity.

Strain-Dependent Kinetics in the Cis-to-Trans Isomerization of Azobenzene in Bulk Elastomers

The cis-to-trans isomerization of azobenzene is accelerated in a bulk PDMS elastomer under uniaxial tension. The kinetics are cleanly described by a single-exponential first-order process (k = 2.7 × 10^-5 s^-1) in the absence of tension but become multiexponential under constant strains of 40-90%. The complex kinetics can be reasonably modeled as a two-component process. The majority (∼92%) process is slower and occurs with a rate constant that is similar to that of the unstrained system (k = 2.3-2.7 × 10^-5 s^-1), whereas the rate constant of the minority (∼8%) process increases from k = 10.1 × 10^-5 s^-1 at 40% strain to k = 21.3 × 10^-5 s^-1 at 90% strain. Simple models of expected force-rate relationships suggest that the average force of tension per strand in the minority component ranges from 28 to 44 pN across strains of 40-90%.

Materials tactile logic via innervated soft thermochromic elastomers

Conventional machines rely on rigid, centralized electronic components to make decisions, which limits complexity and scaling. Here, we show that decision making can be realized on the material-level without relying on semiconductor-based logic. Inspired by the distributed decision making that exists in the arms of an octopus, we present a completely soft, stretchable silicone composite doped with thermochromic pigments and innervated with liquid metal. The ability to deform the liquid metal couples geometric changes to Joule heating, thus enabling tunable thermo-mechanochromic sensing of touch and strain. In more complex circuits, deformation of the metal can redistribute electrical energy to distal portions of the network in a way that converts analog tactile ‘inputs’ into digital colorimetric ‘outputs’. Using the material itself as the active player in the decision making process offers possibilities for creating entirely soft devices that respond locally to environmental interactions or act as embedded sensors for feedback loops.

Designing bio-inspired computational features in soft systems without centralized processing remains challenging. Here, the authors propose a passive display based on thermochromic elastomers by leveraging Joule heating of embedded liquid metal wires by changing geometry in response to deformation.

Anthracene-based mechanophores for compression-activated fluorescence in polymeric networks

The recent attention given to functionalities that respond to mechanical force has led to a deeper understanding of force transduction and mechanical wear in polymeric materials. Furthermore, polymers have been carefully designed such that activation of "mechanophores" leads to productive outputs, such as material reinforcement or changes in optical properties. In this work, a crosslinker containing an anthracene-maleimide linkage was designed and used to prepare networks that display a fluorescence response when damaged. The pressure-dependent damage of poly(N,N-dimethylacrylamide) networks was monitored using solid-state fluorescence spectroscopy, with increasing compressive forces leading to higher degrees of mechanophore activation. When a stamp was used to compress the networks, only the areas in contact with the raised portion of the stamp underwent mechanophore activation, resulting in the generation of patterns that were only visible under UV light. Finally, an isomeric "flex" mechanophore was designed and used to prepare networks that were compressed and compared to the previously described networks.

A biosensing soft robot: Autonomous parsing of chemical signals through integrated organic and inorganic interfaces

The integration of synthetic biology and soft robotics can fundamentally advance sensory, diagnostic, and therapeutic functionality of bioinspired machines. However, such integration is currently impeded by the lack of soft-matter architectures that interface synthetic cells with electronics and actuators for controlled stimulation and response during robotic operation. Here, we synthesized a soft gripper that uses engineered bacteria for detecting chemicals in the environment, a flexible light-emitting diode (LED) circuit for converting biological to electronic signals, and soft pneu-net actuators for converting the electronic signals to movement of the gripper. We show that the hybrid bio-LED-actuator module enabled the gripper to detect chemical signals by applying pressure and releasing the contents of a chemical-infused hydrogel. The biohybrid gripper used chemical sensing and feedback to make actionable decisions during a pick-and-place operation. This work opens previously unidentified avenues in soft materials, synthetic biology, and integrated interfacial robotic systems.

Simple Synthesis of Elastomeric Photomechanical Switches That Self-Heal

This article introduces a simple two-stage method to synthesize and program a photomechanical elastomer (PME) for light-driven artificial muscle-like actuations in soft robotics. First, photochromic azobenzene molecules are covalently attached to a polyurethane backbone via a two-part step-growth polymerization. Next, mechanical alignment is applied to induce anisotropic deformations in the PME-actuating films. Cross-linked through dynamic hydrogen bonds, the PMEs also possess autonomic self-healing properties without external energy input. This self-healing allows for a single alignment step of the PME film and subsequent "cut and paste" assembly for multi-axis actuation of a self-folded soft-robotic gripper from a single degree of freedom optical input.

Mechanochromic composite elastomers for additive manufacturing and low strain mechanophore activation

Composite silicone inks provide access to 3D-printable elastomers that are mechanochemically active at lower strains that single component analogs.

Microcapsule-Containing Self-Reporting Polymers

Self-reporting polymers, which can indicate damage or exposure to excessive stress with a clearly perceptible optical signal, are potentially useful for several technological applications, including stress-sensitive sensors that enable in situ monitoring of mechanical events and structural health monitoring systems. A versatile and simple concept to realize this function is the exploitation of microcapsules that are filled with solutions of dyes that are released and chemically or physically activated when the protective shell is damaged. Such microcapsules can readily be incorporated into polymers and the composites thus made can be processed into films, coatings, or other objects. Mechanochromic effects can be realized with different types of dyes and activation schemes. In this concept article, a selection of recent key studies is presented to provide an overview of the state of the field. Different architectures and operating principles and their advantages and drawbacks are reviewed. The parameters that influence the design of microcapsule-based mechanochromic systems are considered and unexplored chromophore systems that might be useful to design future self-reporting polymers are discussed. Finally, specific aspects of capsule design, fabrication, and integration into polymers are presented. Throughout the article, challenges and opportunities of the concept are highlighted and possible future directions are discussed.