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Park J, Lee Y, Cho S, Choe A, Yeom J, Ro YG, Kim J, Kang DH, Lee S, Ko H. Soft Sensors and Actuators for Wearable Human-Machine Interfaces. Chem Rev 2024; 124:1464-1534. [PMID: 38314694 DOI: 10.1021/acs.chemrev.3c00356] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2024]
Abstract
Haptic human-machine interfaces (HHMIs) combine tactile sensation and haptic feedback to allow humans to interact closely with machines and robots, providing immersive experiences and convenient lifestyles. Significant progress has been made in developing wearable sensors that accurately detect physical and electrophysiological stimuli with improved softness, functionality, reliability, and selectivity. In addition, soft actuating systems have been developed to provide high-quality haptic feedback by precisely controlling force, displacement, frequency, and spatial resolution. In this Review, we discuss the latest technological advances of soft sensors and actuators for the demonstration of wearable HHMIs. We particularly focus on highlighting material and structural approaches that enable desired sensing and feedback properties necessary for effective wearable HHMIs. Furthermore, promising practical applications of current HHMI technology in various areas such as the metaverse, robotics, and user-interactive devices are discussed in detail. Finally, this Review further concludes by discussing the outlook for next-generation HHMI technology.
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Affiliation(s)
- Jonghwa Park
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Youngoh Lee
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Seungse Cho
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Ayoung Choe
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Jeonghee Yeom
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Yun Goo Ro
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Jinyoung Kim
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Dong-Hee Kang
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Seungjae Lee
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
| | - Hyunhyub Ko
- School of Energy and Chemical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan Metropolitan City 44919, Republic of Korea
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Gravert SD, Varini E, Kazemipour A, Michelis MY, Buchner T, Hinchet R, Katzschmann RK. Low-voltage electrohydraulic actuators for untethered robotics. SCIENCE ADVANCES 2024; 10:eadi9319. [PMID: 38181082 PMCID: PMC10775996 DOI: 10.1126/sciadv.adi9319] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/26/2023] [Accepted: 12/05/2023] [Indexed: 01/07/2024]
Abstract
Rigid robots can be precise but struggle in environments where compliance, robustness to disturbances, or energy efficiency is crucial. This has led researchers to develop biomimetic robots incorporating soft artificial muscles. Electrohydraulic actuators are promising artificial muscles that perform comparably to mammalian muscles in speed and power density. However, their operation requires several thousand volts. The high voltage leads to bulky and inefficient driving electronics. Here, we present hydraulically amplified low-voltage electrostatic (HALVE) actuators that match mammalian skeletal muscles in average power density (50.5 watts per kilogram) and peak strain rate (971% per second) at a 4.9 times lower driving voltage (1100 volts) compared to the state of the art. HALVE actuators are safe to touch, are waterproof, and exhibit self-clearing properties. We characterize, model, and validate key performance metrics of our actuator. Last, we demonstrate the utility of HALVE actuators on a robotic gripper and a soft robotic swimmer.
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Affiliation(s)
| | - Elia Varini
- Soft Robotics Lab, D-MAVT, ETH, Zurich, Switzerland
| | | | | | | | - Ronan Hinchet
- Computational Robotics Lab, D-INFK, ETH, Zurich, Switzerland
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Oh S, Song TE, Mahato M, Kim JS, Yoo H, Lee MJ, Khan M, Yeo WH, Oh IK. Easy-To-Wear Auxetic SMA Knot-Architecture for Spatiotemporal and Multimodal Haptic Feedbacks. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2304442. [PMID: 37724828 DOI: 10.1002/adma.202304442] [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: 05/11/2023] [Revised: 07/21/2023] [Indexed: 09/21/2023]
Abstract
Wearable haptic interfaces prioritize user comfort, but also value the ability to provide diverse feedback patterns for immersive interactions with the virtual or augmented reality. Here, to provide both comfort and diverse tactile feedback, an easy-to-wear and multimodal wearable haptic auxetic fabric (WHAF) is prepared by knotting shape-memory alloy wires into an auxetic-structured fabric. This unique meta-design allows the WHAF to completely expand and contract in 3D, providing superior size-fitting and shape-fitting capabilities. Additionally, a microscale thin layer of Parylene is coated on the surface to create electrically separated zones within the WHAF, featuring zone-specified actuation for conveying diverse spatiotemporal information to users with using the WHAF alone. Depending on the body part it is worn on, the WHAF conveys either cutaneous or kinesthetic feedback, thus, working as a multimodal wearable haptic interface. As a result, when worn on the forearm, the WHAF intuitively provides spatiotemporal information to users during hands-free navigation and teleoperation in virtual reality, and when worn on the elbow, the WHAF guides users to reach the desired elbow flexion, like a personal exercise advisor.
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Affiliation(s)
- Saewoong Oh
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Tae-Eun Song
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Manmatha Mahato
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Ji-Seok Kim
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Hyunjoon Yoo
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Myung-Joon Lee
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Mannan Khan
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
| | - Woon-Hong Yeo
- George W. Woodruff School of Mechanical Engineering, College of Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Il-Kwon Oh
- National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea
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Vallem V, Roosa E, Ledinh T, Rashid Nadimi S, Kiani A, Dickey MD. Soft electrochemical bubble actuator with liquid metal electrode using an embodied hydrogel pneumatic source. SOFT MATTER 2022; 18:9291-9298. [PMID: 36458858 DOI: 10.1039/d2sm00874b] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Soft pneumatic actuators-such as those used for soft robotics-achieve actuation by inflation of pneumatic chambers. Here, we report the use of the electrochemical reduction of water to generate gaseous products that inflate pneumatic chambers. Whereas conventional pneumatic actuators typically utilize bulky mechanical pumps, the approach here utilizes only electricity. In contrast to dielectric actuators, which require ∼kV to actuate, the electrochemical approach uses a potential of a few volts. The applied potential converts liquid water-a safe, abundant, and cheap fuel-into hydrogen gas. Since the chambers are constructed of hydrogel, the body of the actuator provides an abundant supply of water that ultimately converts to gas. The use of liquid metal for the electrode makes the entire device soft and ensures intimate contact between the chamber walls and the electrode during inflation. The device can inflate in tens of seconds, which is slower than other pneumatic approaches, but much faster than actuating hydrogels via principles of swelling. The actuation volume can be predicted and controlled based on the input parameters such as time and voltage. The actuation shape and position can also be controlled by the position of the electrodes and the geometry of the device. Such actuators have the potential to make tether-less (pump-free), electrically-controlled soft devices that can even operate underwater.
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Affiliation(s)
- Veenasri Vallem
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
| | - Erin Roosa
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
| | - Tyler Ledinh
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
| | - Sahar Rashid Nadimi
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
- Department of Chemistry and Biochemistry, California State University, Bakersfield, Bakersfield, CA, 93311, USA
| | - Abolfazl Kiani
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
- Department of Chemistry and Biochemistry, California State University, Bakersfield, Bakersfield, CA, 93311, USA
| | - Michael D Dickey
- Department of Chemical and Biomolecular Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
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Heng W, Solomon S, Gao W. Flexible Electronics and Devices as Human-Machine Interfaces for Medical Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2107902. [PMID: 34897836 PMCID: PMC9035141 DOI: 10.1002/adma.202107902] [Citation(s) in RCA: 96] [Impact Index Per Article: 48.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/02/2021] [Revised: 12/08/2021] [Indexed: 05/02/2023]
Abstract
Medical robots are invaluable players in non-pharmaceutical treatment of disabilities. Particularly, using prosthetic and rehabilitation devices with human-machine interfaces can greatly improve the quality of life for impaired patients. In recent years, flexible electronic interfaces and soft robotics have attracted tremendous attention in this field due to their high biocompatibility, functionality, conformability, and low-cost. Flexible human-machine interfaces on soft robotics will make a promising alternative to conventional rigid devices, which can potentially revolutionize the paradigm and future direction of medical robotics in terms of rehabilitation feedback and user experience. In this review, the fundamental components of the materials, structures, and mechanisms in flexible human-machine interfaces are summarized by recent and renowned applications in five primary areas: physical and chemical sensing, physiological recording, information processing and communication, soft robotic actuation, and feedback stimulation. This review further concludes by discussing the outlook and current challenges of these technologies as a human-machine interface in medical robotics.
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Affiliation(s)
- Wenzheng Heng
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Samuel Solomon
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, 91125, USA
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Kim H, Nam J, Kim M, Kyung KU. Wide-Bandwidth Soft Vibrotactile Interface Using Electrohydraulic Actuator for Haptic Steering Wheel Application. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3102630] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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Heisser RH, Aubin CA, Peretz O, Kincaid N, An HS, Fisher EM, Sobhani S, Pepiot P, Gat AD, Shepherd RF. Valveless microliter combustion for densely packed arrays of powerful soft actuators. Proc Natl Acad Sci U S A 2021; 118:e2106553118. [PMID: 34556574 PMCID: PMC8488685 DOI: 10.1073/pnas.2106553118] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 08/21/2021] [Indexed: 01/19/2023] Open
Abstract
Existing tactile stimulation technologies powered by small actuators offer low-resolution stimuli compared to the enormous mechanoreceptor density of human skin. Arrays of soft pneumatic actuators initially show promise as small-resolution (1- to 3-mm diameter), highly conformable tactile display strategies yet ultimately fail because of their need for valves bulkier than the actuators themselves. In this paper, we demonstrate an array of individually addressable, soft fluidic actuators that operate without electromechanical valves. We achieve this by using microscale combustion and localized thermal flame quenching. Precisely, liquid metal electrodes produce sparks to ignite fuel lean methane-oxygen mixtures in a 5-mm diameter, 2-mm tall silicone cylinder. The exothermic reaction quickly pressurizes the cylinder, displacing a silicone membrane up to 6 mm in under 1 ms. This device has an estimated free-inflation instantaneous stroke power of 3 W. The maximum reported operational frequency of these cylinders is 1.2 kHz with average displacements of ∼100 µm. We demonstrate that, at these small scales, the wall-quenching flame behavior also allows operation of a 3 × 3 array of 3-mm diameter cylinders with 4-mm pitch. Though we primarily present our device as a tactile display technology, it is a platform microactuator technology with application beyond this one.
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Affiliation(s)
- Ronald H Heisser
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Cameron A Aubin
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Ofek Peretz
- Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa 3200003, Israel
| | - Nicholas Kincaid
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Hyeon Seok An
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Elizabeth M Fisher
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Sadaf Sobhani
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Perrine Pepiot
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
| | - Amir D Gat
- Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa 3200003, Israel
| | - Robert F Shepherd
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853;
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Demolder C, Molina A, Hammond FL, Yeo WH. Recent advances in wearable biosensing gloves and sensory feedback biosystems for enhancing rehabilitation, prostheses, healthcare, and virtual reality. Biosens Bioelectron 2021; 190:113443. [PMID: 34171820 DOI: 10.1016/j.bios.2021.113443] [Citation(s) in RCA: 23] [Impact Index Per Article: 7.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/23/2021] [Revised: 06/02/2021] [Accepted: 06/11/2021] [Indexed: 12/16/2022]
Abstract
Wearable sensing gloves and sensory feedback devices that record and enhance the sensations of the hand are used in healthcare, prosthetics, robotics, and virtual reality. Recent technological advancements in soft actuators, flexible bioelectronics, and wireless data acquisition systems have enabled the development of ergonomic, lightweight, and low-cost wearable devices. This review article includes the most up-to-date materials, sensors, actuators, and system-packaging technologies to develop wearable sensing gloves and sensory feedback devices. Furthermore, this review contemplates the use of wearable sensing gloves and sensory feedback devices together to advance their capabilities as assistive devices for people with prostheses and sensory impaired limbs. This review is divided into two sections: one detailing the technologies used to develop strain, pressure, and temperature sensors integrated with a multifunctional wearable sensing glove, and the other reviewing the devices and methods used for wearable sensory displays. We discuss the limitations of the current methods and technologies along with the future direction of the field. Overall, this paper presents an all-inclusive review of the technologies used to develop wearable sensing gloves and sensory feedback devices.
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Affiliation(s)
- Carl Demolder
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Alicia Molina
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Frank L Hammond
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA; Wallace H. Coulter Department of Biomedical Engineering, Parker H. Petit Institute for Bioengineering and Biosciences, Georgia Institute of Technology, Atlanta, GA, 30332, USA; Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA.
| | - Woon-Hong Yeo
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA; Wallace H. Coulter Department of Biomedical Engineering, Parker H. Petit Institute for Bioengineering and Biosciences, Georgia Institute of Technology, Atlanta, GA, 30332, USA; Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332, USA; Center for Human-Centric Interfaces and Engineering, Institute for Electronics and Nanotechnology, Neural Engineering Center, Institute for Materials, Georgia Institute of Technology, Atlanta, GA, 30332, USA.
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Rothemund P, Kellaris N, Mitchell SK, Acome E, Keplinger C. HASEL Artificial Muscles for a New Generation of Lifelike Robots-Recent Progress and Future Opportunities. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2003375. [PMID: 33166000 DOI: 10.1002/adma.202003375] [Citation(s) in RCA: 36] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/17/2020] [Revised: 08/10/2020] [Indexed: 06/11/2023]
Abstract
Future robots and intelligent systems will autonomously navigate in unstructured environments and closely collaborate with humans; integrated with our bodies and minds, they will allow us to surpass our physical limitations. Traditional robots are mostly built from rigid, metallic components and electromagnetic motors, which make them heavy, expensive, unsafe near people, and ill-suited for unpredictable environments. By contrast, biological organisms make extensive use of soft materials and radically outperform robots in terms of dexterity, agility, and adaptability. Particularly, natural muscle-a masterpiece of evolution-has long inspired researchers to create "artificial muscles" in an attempt to replicate its versatility, seamless integration with sensing, and ability to self-heal. To date, natural muscle remains unmatched in all-round performance, but rapid advancements in soft robotics have brought viable alternatives closer than ever. Herein, the recent development of hydraulically amplified self-healing electrostatic (HASEL) actuators, a new class of high-performance, self-sensing artificial muscles that couple electrostatic and hydraulic forces to achieve diverse modes of actuation, is discussed; current designs match or exceed natural muscle in many metrics. Research on materials, designs, fabrication, modeling, and control systems for HASEL actuators is detailed. In each area, research opportunities are identified, which together lays out a roadmap for actuators with drastically improved performance. With their unique versatility and wide potential for further improvement, HASEL actuators are poised to play an important role in a paradigm shift that fundamentally challenges the current limitations of robotic hardware toward future intelligent systems that replicate the vast capabilities of biological organisms.
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Affiliation(s)
- Philipp Rothemund
- Department of Mechanical Engineering, University of Colorado, Boulder, 1111 Engineering Drive, Boulder, CO, 80309, USA
| | - Nicholas Kellaris
- Department of Mechanical Engineering, University of Colorado, Boulder, 1111 Engineering Drive, Boulder, CO, 80309, USA
- Materials Science and Engineering Program, University of Colorado, Boulder, Sustainability, Energy & Environment Community, Boulder, CO, 80303, USA
| | - Shane K Mitchell
- Department of Mechanical Engineering, University of Colorado, Boulder, 1111 Engineering Drive, Boulder, CO, 80309, USA
| | - Eric Acome
- Department of Mechanical Engineering, University of Colorado, Boulder, 1111 Engineering Drive, Boulder, CO, 80309, USA
| | - Christoph Keplinger
- Department of Mechanical Engineering, University of Colorado, Boulder, 1111 Engineering Drive, Boulder, CO, 80309, USA
- Materials Science and Engineering Program, University of Colorado, Boulder, Sustainability, Energy & Environment Community, Boulder, CO, 80303, USA
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