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Wang W, Tanasijevic I, Zhang J, Lauga E, Cohen I. Electronically actuated artificial hinged cilia for efficient bidirectional pumping. LAB ON A CHIP 2024; 24:4549-4557. [PMID: 39219472 DOI: 10.1039/d4lc00513a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/04/2024]
Abstract
Cilial pumping is a potent mechanism used to control and manipulate fluids on microscales. Recently, we introduced an electronically driven μ-cilial platform that can create arbitrary flow patterns in liquids near a surface with the potential for various engineering applications. This μ-cilial platform, however, utilized the coupling between elasticity and viscous drag to obtain pumping and had several limitations. For example, each cilium could only pump in one direction. Thus, to create bidirectional flows, it was necessary to fabricate and separately actuate two oppositely facing cilia. As another example, the generation of non-reciprocal cilial motions, a necessary condition for pumping at these scales, could only be achieved by matching the elastic stresses inherent in actuating the cilia with the viscous drag forces generated by the flows. This criterion severely restricted the frequency range over which the cilia could be operated and resulted in a small swept area, both of which restricted the volume of fluid being pumped in each cycle. These limitations contrast with the capabilities of natural cilia, which can achieve omnidirectional transport and operation over a broad range of frequencies. In natural cilia, these capabilities arise from their complex internal structure. Inspired by this strategy we designed hinged cilia and show they can achieve bidirectional pumping of larger fluid volumes over a broad range of frequencies. Finally, we demonstrate that even regular arrays of individually controlled hinged cilia can generate a variety of flow patterns using fewer cilia than in previous cilia metasurface designs.
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Affiliation(s)
- Wei Wang
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, New York, 14850, USA.
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, 14850, USA
- Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, New York, 14850, USA
| | - Ivan Tanasijevic
- Department of Applied Mathematics and Theoretical Physics, University of Cambridge, Cambridge, CB3 0WA, UK
- The Institute for Artificial Intelligence Research and Development of Serbia, Serbia
| | - Jinsong Zhang
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, New York, 14850, USA.
| | - Eric Lauga
- Department of Applied Mathematics and Theoretical Physics, University of Cambridge, Cambridge, CB3 0WA, UK
| | - Itai Cohen
- Laboratory of Atomic and Solid State Physics, Cornell University, Ithaca, New York, 14850, USA.
- Kavli Institute at Cornell for Nanoscale Science, Cornell University, Ithaca, New York, 14850, USA
- Department of Physics, Cornell University, Ithaca, New York, 14850, USA
- Department of Design Technology, Cornell University, Ithaca, New York, 14850, USA
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2
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Peterman DJ, Byron ML. Encoding spatiotemporal asymmetry in artificial cilia with a ctenophore-inspired soft-robotic platform. BIOINSPIRATION & BIOMIMETICS 2024; 19:066002. [PMID: 39255824 DOI: 10.1088/1748-3190/ad791c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/17/2024] [Accepted: 09/10/2024] [Indexed: 09/12/2024]
Abstract
A remarkable variety of organisms use metachronal coordination (i.e. numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry at small scales where viscous effects dominate and flow is time-reversible. Some larger organisms use this swimming strategy at intermediate scales, where viscosity and inertia both play important roles. However, the role of individual propulsor kinematics-especially across hydrodynamic scales-is not well-understood, though the details of propulsor motion can be crucial for the efficient generation of flow. To investigate this behavior, we developed a new soft robotic platform using magnetoactive silicone elastomers to mimic the metachronally coordinated propulsors found in swimming organisms. Furthermore, we present a method to passively encode spatially asymmetric beating patterns in our artificial propulsors. We investigated the kinematics and hydrodynamics of three propulsor types, with varying degrees of asymmetry, using Particle Image Velocimetry and high-speed videography. We find that asymmetric beating patterns can move considerably more fluid relative to symmetric beating at the same frequency and phase lag, and that asymmetry can be passively encoded into propulsors via the interplay between elastic and magnetic torques. Our results demonstrate that nuanced differences in propulsor kinematics can substantially impact fluid pumping performance. Our soft robotic platform also provides an avenue to explore metachronal coordination at the meso-scale, which in turn can inform the design of future bioinspired pumping devices and swimming robots.
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Affiliation(s)
- David J Peterman
- Department of Mechanical Engineering, Penn State University, University Park, PA 16802, United States of America
| | - Margaret L Byron
- Department of Mechanical Engineering, Penn State University, University Park, PA 16802, United States of America
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3
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Zhang Z, Wang Y, Zhang C, Zhan W, Zhang Q, Xue L, Xu Z, Peng N, Jiang Z, Ye Z, Liu M, Zhang X. Cilia-Inspired Magnetic Flexible Shear Force Sensors for Tactile and Fluid Monitoring. ACS APPLIED MATERIALS & INTERFACES 2024. [PMID: 39266047 DOI: 10.1021/acsami.4c12957] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/14/2024]
Abstract
Recently, there has been a burgeoning interest in flexible shear force sensors capable of precisely detecting both magnitude and direction. Despite considerable efforts, the challenge of achieving accurate direction recognition persists, primarily due to the inherent structural characteristics and sensing mechanisms. Here, we present a shear force sensor constructed by a magnetically induced assembled Ni/PDMS composite membrane, which is magnetized and integrated with a three-axis Hall sensor, facilitating its ability to simultaneously monitor both shear force magnitude (0.7-87 mN) and direction (0-360°). The cilia-inspired shear force magnetic sensor (CISFMS) exhibits admirable attributes, including exceptional flexibility, high sensitivity (0.76 mN-1), an exceedingly low detection limit (1° and 0.7 mN), and remarkable durability (over 10,000 bending cycles). Further, our results demonstrate the capacity of the CISFMS in detecting tactile properties, fluid velocity, and direction, offering substantial potential for future developments in wearable electronics.
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Affiliation(s)
- Zeying Zhang
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
- State Key Laboratory for Manufacturing Systems Engineering, Electronic Materials Research Laboratory, Key Laboratory of the Ministry of Education, Engineering Research Center of Spin Quantum Sensor Chips, Universities of Shaanxi Province, School of Electronic Science and Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China
| | - Yijing Wang
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Cuiling Zhang
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Wang Zhan
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Qi Zhang
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Li Xue
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Zhe Xu
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Niancai Peng
- State Key Laboratory for Manufacturing Systems Engineering, School of Instrument Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710054, P. R. China
| | - Zhuangde Jiang
- State Key Laboratory for Manufacturing Systems Engineering, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Jiaotong University, Xi'an 7100049, Shaanxi, P. R. China
| | - Zhilu Ye
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
| | - Ming Liu
- State Key Laboratory for Manufacturing Systems Engineering, Electronic Materials Research Laboratory, Key Laboratory of the Ministry of Education, Engineering Research Center of Spin Quantum Sensor Chips, Universities of Shaanxi Province, School of Electronic Science and Engineering, Xi'an Jiaotong University, Xi'an 710049, P. R. China
| | - Xiaohui Zhang
- State Key Laboratory for Manufacturing Systems Engineering, The Key Laboratory of Biomedical Information Engineering of Ministry of Education, Center for Mitochondrial Biology and Medicine, School of Life Science and Technology, International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology, Xi'an Key Laboratory for Biomedical Testing and High-End Equipment, Xi'an Jiaotong University, Xi'an 710049, Shannxi, P. R. China
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4
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Cui Z, Ul Islam T, Wang Y, den Toonder JMJ. Curved Surfaces Induce Metachronal Motion of Microscopic Magnetic Cilia. ACS APPLIED MATERIALS & INTERFACES 2024; 16:38733-38743. [PMID: 38985460 DOI: 10.1021/acsami.4c06884] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/11/2024]
Abstract
Cilia are hair-like organelles present on cell surfaces. They often exhibit a collective wave-like motion that can enhance fluid or particle transportation function, known as metachronal motion. Inspired by nature, researchers have developed artificial cilia capable of inducing metachronal motion, especially magnetic actuation. However, current methods remain intricate, requiring either control of the magnetic or geometrical properties of individual cilia or the generation of a complex magnetic field. In this paper, we present a novel elegant method that eliminates these complexities and induces metachronal motion of arrays of identical microscopic magnetic artificial cilia by applying a simple rotating uniform magnetic field. The key idea of our method is to place arrays of cilia on surfaces with a specially designed curvature. This results in consecutive cilia experiencing different magnetic field directions at each point in time, inducing a phase lag in their motion, thereby causing collective wave-like motion. Moreover, by tuning the surface curvature profile, we can achieve diverse metachronal patterns analogous to symplectic and antiplectic metachronal motion observed in nature, and we can even devise novel combinations thereof. Furthermore, we characterize the local flow patterns generated by the motion of the cilia, revealing the formation of vortical patterns. Our novel approach simplifies the realization of miniaturized metachronal motion in microfluidic systems and opens the possibility of controlling flow pattern generation and transportation, opening avenues for applications such as lab-on-a-chip technologies, organ-on-a-chip platforms, and microscopic object propulsion.
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Affiliation(s)
- Zhiwei Cui
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
| | - Tanveer Ul Islam
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
| | - Ye Wang
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
| | - Jaap M J den Toonder
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE Eindhoven, The Netherlands
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ Eindhoven, The Netherlands
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5
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Shi S, Zhang X, Wang Z, Ma L, Kang K, Pang Y, Ma H, Hu J. Design and Implementation of a Four-Unit Array Piezoelectric Bionic MEMS Vector Hydrophone. MICROMACHINES 2024; 15:524. [PMID: 38675335 PMCID: PMC11052299 DOI: 10.3390/mi15040524] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/02/2024] [Revised: 04/11/2024] [Accepted: 04/13/2024] [Indexed: 04/28/2024]
Abstract
High-performance vector hydrophones have been gaining attention for underwater target-monitoring applications. Nevertheless, there exists the mutual constraint between sensitivity and bandwidth of a single hydrophone. To solve this problem, a four-unit array piezoelectric bionic MEMS vector hydrophone (FPVH) was developed in this paper, which has a cross-beam and a bionic fish-lateral-line-nerve-cell-cilia unit array structure. Simulation analysis and optimization in the design of the bionic microstructure have been performed by COMSOL 6.1 software to determine the structure dimensions and the lead zirconate titanate (PZT) thin film distribution. The FPVH was manufactured using MEMS technology and tested in a standing wave bucket. The results indicate that the FPVH has a sensitivity of up to -167.93 dB@1000 Hz (0 dB = 1 V/μPa), which is 12 dB higher than that of the one-unit piezoelectric MEMS vector hydrophone (OPVH). Additionally, the working bandwidth of the FPVH reaches 20 Hz~1200 Hz, exhibiting a good cosine curve with an 8-shape. This work paves a new way for the development of multi-unit piezoelectric vector hydrophones for underwater acoustic detectors.
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Affiliation(s)
- Shuzheng Shi
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
- School of Computer Science and Engineering, North China University of Science and Technology, Tangshan 063210, China
- HBIS Group Co., Ltd., Shijiazhuang 050023, China
| | - Xiaoyong Zhang
- Department of Intelligence and Automation, Taiyuan University, Taiyuan 030032, China;
| | - Zhanying Wang
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
| | - Liyong Ma
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
| | - Kai Kang
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
| | - Yongjun Pang
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
| | - Hong Ma
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
| | - Jinjiang Hu
- School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou 075000, China; (S.S.); (Z.W.); (L.M.); (K.K.); (Y.P.)
- School of Materials Science and Engineering, University of Science and Technology Beijing, Beijing 100083, China
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6
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Tan MWM, Wang H, Gao D, Huang P, Lee PS. Towards high performance and durable soft tactile actuators. Chem Soc Rev 2024; 53:3485-3535. [PMID: 38411597 DOI: 10.1039/d3cs01017a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/28/2024]
Abstract
Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.
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Affiliation(s)
- Matthew Wei Ming Tan
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
| | - Hui Wang
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Dace Gao
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Peiwen Huang
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
| | - Pooi See Lee
- School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
- Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR), Campus for Research Excellence and Technological Enterprise (CREATE), Singapore, 138602, Singapore
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7
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Cui Z, Wang Y, den Toonder JMJ. Metachronal Motion of Biological and Artificial Cilia. Biomimetics (Basel) 2024; 9:198. [PMID: 38667209 PMCID: PMC11048255 DOI: 10.3390/biomimetics9040198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 03/22/2024] [Accepted: 03/23/2024] [Indexed: 04/28/2024] Open
Abstract
Cilia are slender, hair-like cell protrusions that are present ubiquitously in the natural world. They perform essential functions, such as generating fluid flow, propulsion, and feeding, in organisms ranging from protozoa to the human body. The coordinated beating of cilia, which results in wavelike motions known as metachrony, has fascinated researchers for decades for its role in functions such as flow generation and mucus transport. Inspired by nature, researchers have explored diverse materials for the fabrication of artificial cilia and developed several methods to mimic the metachronal motion observed in their biological counterparts. In this review, we will introduce the different types of metachronal motion generated by both biological and artificial cilia, the latter including pneumatically, photonically, electrically, and magnetically driven artificial cilia. Furthermore, we review the possible applications of metachronal motion by artificial cilia, focusing on flow generation, transport of mucus, particles, and droplets, and microrobotic locomotion. The overall aim of this review is to offer a comprehensive overview of the metachronal motions exhibited by diverse artificial cilia and the corresponding practical implementations. Additionally, we identify the potential future directions within this field. These insights present an exciting opportunity for further advancements in this domain.
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Affiliation(s)
- Zhiwei Cui
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Jaap M. J. den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
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Wang T, Ul Islam T, Steur E, Homan T, Aggarwal I, Onck PR, den Toonder JMJ, Wang Y. Programmable metachronal motion of closely packed magnetic artificial cilia. LAB ON A CHIP 2024; 24:1573-1585. [PMID: 38305798 DOI: 10.1039/d3lc00956d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/03/2024]
Abstract
Despite recent advances in artificial cilia technologies, the application of metachrony, which is the collective wavelike motion by cilia moving out-of-phase, has been severely hampered by difficulties in controlling closely packed artificial cilia at micrometer length scales. Moreover, there has been no direct experimental proof yet that a metachronal wave in combination with fully reciprocal ciliary motion can generate significant microfluidic flow on a micrometer scale as theoretically predicted. In this study, using an in-house developed precise micro-molding technique, we have fabricated closely packed magnetic artificial cilia that can generate well-controlled metachronal waves. We studied the effect of pure metachrony on fluid flow by excluding all symmetry-breaking ciliary features. Experimental and simulation results prove that net fluid transport can be generated by metachronal motion alone, and the effectiveness is strongly dependent on cilia spacing. This technique not only offers a biomimetic experimental platform to better understand the mechanisms underlying metachrony, it also opens new pathways towards advanced industrial applications.
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Affiliation(s)
- Tongsheng Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Tanveer Ul Islam
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Erik Steur
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Tess Homan
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
| | - Ishu Aggarwal
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Patrick R Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Jaap M J den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
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9
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Grein-Iankovski A, de Oliveira Braga KA, Legendre DF, Cardoso PFG, Loh W. Bio-Inspired Magnetically Responsive Silicone Cilia: Fabrication Strategy and Interaction with Biological Mucus. Bioengineering (Basel) 2024; 11:261. [PMID: 38534535 DOI: 10.3390/bioengineering11030261] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/25/2024] [Revised: 02/23/2024] [Accepted: 02/26/2024] [Indexed: 03/28/2024] Open
Abstract
Cilia are biological structures essential to drive the mobility of secretions and maintain the proper function of the respiratory airways. However, this motile self-cleaning process is significantly compromised in the presence of silicone tracheal prosthesis, leading to biofilm growth and impeding effective treatment. To address this challenge and enhance the performance of these devices, we propose the fabrication of magnetic silicone cilia, with the prospect of their integration onto silicone prostheses. The present study presents a fabrication method based on magnetic self-assembly and assesses the interaction behavior of the cilia array with biological mucus. This protocol allows for the customization of cilia dimensions across a wide range of aspect ratios (from 6 to 85) and array densities (from 10 to 80 cilia/mm2) by adjusting the fabrication parameters, offering flexibility for adjustments according to their required characteristics. Furthermore, we evaluated the suitability of different cilia arrays for biomedical applications by analyzing their interaction with bullfrog mucus, simulating the airways environment. Our findings demonstrate that the fabricated cilia are mechanically resistant to the viscous fluid and still exhibit controlled movement under the influence of an external moving magnet. A correlation between cilia dimensions and mucus wettability profile suggests a potential role in facilitating mucus depuration, paving the way for further advancements aimed at enhancing the performance of silicone prostheses in clinical settings.
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Affiliation(s)
- Aline Grein-Iankovski
- Institute of Chemistry, Universidade Estadual de Campinas (UNICAMP), Campinas 13083-970, SP, Brazil
| | | | | | - Paulo Francisco Guerreiro Cardoso
- Instituto do Coração, Hospital das Clinicas HCFMUSP, Faculdade de Medicina, Universidade de São Paulo, São Paulo 01246-903, SP, Brazil
| | - Watson Loh
- Institute of Chemistry, Universidade Estadual de Campinas (UNICAMP), Campinas 13083-970, SP, Brazil
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10
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Ray R, Rakesh A, Singh S, Madhyastha H, Mani NK. Hair and Nail-On-Chip for Bioinspired Microfluidic Device Fabrication and Biomarker Detection. Crit Rev Anal Chem 2023:1-27. [PMID: 38133962 DOI: 10.1080/10408347.2023.2291825] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2023]
Abstract
The advent of biosensors has tremendously increased our potential of identifying and solving important problems in various domains, ranging from food safety and environmental analysis, to healthcare and medicine. However, one of the most prominent drawbacks of these technologies, especially in the biomedical field, is to employ conventional samples, such as blood, urine, tissue extracts and other body fluids for analysis, which suffer from the drawbacks of invasiveness, discomfort, and high costs encountered in transportation and storage, thereby hindering these products to be applied for point-of-care testing that has garnered substantial attention in recent years. Therefore, through this review, we emphasize for the first time, the applications of switching over to noninvasive sampling techniques involving hair and nails that not only circumvent most of the aforementioned limitations, but also serve as interesting alternatives in understanding the human physiology involving minimal costs, equipment and human interference when combined with rapidly advancing technologies, such as microfluidics and organ-on-a-chip to achieve miniaturization on an unprecedented scale. The coalescence between these two fields has not only led to the fabrication of novel microdevices involving hair and nails, but also function as robust biosensors for the detection of biomarkers, chemicals, metabolites and nucleic acids through noninvasive sampling. Finally, we have also elucidated a plethora of futuristic innovations that could be incorporated in such devices, such as expanding their applications in nail and hair-based drug delivery, their potential in serving as next-generation wearable sensors and integrating these devices with machine-learning for enhanced automation and decentralization.
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Affiliation(s)
- Rohitraj Ray
- Department of Bioengineering (BE), Indian Institute of Science Bangalore, Bengaluru, Karnataka, India
| | - Amith Rakesh
- Microfluidics, Sensors and Diagnostics (μSenD) Laboratory, Centre for Microfluidics, Biomarkers, Photoceutics and Sensors (μBioPS), Department of Biotechnology, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576 104, India
| | - Sheetal Singh
- Microfluidics, Sensors and Diagnostics (μSenD) Laboratory, Centre for Microfluidics, Biomarkers, Photoceutics and Sensors (μBioPS), Department of Biotechnology, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576 104, India
| | - Harishkumar Madhyastha
- Department of Cardiovascular Physiology, Faculty of Medicine, University of Miyazaki, Miyazaki, Japan
| | - Naresh Kumar Mani
- Microfluidics, Sensors and Diagnostics (μSenD) Laboratory, Centre for Microfluidics, Biomarkers, Photoceutics and Sensors (μBioPS), Department of Biotechnology, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576 104, India
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11
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Rombouts J, Elliott J, Erzberger A. Forceful patterning: theoretical principles of mechanochemical pattern formation. EMBO Rep 2023; 24:e57739. [PMID: 37916772 DOI: 10.15252/embr.202357739] [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: 06/30/2023] [Revised: 09/21/2023] [Accepted: 09/27/2023] [Indexed: 11/03/2023] Open
Abstract
Biological pattern formation is essential for generating and maintaining spatial structures from the scale of a single cell to tissues and even collections of organisms. Besides biochemical interactions, there is an important role for mechanical and geometrical features in the generation of patterns. We review the theoretical principles underlying different types of mechanochemical pattern formation across spatial scales and levels of biological organization.
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Affiliation(s)
- Jan Rombouts
- Cell Biology and Biophysics Unit, European Molecular Biology Laboratory (EMBL), Heidelberg, Germany
- Developmental Biology Unit, European Molecular Biology Laboratory (EMBL), Heidelberg, Germany
| | - Jenna Elliott
- Cell Biology and Biophysics Unit, European Molecular Biology Laboratory (EMBL), Heidelberg, Germany
- Department of Physics and Astronomy, Heidelberg University, Heidelberg, Germany
| | - Anna Erzberger
- Cell Biology and Biophysics Unit, European Molecular Biology Laboratory (EMBL), Heidelberg, Germany
- Department of Physics and Astronomy, Heidelberg University, Heidelberg, Germany
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12
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Venkataramanachar B, Li J, Islam TU, Wang Y, den Toonder JMJ. Nanomagnetic Elastomers for Realizing Highly Responsive Micro- and Nanosystems. NANO LETTERS 2023; 23:9203-9211. [PMID: 37467140 PMCID: PMC10603798 DOI: 10.1021/acs.nanolett.3c00819] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/02/2023] [Revised: 07/13/2023] [Indexed: 07/21/2023]
Abstract
Evolution has produced natural systems that generate motion and sense external stimuli at the micro- and nanoscales. At extremely small scales, the intricate motions and large deformations shown by these biosystems are due to a tipping balance between their structural compliance and the actuating force generated in them. Artificially mimicking such ingenious systems for scientific and engineering applications has been approached through the development and use of different smart materials mostly limited to microscale dimensions. To push the application range down to the nanoscale, we developed a material preparation process that yields a library of nanomagnetic elastomers with high magnetic particle concentrations. Through this process, we have realized a material with the highest magnetic-to-elastic force ratio, as is shown by an extensive mechanical and magnetic characterization of the materials. Furthermore, we have fabricated and actuated micro- and nanostructures mimicking cilia, demonstrating the extreme compliance and responsiveness of the developed materials.
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Affiliation(s)
- Bhavana
B. Venkataramanachar
- Microsystems
Section, Mechanical Engineering, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
| | - Jianing Li
- Department
of Applied Physics and Science Education, Eindhoven University of Technology, Eindhoven 5612 AZ, The Netherlands
| | - Tanveer ul Islam
- Microsystems
Section, Mechanical Engineering, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
| | - Ye Wang
- Microsystems
Section, Mechanical Engineering, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
| | - Jaap M. J. den Toonder
- Microsystems
Section, Mechanical Engineering, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
- Institute
for Complex Molecular Systems, Eindhoven
University of Technology, Eindhoven 5612 AZ, The Netherlands
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13
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Han J, Dong X, Yin Z, Zhang S, Li M, Zheng Z, Ugurlu MC, Jiang W, Liu H, Sitti M. Actuation-enhanced multifunctional sensing and information recognition by magnetic artificial cilia arrays. Proc Natl Acad Sci U S A 2023; 120:e2308301120. [PMID: 37792517 PMCID: PMC10589697 DOI: 10.1073/pnas.2308301120] [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: 05/17/2023] [Accepted: 09/04/2023] [Indexed: 10/06/2023] Open
Abstract
Artificial cilia integrating both actuation and sensing functions allow simultaneously sensing environmental properties and manipulating fluids in situ, which are promising for environment monitoring and fluidic applications. However, existing artificial cilia have limited ability to sense environmental cues in fluid flows that have versatile information encoded. This limits their potential to work in complex and dynamic fluid-filled environments. Here, we propose a generic actuation-enhanced sensing mechanism to sense complex environmental cues through the active interaction between artificial cilia and the surrounding fluidic environments. The proposed mechanism is based on fluid-cilia interaction by integrating soft robotic artificial cilia with flexible sensors. With a machine learning-based approach, complex environmental cues such as liquid viscosity, environment boundaries, and distributed fluid flows of a wide range of velocities can be sensed, which is beyond the capability of existing artificial cilia. As a proof of concept, we implement this mechanism on magnetically actuated cilia with integrated laser-induced graphene-based sensors and demonstrate sensing fluid apparent viscosity, environment boundaries, and fluid flow speed with a reconfigurable sensitivity and range. The same principle could be potentially applied to other soft robotic systems integrating other actuation and sensing modalities for diverse environmental and fluidic applications.
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Affiliation(s)
- Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Xiaoguang Dong
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN37212
| | - Zhen Yin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- Department of Control Science and Engineering, Tongji University, Shanghai201800, China
- Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai200120, China
| | - Shuaizhong Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
- National Key Laboratory of Hoisting Machinery Key Technology, Yanshan University, Qinhuangdao066004, China
- Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao066004, China
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Musab Cagri Ugurlu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Hongzhong Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450Istanbul, Turkey
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14
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Glass P, Shar A, Pemberton C, Nguyen E, Park SH, Joung D. 3D-Printed Artificial Cilia Arrays: A Versatile Tool for Customizable Mechanosensing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2303164. [PMID: 37483144 PMCID: PMC10502633 DOI: 10.1002/advs.202303164] [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: 06/14/2023] [Indexed: 07/25/2023]
Abstract
Bio-inspired cilium-based mechanosensors offer a high level of responsiveness, making them suitable for a wide range of industrial, environmental, and biomedical applications. Despite great promise, the development of sensors with multifunctionality, scalability, customizability, and sensing linearity presents challenges due to the complex sensing mechanisms and fabrication methods involved. To this end, high-aspect-ratio polycaprolactone/graphene cilia structures with high conductivity, and facile fabrication are employed to address these challenges. For these 3D-printed structures, an "inter-cilium contact" sensing mechanism that enables the sensor to function akin to an on-off switch, significantly enhancing sensitivity and reducing ambiguity in detection, is proposed. The cilia structures exhibit high levels of customizability, including thickness, height, spacing, and arrangement, while maintaining mechanical robustness. The simplicity of the sensor design enables highly sensitive detection in diverse applications, encompassing airflow and water flow monitoring, braille detection, and debris recognition. Overall, the unique conductive cilia-based sensing mechanism that is proposed brings several advantages, advancing the development of multi-sensing capabilities and flexible electronic skin applications in smart robotics and human prosthetics.
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Affiliation(s)
- Phillip Glass
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Andy Shar
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Charles Pemberton
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Ethan Nguyen
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Sung Hyun Park
- Sustainable Technology and Wellness R&D GroupKorea Institute of Industrial Technology (KITECH)Jeju‐siJeju‐do63243Republic of Korea
| | - Daeha Joung
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
- Massey Cancer CenterVirginia Commonwealth UniversityRichmondVA23298USA
- Institute for Sustainable Energy and EnvironmentVirginia Commonwealth UniversityRichmondVA23284USA
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15
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Cui Z, Wang Y, Zhang S, Wang T, den Toonder JMJ. Miniaturized metachronal magnetic artificial cilia. Proc Natl Acad Sci U S A 2023; 120:e2304519120. [PMID: 37611057 PMCID: PMC10629582 DOI: 10.1073/pnas.2304519120] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/22/2023] [Accepted: 07/14/2023] [Indexed: 08/25/2023] Open
Abstract
Biological cilia, hairlike organelles on cell surfaces, often exhibit collective wavelike motion known as metachrony, which helps generating fluid flow. Inspired by nature, researchers have developed artificial cilia as microfluidic actuators, exploring several methods to mimic the metachrony. However, reported methods are difficult to miniaturize because they require either control of individual cilia properties or the generation of a complex external magnetic field. We introduce a concept that generates metachronal motion of magnetic artificial cilia (MAC), even though the MAC are all identical, and the applied external magnetic field is uniform. This is achieved by integrating a paramagnetic substructure in the substrate underneath the MAC. Uniquely, we can create both symplectic and antiplectic metachrony by changing the relative positions of MAC and substructure. We demonstrate the flow generation of the two metachronal motions in both high and low Reynolds number conditions. Our research marks a significant milestone by breaking the size limitation barrier in metachronal artificial cilia. This achievement not only showcases the potential of nature-inspired engineering but also opens up a host of exciting opportunities for designing and optimizing microsystems with enhanced fluid manipulation capabilities.
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Affiliation(s)
- Zhiwei Cui
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
| | - Shuaizhong Zhang
- Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Tongsheng Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
| | - Jaap M. J. den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
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16
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Zhang S, Hu X, Li M, Bozuyuk U, Zhang R, Suadiye E, Han J, Wang F, Onck P, Sitti M. 3D-printed micrometer-scale wireless magnetic cilia with metachronal programmability. SCIENCE ADVANCES 2023; 9:eadf9462. [PMID: 36947622 PMCID: PMC7614626 DOI: 10.1126/sciadv.adf9462] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/22/2022] [Accepted: 02/21/2023] [Indexed: 06/08/2023]
Abstract
Biological cilia play essential roles in self-propulsion, food capture, and cell transportation by performing coordinated metachronal motions. Experimental studies to emulate the biological cilia metachronal coordination are challenging at the micrometer length scale because of current limitations in fabrication methods and materials. We report on the creation of wirelessly actuated magnetic artificial cilia with biocompatibility and metachronal programmability at the micrometer length scale. Each cilium is fabricated by direct laser printing a silk fibroin hydrogel beam affixed to a hard magnetic FePt Janus microparticle. The 3D-printed cilia show stable actuation performance, high temperature resistance, and high mechanical endurance. Programmable metachronal coordination can be achieved by programming the orientation of the identically magnetized FePt Janus microparticles, which enables the generation of versatile microfluidic patterns. Our platform offers an unprecedented solution to create bioinspired microcilia for programmable microfluidic systems, biomedical engineering, and biocompatible implants.
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Affiliation(s)
- Shuaizhong Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Xinghao Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- State Key Laboratory of Solidification Processing, Center of Advanced Lubrication and Seal Materials, Northwestern Polytechnical University, Xi'an 710072, China
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Rongjing Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Eylul Suadiye
- Central Scientific Facility Materials, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710054, China
| | - Fan Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Patrick Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG Groningen, Netherlands
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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17
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Broeren S, Pereira IF, Wang T, den Toonder J, Wang Y. On-demand microfluidic mixing by actuating integrated magnetic microwalls. LAB ON A CHIP 2023; 23:1524-1530. [PMID: 36756973 PMCID: PMC10013339 DOI: 10.1039/d2lc01168a] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/21/2022] [Accepted: 02/06/2023] [Indexed: 06/18/2023]
Abstract
Various types of passive and active micromixers have been successfully developed to address the problem of mixing in microfluidic devices. However, many applications do not need fluids to be mixed at all times, or indeed require mixing to be turned on and off at will. Achieving such on-demand mixing is not feasible for passive mixers, particularly when the flow rate cannot be used as a control parameter. On the other hand, active mixers are usually not designed to be able to turn mixing off completely, and they often have complicated fabrication processes and special operation requirements, limiting the range of applications. In this work, we demonstrate an on-demand micromixer based on the actuation of magnetic microwalls. These are made by replica micromoulding and can be easily integrated within commercial microfluidic devices, such as the ibidi® 3-in-1 μ-Slide. Using a simple magnet, the microwalls can be actuated between a fully upright 'on' state, which turns on mixing by creating a meandering path in the main channel, and a fully collapsed 'off' state, which completely turns off mixing by opening up the channel leaving it unobstructed. Besides the increase in path length when the microwalls are activated, inertia effects also play a significant role for mixing due to the tight bends in the meandering flow path. We quantify the mixing effect using coloured fluids of different viscosities and at different flow rates, and we show that the microwalls can effectively enhance mixing across a wide range of operational conditions.
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Affiliation(s)
- Stef Broeren
- Mechanical Engineering Department, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
| | - Inês Figueiredo Pereira
- Mechanical Engineering Department, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute of Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Tongsheng Wang
- Mechanical Engineering Department, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute of Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Jaap den Toonder
- Mechanical Engineering Department, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute of Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Ye Wang
- Mechanical Engineering Department, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute of Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
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18
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Lim S, Du Y, Lee Y, Panda SK, Tong D, Khalid Jawed M. Fabrication, control, and modeling of robots inspired by flagella and cilia. BIOINSPIRATION & BIOMIMETICS 2022; 18:011003. [PMID: 36533860 DOI: 10.1088/1748-3190/aca63d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/21/2022] [Accepted: 11/25/2022] [Indexed: 06/17/2023]
Abstract
Flagella and cilia are slender structures that serve important functionalities in the microscopic world through their locomotion induced by fluid and structure interaction. With recent developments in microscopy, fabrication, biology, and modeling capability, robots inspired by the locomotion of these organelles in low Reynolds number flow have been manufactured and tested on the micro-and macro-scale, ranging from medicalin vivomicrobots, microfluidics to macro prototypes. We present a collection of modeling theories, control principles, and fabrication methods for flagellated and ciliary robots.
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Affiliation(s)
- Sangmin Lim
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yayun Du
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yongkyu Lee
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Shivam Kumar Panda
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Dezhong Tong
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - M Khalid Jawed
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
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19
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Miao J, Sun S, Zhang T, Li G, Ren H, Shen Y. Natural Cilia and Pine Needles Combinedly Inspired Asymmetric Pillar Actuators for All-Space Liquid Transport and Self-Regulated Robotic Locomotion. ACS APPLIED MATERIALS & INTERFACES 2022; 14:50296-50307. [PMID: 36282113 DOI: 10.1021/acsami.2c12434] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Natural structures and motion behaviors open new avenues for effective small-scale transport, such as the plant-inspired energy-free liquid transport surfaces and cilia-inspired propulsion systems. However, they are restricted by either the fixed structure or nonself-regulating beating modes, making many complex tasks remain challenging, e.g., the controllable multidirectional liquid transport and flexible propulsion. Herein, inspired by pine needles and natural cilia, we report an asymmetric-structured intelligent magnetic pillar actuator (AI-MPA) with both the "passive" and "active" transport features. Under the control of the magnetic field, the AI-MPA shows an all-space liquid transport ability toward arbitrary directions. Moreover, benefiting from the material's magnetoelasticity and asymmetric-structured design, the AI-MPA enables self-regulation of two-dimensional (2D)/three-dimensional (3D) cilia-like beating modes and can be further developed for robotic crawling and self-rotatable motion. The AI-MPA integrates the superiority of static and dynamic systems in nature and exhibits intelligent self-regulation that could not be achieved before. Confirmed theoretically and demonstrated experimentally, this work provides insights into increasingly functional and intelligent miniature biomimetic systems, with applications from directional liquid transport to robotic locomotion.
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Affiliation(s)
- Jiaqi Miao
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong999077, China
| | - Siqi Sun
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Tieshan Zhang
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Gen Li
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Hao Ren
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Yajing Shen
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong999077, China
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