Programmable droplet manipulation by a magnetic-actuated robot

A comprehensive understanding on droplets

Droplets are ubiquitous and necessary in natural phenomena, daily life, and industrial processes, which play a crucial role in many fields. So, the manipulation of droplets has been extensively investigated for meeting widespread applications, consequently, a great deal of progresses have been achieved across multiple disciplines ranging from chemistry to physics, material, biological, and energy science. For example, microdroplets have been utilized as reactors, colorimetric or electrochemical sensors, drug-delivery carriers, and energy harvesters. Moreover, droplet manipulation is the basis in both fundamental researches and practical applications, especially the combination of smart materials and external fields for achieving multifunctional applications of droplets. In view of this background, this review initiates discussion of the manipulation strategies of droplets including Laplace pressure, wettability gradients, electric field, magnetic force, light and temperature. Thereafter, based on their manipulation strategies, this review mainly summarizes the applications of droplets in the fields of robot, green energy, sensors, biomedical treatments, microreactors and chemical reactions. Application related basic concepts, theories, principles and progresses also have been introduced. Finally, this review addresses the challenges of manipulation and applications of droplets and provides the potential directions for their future development. By presenting these results, we aim to provide a comprehensive overview of water droplets and establish a unified framework that guides the development of droplets in various fields.

Linear magnet with fluid-solid-switchable cells for flexible devices

Adjusting magnetization orienting and conformal assembling of high-coercivity micro-magnets at the microscale remains challenging, despite long-standing demand for space-resolved magnetic modulation in various applications. Local magnetic modulation, including remagnetization or reassembly, typically requires high fields and temperatures to overcome the coercivity and stringent conditions while suffering from low assembly efficiency or poor spatial resolution. Here, we report a linear magnet composed of a hydrogel (alginate) matrix and precisely discrete phase-change-material (PCM, eicosane) cells containing micro-magnetic particles (NdFeB, ~5 µm). Moderate local laser heating (~40 °C) reversibly switches PCM from solid to fluid state thus relaxing particles' interfacial constraints inside the hydrogel matrix, overcoming the high-coercivity of magnetic assembly and allowing particles in cells to reorient under mild fields (≤30 mT). The linear magnet shows excellent discrete magnetization programmability (~150 µm) and stretchability (strain ~80%), enabling versatile functionalities such as conformal and patterned field generation, soft robotic actuation, flexible sensing, and interactive wearables with dynamically coded information.

A programmable magnetic digital microfluidic platform integrated with electrochemical detection system

Digital microfluidic (DMF) technology is widely used in bioanalysis and chemical reactions due to its accuracy and flexibility in manipulating droplets. However, most DMF systems usually rely on complex electrode fabrication and high driving voltages. Sensor integration in DMF systems is also quite rare. In this study, a programmable magnetic digital microfluidic (PMDMF) platform integrated with electrochemical detection system was proposed. It enables non-contact, flexible droplet manipulation without complex processes and high voltages, meeting the requirements of automated electrochemical detection. The platform includes a magnetic control system, a microfluidic chip, and an electrochemical detection system. The magnetic control system consists of a microcoil array circuit board, a N52 permanent magnet, and an Arduino control module. N52 magnets generate localized magnetic fields to drive droplet movement, while the Arduino module enables programmable control for precise manipulation. The maximum average velocity of the droplet is about 3.9 cm/s. The microfluidic chip was fabricated using 3D printing and the superhydrophobic surface of chip was fabricated by spray coating. The electrochemical detection system consists of the MoS2@CeO2/PVA working electrode, Ag/AgCl reference electrode, and carbon counter electrode. To evaluate the practical value of the integrated platform, glucose in sweat was automatically and accurately detected. The proposed platform has a wide linear detection range (0.01-0.25 mM), a lower LOD (6.5 μM), a superior sensitivity (7833.54 μA·mM-1·cm-2), and excellent recovery rate (88.1-113.5%). It has an extensive potential for future application in the fields of medical diagnostics and point-of-care testing.

A Review of Droplet/Bubble Transportation on Bionic Superwetting Surface

The controllable droplets/bubble transportation has a wide range of applications in the fields of biomedical, chemistry, energy, and material applications, and has aroused great attention for its significant scientific and technology importance. The main challenges derived from the liquid/solid or gas/solid contact strength and actuating energy input. Artificial superwetting surfaces inspired by nature creatures have triggered technology revolution in many fields relevant to droplet operation, and the applied actuating force improve the controllability to preferential direction. In this review, we highlights recent advancements in droplets/bubble transportation on the superwetting surfaces driven by passive or active stimulation methods inspired by bionic function interfaces. The three main superwetting surfaces including superhydrophobic surface, slippery liquid-infused porous surface, hybrid surface, various stimuli methods including gravity/buoyance, chemical/morphology gradient, heat, magnetism, electricity, light, adhesion force, and prosperous applications including micro-reaction, biochemical analysis, fog collection/antifog, energy transfer, bubble/liquid micro-robot, self-cleaning, light/circle switch have been systematically summarized. Finally, the challenges and future perspectives of research innovations and practical applications are discussed.

Liquid Adhesion Regulation on Bioinspired Slippery Surfaces: From Theory to Application

Regulation of liquid adhesion on functional surfaces has attracted increasing attention due to its significant implications for fundamental research in liquid manipulation and a wide array of applications. Inspired by the slippery peristomes of Nepenthes pitcher plants, the concept of slippery surfaces with regulatable liquid adhesion under external stimuli was proposed and demonstrated. This review concentrates on the advancements in liquid adhesion regulation on these bioinspired slippery surfaces. Initially, we provide a concise introduction to the basic theory and design criteria of stable slippery surfaces. Following this, we summarize the characterization methods and influence factors of liquid adhesion on these surfaces. We then categorize the smart regulation modes of liquid adhesion into four key aspects: modulating the lubricant's phase, thickness, structure, and the interactions between the lubricant and the repellent liquid. Additionally, we systematically emphasize multibehavioral liquid manipulation strategies, such as movement, merging, splitting, bouncing, and rotating, along with the emerging applications of slippery surfaces, including pipetting devices, fog collection, microreactors, biochips, and nanogenerators. Finally, we discuss the remaining challenges and future perspectives for regulating liquid adhesion and the potential applications of smart slippery surfaces.

Motion Characteristics of Orbital Electrowetting-on-Dielectric Droplets on Superhydrophobic Surfaces

Compared with traditional electrowetting-on-dielectric (EWOD), orbital EWOD is a newly observed droplet manipulation phenomenon on a superhydrophobic surface, which has the advantages of high speed, antigravity, and no pollution and has broad application prospects. However, the current research on electrowetting and structured electrodes focuses on the statistical characteristics of droplet collection, and the movement process of single droplets is still unclear. The study of eccentric droplet correction helps us to better understand the influence of local energy on droplets and provide ideas for designing hybrid circuits that can realize more functions. Based on the existing EW driving force models and experiments on superhydrophobic surfaces, the EW force correction factor is introduced, and the phase-field simulation software COMSOL Multiphysics is used to simulate the motion process of 10 μL droplets in 250 V (1000 Hz) with a straight orbit, inclined orbit, circular arc orbit, and eccentricity of coplanar electrodes. The motion characteristics and traveling modes of the droplets are summarized. In a straight orbit, the spreading radius of droplets is about 1.09 times the initial radius, the maximum inclination angle of droplets is 9.8°, and the maximum correction force is about 24.7 μN at an offset of 297 μm.

Topological elastic liquid diode

On-demand liquid transportation is fundamentally important and holds great potential in various fields, such as water collection and biological engineering. However, it remains highly challenging to in situ manipulate the direction of liquid flow on a lyophilic surface. Here, a topological elastic liquid diode (TELD) that could manipulate the flow direction is developed by combining the Araucaria leaf inspired ratchet array and the elasticity of silicon rubber. The flow pathway on the lyophilic TELD can be conveniently managed by regulating the competition forces along orthogonal directions at the liquid front, which is instantly realized by adjusting the mechanical strain in TELD (mode 1 regulation) or inserting extra forces at the liquid front (mode 2 regulation). Furthermore, TELD can serve as a logic gate, stress valve, microfluidic reactor, and fog collector. Thus, the work here establishes strategies for in situ and instant manipulation of liquid flow on a lyophilic surface.

Data-Driven Theoretical Modeling of Centrifugal Step Emulsification and Its Application in Comprehensive Multiscale Analysis

Tailored droplet generation is crucial for droplet microfluidics that involve samples of varying sizes. However, the absence of precise predictive models forces droplet platforms to rely on empiricism derived from extensive experiments, underscoring the need for comprehensive modeling analysis. To address this, a novel customized assembled centrifugal step emulsifier (CASE) is presented by incorporating a "jigsaw puzzles" design to efficiently acquire large-scale experimental data. Numerical simulations are utilized to analyze fluid configurations during step emulsification, identifying a key connection tube that determines droplet size. By training and verifying with the experimental and simulation datasets, a comprehensive theoretical model is established that allows for the preliminary design of the droplet size and generation frequency with an average error rate of 4.8%, successfully filling a critical gap in existing field. This predictive model empowers the CASE to achieve all-in-one functionality, including droplet pre-design, generation, manipulation, and on-site detection. As a proof of concept, multiscale sample analysis ranging from nanoscale nucleic acids to microscale bacteria and 3D cell spheroids is realized in the CASE. In summary, this platform offers valuable guidance for customized droplet generation by centrifugal step emulsifiers and promotes the adoption of droplet microfluidics in biochemical assays.

Microfluidic Synthesis of Magnetic Nanoparticles for Biomedical Applications

Magnetic nanoparticles have attracted great attention and become promising candidates in the biomedicine field due to their special physicochemical properties. They are generally divided into metallic and non-metallic magnetic nanoparticles, according to their compositions. Both of the two types have shown practical values in biomedicine applications, such as drug delivery, biosensing, bioimaging, and so on. Research efforts are devoted to the improvement of synthesis strategies to achieve magnetic nanoparticles with controllable morphology, diverse composition, active surface, or multiple functions. Taking high repeatability, programmable operation, precise fluid control, and simple device into account, the microfluidics system can expand the production scale and develop magnetic nanoparticles with desired features. This review will first describe different classifications of promising magnetic nanoparticles, followed by the advancements in microfluidic synthesis and the latest biomedical applications of these magnetic nanoparticles. In addition, the challenges and prospects of magnetic nanoparticles in the biomedical field are also discussed.

Transformative laboratory medicine enabled by microfluidic automation and artificial intelligence

Laboratory medicine provides pivotal medical information through analyses of body fluids and tissues, and thus, it is essential for diagnosis of diseases as well as monitoring of disease progression. Despite its universal importance, the field is currently suffering from the limited workforce and analytical capabilities due to the increasing pressure from expanding global population and unexpected rise of noncommunicable diseases. The emerging technologies of microfluidic automation and artificial intelligence (AI) has led to the development of advanced diagnostic platforms, positioning themselves as adaptable solutions to enable highly efficient and accessible laboratory medicine. In this review, we will provide a comprehensive review of microfluidic automation, focusing on the microstructure design and automation principles, along with its intended functionalities for diagnostic purposes. Subsequently, we exemplify the integration of AI with microfluidics and illustrating how their combination benefits for the applications and what the challenges are in this rapidly evolving field. Finally, the review offers a balanced perspective on the microfluidics and AI, discussing their promising role in advancing laboratory medicine.

Adaptive Surfaces with Stimuli-Responsive Wettability: From Tailoring to Applications

Adaptive surfaces with tunable wettability have attracted considerable attention due to their increasing importance in adapting to real applications. By incorporation of stimuli-sensitive materials that enable control over surface chemistry or topographical features, or both, a variety of adaptive surfaces are engineered to exhibit reversible tailoring in wettability. This Review provides a comprehensive review of the development of adaptive surfaces with stimuli-responsive wettability. It begins by outlining the background and significance of the adaptive surfaces. Then, this Review delves into the fundamental theories that govern surface wettability, focusing on the influence of external stimuli on wetting behavior. The discussion then shifts to highlighting various triggers, such as magnetism, photo, temperature, pH, electricity, and gas stimuli, that drive response in wettability, as well as surfaces that respond to dual or multiple stimuli. This Review further explores the primary and leading applications in droplet manipulation, oil-water separation, and water harvesting. To conclude, we encapsulate the challenges, potential solutions, and future directions for improving tunable wettability on these surfaces.

Droplets in open microfluidics: generation, manipulation, and application in cell analysis

Open droplet microfluidics is an emerging technology that generates, manipulates, and analyzes droplets in open configuration systems. Droplets function as miniaturized reactors for high-throughput analysis due to their compartmentalization and parallelization, while openness enables addressing and accessing the targeted contents. The convergence of two technologies facilitates the localization and intricate manipulation of droplets using external tools, showing great potential in large-scale chemical and biological applications, particularly in cell analysis. In this review, we first introduce various methods of droplet generation and manipulation in open environments. Next, we summarize the typical applications of open droplet systems in cell culture. Then, a comprehensive overview of cell analysis is provided, including nucleic acids, proteins, metabolites, and behaviors. Finally, we present a discussion of current challenges and perspectives in this field.

Synergistic binding ability of electrostatic tweezers and femtosecond laser-structured slippery surfaces enabling unusual droplet manipulation applications

We propose a novel contactless droplet manipulation strategy that combines electrostatic tweezers (ESTs) with lubricated slippery surfaces. Electrostatic induction causes the droplet to experience an electrostatic force, allowing it to move with the horizontal shift of the EST. Because both the EST and the slippery operating platform prepared by a femtosecond laser exhibit a strong binding effect on droplets, the EST droplet manipulation features significant flexibility, high precision, and can work under various operating conditions. The EST can manipulate droplets with a wide volume range (500 nL-1 mL), droplets hanging on tilted or even inverted surfaces, multiple droplets in parallel, corrosive droplets, low-surface-tension organic droplets (e.g., ethanol), and even droplets in a sealed space from the outside. The EST operation method is suitable for various slippery substrates prepared by femtosecond laser processing and can also be used to manipulate small solid spheres other than liquids. Additionally, a self-powered EST system is also designed without the need for high-voltage static electricity, allowing even fingers to serve as EST sources for droplet manipulation. The flexible and precise manipulation performance allows this technology to be applied in a variety of applications. For example, a new digital microfluidic (DMF) technology based on an EST array has been successfully validated and is expected to replace traditional electrowetting-on-dielectric technology in the future.

Magnetically driven bionic nanorobots enhance chemotherapeutic efficacy and the tumor immune response via precise targeting

We developed magnetically driven bionic drug-loaded nanorobots (MDNs) to accurately target tumors and deliver chemotherapy agents using a customized three-dimensional (3D) magnetic manipulation platform (MMP) system to precisely control their movement mode. MDNs were based on polyethylene glycol-modified homogeneous ultrasmall iron oxide nanoparticles (7.02 ± 0.18 nm). Doxorubicin (12% ± 2% [w/w]) was encapsulated in MDNs by an imide bond. MDNs could imitate the movement mode of a school of wild herrings (e.g., re-dispersion/arrangement/vortex/directional movement) to adapt to the changing and complex physiological environment through the 3D MMP system. MDNs overcame blood flow resistance and biological barriers using optimized magnetic driving properties according to in vivo imaging (magnetic resonance imaging and fluorescence) and histopathology. The performance of fabricated MDNs was verified through cells and tumor-bearing mouse models. The MDNs showed high efficiency of drug delivery and targeting at the tumor site (>10-fold), lower toxicity than free doxorubicin (5 mg/kg body weight), activated immune response in the tumor site, and significantly lengthened survival for mice. The synergistic interaction between MDNs and the 3D MMP system underscores the immense potential of this drug delivery system, indicating a potential revolution in the field of tumor chemotherapy.

Amoeba-Inspired Soft Robot for Integrated Tumor/Infection Therapy and Painless Postoperative Drainage

Tumor recurrence and wound infection are devastating complications of wide excision surgery for melanoma, and deep postoperative wound drainage typically increases pain. An amoeba-inspired magnetic soft robot (ASR) with switchable dormant and active phases is developed to address the aforementioned challenges. The dormant ASR supports wounds through its solid-like elasticity and regulates reactive oxygen species (ROS) levels bidirectionally, promoting healing in infected wounds and eliminating residual tumors. It solves the challenge caused by the contradictory need for ROS scavenging in wound healing and ROS amplification in tumor/infection management. The active ASR removes absorbed wound exudate by crawling out from irregular wounds; interestingly, this crawling motion prevents damage to fragile tissues and alleviates wound pain via "non-direct friction." More importantly, ASR switches different states in response to an alternating magnetic field owing to its magnetothermal properties, and this process also exerts synergistic antitumor and bacteriostatic effects. Due to the appropriate mechanical structure (cohesive force) of ASR, the content of magnetic nanoparticles required to drive the ASR is ten-fold lower than that of conventional magnetic soft robots, enabling in vivo degradation. These outcomes highlight the vantage of the ASR for treating post-tumor excision wounds and underscore their potential for clinical application.

Sunflower-Inspired Superhydrophobic Surface with Composite Structured Microcone Array for Anisotropy Liquid/Ice Manipulation

Precisely controlling the directional motion trajectories of droplets on anisotropic 3D functional surfaces has great application potential in self-cleaning, drug delivery, and droplet power generation, but it also faces huge challenges. Herein, inspired by the microcone structure in the heart of sunflowers, a nanoneedle-modified microcone array surface (NMAS) is reported. The surface is created using a combination of nanosecond laser direct engraving and electroforming and is subsequently fluorinated. Through programmable control of the laser spot, the geometric parameters and inclination angle of the microcone can be quickly and finely adjusted, thereby achieving precise control of the droplet bouncing trajectory. The results show that droplets can achieve programmable multiple bouncing behaviors on patterned functional surfaces, including gravity-defying hopping and directional water transport. It is worth noting that this functional surface has delayed freezing and anti-freezing effects. Furthermore, this functional surface has a wide range of potential applications, including surface self-cleaning, droplet capture, and droplet-based chemical microreactions, especially in the field of anti-icing operations. This opens up a new way for the directional transport of droplets on biomimetic functional surfaces.

Fibrotaxis: gradient-free, spontaneous and controllable droplet motion on soft solids

Most passive droplet transport strategies rely on spatial variations of material properties to drive droplet motion, leading to gradient-based mechanisms with intrinsic length scales that limit the droplet velocity or the transport distance. Here, we propose droplet fibrotaxis, a novel mechanism that leverages an anisotropic fiber-reinforced deformable solid to achieve spontaneous and gradient-free droplet transport. Using high-fidelity simulations, we identify the fluid wettability, fiber orientation, anisotropy strength and elastocapillary number as critical parameters that enable controllable droplet velocity and long-range droplet transport. Our results highlight the potential of fibrotaxis as a droplet transport mechanism that can have a strong impact on self-cleaning surfaces, water harvesting and medical diagnostics.

Untethered & Stiffness-Tunable Ferromagnetic Liquid Robots for Cleaning Thrombus in Complex Blood Vessels

Thrombosis is a significant threat to human health. However, the existing clinical treatment methods have limitations. Magnetic soft matter is used in the biomedical field for years, and ferromagnetic liquids exhibit tunable stiffness and on-demand movement advantages under magnetic fields. In this study, a ferromagnetic liquid robot (FMLR) is developed and applied it to thrombus removal in complex blood vessels. The FMLR consisted of Fe3O4 magnetic nanoparticles and dimethyl silicone oil. The FMLR can pass through a narrow complex maze through shape deformation by tailoring the intensity and direction of the external magnetic field. Finite element simulation analysis is used to validate the mechanism of controllable FMLR movements. Importantly, the storage modulus of FMLR can be tuned from 0.1 to 2018 Pa by varying the external magnetic intensity, ensuring its effectiveness in removing rigid and stubborn thrombi present on the vascular walls. Toward medical robotic applications, FMLR can be used in telerobotic neurointerventional. Experiments demonstrating the capability of FMLR to remove thrombi in the ear veins of rabbits are conducted. This study introduces an efficient approach for thrombus elimination, broadening the utilization of FMLRs within the realm of clinical medicine.

Magneto-Controlled Tubular Liquid Actuators with Pore Engineering for Liquid Transport and Regulation

Liquid manipulation using tubular actuators finds diverse applications ranging from microfluidics, printing, liquid transfer to micro-reactors. Achieving flexible and simple regulation of manipulated liquid droplets during transport is crucial for the tubular liquid actuators to perform complex and multiple functions, yet it remains challenging. Here, a facile tubular actuator for directional transport of various liquid droplets under the control of an externally applied magnetic field is presented. The surfaces of the actuator can be engineered with submillimeter-sized through-hole pores, which enables the liquid droplet to be easily modulated in the transport process. Furthermore, the liquid actuator with featured through-hole pores is expanded to function as a switch in an integrated external electric circuit by magnetically controlling the motion of a conductive liquid droplet. This work develops a strategy for regulating liquid droplets in the tubular actuation systems, which may inspire ideas for designing functional liquid actuators with potential applications in microfluidics, microchemical reaction, liquid switch, and liquid robotics.

Leidenfrost Effect-Induced Chaotic Vortex Flow for Efficient Mixing of Highly Viscous Droplets

Efficiently mixing highly viscous liquids in microfluidic systems is appealing for green chemistry such as chemical synthesis and catalysis, but it is a long-standing challenge owing to the unfavorable diffusion kinetics. In this work, a new strategy is explored for mixing viscous droplets by harnessing a peculiar Leidenfrost state, where the substrate temperature is above the boiling point of the liquid without apparent liquid evaporation. Compared to the control experiment where the droplet stays at a similar temperature but in the contact boiling regime, the mixing time can be reduced significantly. Moreover, it is demonstrated that the liquid mixing originates from the chaotic convection flow in the Leidenfrost droplet, characterized by the internal vortex motion evidenced by the microscale visualization. A correlation between mixing time and droplet volume is also proposed, showing a good agreement with experimental results. It is further shown that Leidenfrost droplets can be used to synthesize nanoparticles of the desired morphology, and it is anticipated that this simple and scalable fabrication approach will find applications in the biological, pharmaceutical, and chemical industries.

Universal droplet propulsion by dynamic surface-charge wetting

Controllable droplet propulsion on solid surfaces plays a crucial role in various technologies. Many actuating methods have been developed; however, there are still some limitations in terms of the introduction of additives, the versatilities of solid surfaces, and the speed of transportation. Herein, we have demonstrated a universal droplet propulsion method based on dynamic surface-charge wetting by depositing oscillating and opposite surface charges on dielectric films with unmodified surfaces. Dynamic surface-charge wetting propels droplets by continuously inducing smaller front contact angles than rear contact angles. This innovative imbalance is built by alternately storing and spreading opposite charges on dielectric films, which results in remarkable electrostatic forces under large gradients and electric fields. The method exhibits excellent droplet manipulation performance characteristics, including high speed (~130 mm/s), high adaptability of droplet volume (1 μL-1 mL), strong handling ability on non-slippery surfaces with large contact angle hysteresis (CAH) (maximum angle of 35°), significant programmability and reconfigurability, and low mass loss. The great application potential of this method has been effectively demonstrated in programmable microreactions, defogging without gravity assistance, and surface cleaning of photovoltaic panels using condensed droplets.

In Situ Multi-Directional Liquid Manipulation Enabled by 3D Asymmetric Fang-Structured Surface

Decorating surfaces with wetting gradients or topological structures is a prevailing strategy to control uni-directional spreading without energy input. However, current methods, limited by fixed design, cannot achieve multi-directional control of liquids, posing challenges to practical applications. Here, a structured surface composed of arrayed three-dimensional asymmetric fang-structured units is reported that enable in situ control of customized multi-directional spreading for different surface tension liquids, exhibiting five novel modes. This is attributed to bottom-up distributed multi-curvature features of surface units, which create varied Laplace pressure gradients to guide the spreading of different-wettability liquids along specific directions. The surface's capability to respond to liquid properties for multimodal control leads to innovative functions that are absent in conventional structured surfaces. Selective multi-path circuits can be constructed by taking advantage of rich liquid behaviors with the surface; surface tensions of wetting liquids can be portably indicated with a resolution scope of 0.3-3.4 mN m-1 using the surface; temperature-mediated change of liquid properties is utilized to smartly manipulate liquid behavior and achieve the spatiotemporal-controllable targeted cooling of the surface at its heated state. These novel applications open new avenues for developing advanced surfaces for liquid manipulation.

Photothermal-Driven Droplet Manipulation: A Perspective

Optofluidics, which utilizes the interactions between light and fluids to realize various functions, has garnered increasing attention owing to the advantages of operational simplicity, exceptional flexibility, rapid response, etc. As one of the typical light-fluid interactions, the localized photothermal effect serving as a stimulus has been widely used for fluid manipulation. Particularly, significant progress on photothermal-driven droplet manipulation has been made. In this perspective, recent advancements in localized photothermal effect driven droplet manipulation are summarized. First, the photothermal manipulation of droplets on open surfaces is outlined. An attractive droplet manipulation of light droplet levitation above the gas-liquid interface via localized photothermal effect is then discussed. Besides, the photothermal-driven manipulation of droplets in an immiscible liquid phase is also discussed. Although promising, further development of photothermal-driven droplet manipulation is still needed. The challenges and perspectives of this light droplet manipulation strategy for broad implementation are summarized, which will help future studies and applications.

Sub-Nanogram Resolution Measurement of Inertial Mass and Density Using Magnetic-Field-Guided Bubble Microthruster

Artificial micro/nanomotors using active particles hold vast potential in applications such as drug delivery and microfabrication. However, upgrading them to micro/nanorobots capable of performing precise tasks with sophisticated functions remains challenging. Bubble microthruster (BMT) is introduced, a variation of the bubble-driven microrobot, which focuses the energy from a collapsing microbubble to create an inertial impact on nearby target microparticles. Utilizing ultra-high-speed imaging, the microparticle mass and density is determined with sub-nanogram resolution based on the relaxation time characterizing the microparticle's transient response. Master curves of the BMT method are shown to be dependent on the viscosity of the solution. The BMT, controlled by a gamepad with magnetic-field guidance, precisely manipulates target microparticles, including bioparticles. Validation involves measuring the polystyrene microparticle mass and hollow glass microsphere density, and assessing the mouse embryo mass densities. The BMT technique presents a promising chip-free, real-time, highly maneuverable strategy that integrates bubble microrobot-based manipulation with precise bioparticle mass and density detection, which can facilitate microscale bioparticle characterizations such as embryo growth monitoring.

Individual and collective manipulation of multifunctional bimodal droplets in three dimensions

Spatiotemporally controllable droplet manipulation is vital across numerous applications, particularly in miniature droplet robots known for their exceptional deformability. Despite notable advancements, current droplet control methods are predominantly limited to two-dimensional (2D) deformation and motion of an individual droplet, with minimal exploration of 3D manipulation and collective droplet behaviors. Here, we introduce a bimodal actuation strategy, merging magnetic and optical fields, for remote and programmable 3D guidance of individual ferrofluidic droplets and droplet collectives. The magnetic field induces a magnetic dipole force, prompting the formation of droplet collectives. Simultaneously, the optical field triggers isothermal changes in interfacial tension through Marangoni flows, enhancing buoyancy and facilitating 3D movements of individual and collective droplets. Moreover, these droplets can function autonomously as soft robots, capable of transporting objects. Alternatively, when combined with a hydrogel shell, they assemble into jellyfish-like robots, driven by sunlight. These findings present an efficient strategy for droplet manipulation, broadening the capabilities of droplet-based robotics.

Flexible liquid-diode microtubes from multimodal microfluidics

Directional transport of liquids is of great importance in energy saving, chemical/biomedical engineering, and microfluidics applications. Despite considerable progress in engineering different open surfaces to achieve liquid manipulation, the realization of diode-like liquid transport in enclosed spaces is still challenging. Here, a flexible diode microtube is presented for directional liquid transport within confined spaces using pulsed microfluidics. The microtubes exhibit sophisticated microstructures on the inner wall, replicated from a precisely controlled flow configuration in the microfluidic channel. Under the effect of asymmetric pinning and unbalanced Laplace pressure, such microtubes enable directional liquid transport in closed channels. More importantly, by integrating in situ flow lithography with the microfluidic system, segmented liquid diodes are fabricated as assembly units for the construction of fluidic-electronic circuits that perform logic operations. These results demonstrate the capacity of the present liquid-diode microtubes for flexible, directional, and programmable liquid transport. We believe that it can open an avenue for designing advanced fluidic circuit-based devices toward versatile practical applications.

Janus Flexible Device with Microcone Channels for Sampling and Analysis of Biological Microfluidics

Controlling the spontaneous directional transport of droplets plays an important role in the application of microchemical reactions and microdroplet detection. Although the relevant technologies have been widely studied, the existing spontaneous droplet transport strategies still face problems of complex structure, single function, and poor flexibility. Inspired by the spontaneous droplet transport strategy in nature, an asymmetric wettability surface with microcone channels (AWS-MC) is prepared on a flexible fabric by combining surface modification and femtosecond laser manufacturing technology. On this surface, the capillary force and Laplace pressure induced by the wettability gradient and the geometric structure gradient drive the droplet transport from the hydrophobic surface to the hydrophilic surface. Notably, droplets in adjacent hydrophilic regions do not exchange substances even if the gap in the hydrophilic region is only 1 mm, which provides an ideal platform for numerous detections by a single drop. The droplet transport strategy does not require external energy and can adapt to the manipulation of various droplet types. Application of this surface in the blood of organisms is demonstrated. This work provides an effective method for microdroplet-directed self-transport and microdroplet detection.

Selective directional liquid transport on shoot surfaces of Crassula muscosa

Directional liquid transport has been widely observed in various species including cacti, spiders, lizards, the pitcher plant Nepenthes alata, and Araucaria leaves. However, in all these examples the liquid transport for a specific liquid is completely restricted in a fixed direction. We demonstrate that Crassula muscosa shoot surfaces have the ability to transport a specific liquid unidirectionally in either direction. This is accomplished through the presence of asymmetric reentrant leaves with varying reentrant angles, which yields the variation in liquid meniscus heterogeneity. These findings enable engineered biomimetic structures capable of selective directional liquid transport, with functions such as intelligent flow direction switching, liquid distribution, and mixing.

Portable Triboelectric Electrostatic Tweezer for External Manipulation of Droplets within a Closed Femtosecond Laser-Treated Superhydrophobic System

Controllable droplet manipulation has diverse applications; however, limited methods exist for externally manipulating droplets in confined spaces. Herein, we propose a portable triboelectric electrostatic tweezer (TET) by integrating electrostatic forces with a superhydrophobic surface that can even manipulate droplets in an enclosed space. Electrostatic induction causes the droplet to be subjected to an electrostatic force in an electrostatic field so that the droplet can be moved freely with the TET on a superhydrophobic platform. Characterized by its high precision, flexibility, and robust binding strength, TET can manipulate droplets under various conditions and achieve a wide range of representative fluid applications such as droplet microreactors, precise self-cleaning, cargo transportation, the targeted delivery of chemicals, liquid sorting, soft droplet robotics, and cell labeling. Specifically, TET demonstrated the ability to manipulate internal droplets from the outside of a closed system, such as performing cell labeling experiments within a sealed Petri dish without opening the culture system.

Single-Electrode Electrostatic Repulsion Phenomenon for Remote Actuation and Manipulation

One of the fundamental principles of electrostatics is that an uncharged object will be attracted to a charged object through electrostatic induction as the two approaches one another. We refer to the charged object as a single electrode and examine the scenario where a positive voltage is applied. Because of electrostatic induction phenomenon, single-electrode electrostatics only generates electrostatic attraction forces. Here, we discover that single-electrode electrostatics can generate electrostatic repulsion forces and define this new phenomenon as single-electrode electrostatic repulsion phenomenon. We investigate the fundamental electrostatic phenomena, giving a curve of electrostatic force versus voltage and then defining 3 regions. Remote actuation and manipulation are essential technologies that are of enormous concern, with tweezers playing an important role. Various tweezers designed on the basis of external fields of optics, acoustics, and magnetism can be used for remote actuation and manipulation, but some inherent drawbacks still exist. Tweezers would benefit greatly from our discovery in electrostatics. On the basis of this discovery, we propose the concept of electrostatic tweezers, which can achieve noncontact and remote actuation and manipulation. Experimental characterizations and successful applications in metamaterials, robots, and manipulating objects demonstrated that electrostatic tweezers can produce large deformation rates (>6,000%), fast actuation (>100 Hz), and remote manipulating distance (~15 cm) and have the advantages of simple device structure, easy control, lightweight, no dielectric breakdown, and low cost. Our work may deepen people's understanding of single-electrode electrostatics and opens new opportunities for remote actuation and manipulation.

Controllable Manipulation of Large-Volume Droplet on Non-Slippery Surfaces Based on Triboelectric Contactless Charge Injection

Controllable droplet manipulation is crucial in diverse scientific and engineering fields. Traditional electric-based methods usually rely on commercial high-voltage (HV) power sources, which are typically bulky, expensive, and potentially hazardous. The triboelectric nanogenerator (TENG) is a highly studied device that can generate HV output with limited current, showing great potential in droplet manipulation applications. However, current TENG-based approaches usually utilize traditional free-standing TENGs that produce short-pulsed alternating-current signals. This limitation hinders continuous electrostatic forces necessary for precise droplet control, leading to complex circuitry and suboptimal droplet motion control in terms of volume, distance, direction, and momentum. Here, a triboelectric contactless charge injection (TCCI) method employing a novel dual-functional triboelectric nanogenerator (DF-TENG), is proposed. The DF-TENG can produce both high voltage and constant current during unidirectional motion, enabling continuous corona discharges for contactless charge injection into the droplets. Using this method, a large-volume droplet (3000 µL) can be controlled with momentum up to 115.2 g mm s-1, quintupling the highest value recorded by the traditional methods. Moreover, the TCCI method is adaptable for a variety of non-slippery substrates and droplets of different compositions and viscosities, which makes it an ideal manipulation strategy for droplet transport, chemical reactions, and even driving solids.

Infinite Self-Propulsion of Circularly On/Discharged Droplets

Self-propulsion of droplets in a controlled and long path at a high-speed is crucial for organic synthesis, pathological diagnosis and programable lab-on-a-chip. To date, extensive efforts have been made to achieve droplet self-propulsion by asymmetric gradient, yet, existing structural, chemical, or charge density gradients can only last for a while (<50 mm). Here, this work designs a symmetrical waved alternating potential (WAP) on a superhydrophobic surface to charge or discharge the droplets during the transport process. By deeply studying the motion mechanisms for neutral droplets and charged droplets, the circularly on/discharged droplets achieve the infinite self-propulsion (>1000 mm) with an ultrahigh velocity of meters per second. In addition, after permutation and combination of two motion styles of the droplets, it can be competent for more interesting work, such as liquid diode and liquid logic gate. Being assembled into a microfluidic chip, the strategy would be applied in chemical synthesis, cell culture, and diagnostic kits.

Smart materials for light control of droplets

Droplet manipulation plays a critical role in both fundamental research and practical applications, especially when combined with smart materials and external fields to achieve multifunctional droplet manipulation. Light control of droplets has emerged as a significant and widely used strategy, driven primarily by photochemistry, photomechanics, light-induced Marangoni effects, and light-induced electric effects. This approach allowing for droplet manipulation with high spatial and temporal resolution, all while maintaining a remote and non-contact mode of operation. This review aims to provide a comprehensive overview of the mechanisms underlying light control of droplets, the design of smart materials for this purpose, and the diverse range of applications enabled by this technique. These applications include merging, splitting, releasing, forwarding, backward movement, and rotation of droplets, as well as chemical reactions, droplet robots, and microfluidics. By presenting this information, we aim to establish a unified framework that guides the sustainable development of light control of droplets. Additionally, this review addresses the challenges associated with light control of droplets and suggests potential directions for future development.

Rewritable printing of ionic liquid nanofilm utilizing focused ion beam induced film wetting

Manipulating liquid flow over open solid substrate at nanoscale is important for printing, sensing, and energy devices. The predominant methods of liquid maneuvering usually involve complicated surface fabrications, while recent attempts employing external stimuli face difficulties in attaining nanoscale flow control. Here we report a largely unexplored ion beam induced film wetting (IBFW) technology for open surface nanofluidics. Local electrostatic forces, which are generated by the unique charging effect of Helium focused ion beam (HFIB), induce precursor film of ionic liquid and the disjoining pressure propels and stabilizes the nanofilm with desired patterns. The IBFW technique eliminates the complicated surface fabrication procedures to achieve nanoscale flow in a controllable and rewritable manner. By combining with electrochemical deposition, various solid materials with desired patterns can be produced.

Droplet Manipulation on Bioinspired Slippery Surfaces: From Design Principle to Biomedical Applications

Droplet manipulation with high efficiency, high flexibility, and programmability, is essential for various applications in biomedical sciences and engineering. Bioinspired liquid-infused slippery surfaces (LIS), with exceptional interfacial properties, have led to expanding research for droplet manipulation. In this review, an overview of actuation principles is presented to illustrate how materials or systems can be designed for droplet manipulation on LIS. Recent progress on new manipulation methods on LIS is also summarized and their prospective applications in anti-biofouling and pathogen control, biosensing, and the development of digital microfluidics are presented. Finally, an outlook is made on the key challenges and opportunities for droplet manipulation on LIS.

Peptide Nucleic Acid Clamp-Assisted Photothermal Multiplexed Digital PCR for Identifying SARS-CoV-2 Variants of Concern

The unprecedented demand for variants diagnosis in response to the COVID-19 epidemic has brought the spotlight onto rapid and accurate detection assays for single nucleotide polymorphisms (SNPs) at multiple locations. However, it is still challenging to ensure simplicity, affordability, and compatibility with multiplexing. Here, a novel technique is presented that combines peptide nucleic acid (PNA) clamps and near-infrared (NIR)-driven digital polymerase chain reaction (dPCR) to identify the Omicron and Delta variants. This is achieved by simultaneously identifying highly conserved mutated signatures at codons 19, 614, and 655 of the spike protein gene. By microfluidically introducing graphene-oxide-nanocomposite into the assembled gelatin microcarriers, they achieved a rapid temperature ramping-up rate and switchable gel-to-sol phase transformation synchronized with PCR activation under NIR irradiation. Two sets of duplex PCR reactions, each classifying respective PNA probes, are emulsified in parallel and illuminated together using a homemade vacuum-based droplet generation device and a programmable NIR control module. This allowed for selective amplification of mutant sequences due to single-base-pair mismatch with PNA blockers. Sequence-recognized bioreactions and fluorescent-color scoring enabled quick identification of variants. This technique achieved a detection limit of 5,100 copies and a 5-fold quantitative resolution, which is promising to unfold minor differences and dynamic changes.

Dynamic Manipulation of Droplets on Liquid-Infused Surfaces Using Photoresponsive Surfactant

Fast and programmable transport of droplets on a substrate is desirable in microfluidic, thermal, biomedical, and energy devices. Photoresponsive surfactants are promising candidates to manipulate droplet motion due to their ability to modify interfacial tension and generate "photo-Marangoni" flow under light stimuli. Previous works have demonstrated photo-Marangoni droplet migration in liquid media; however, migration on other substrates, including solid and liquid-infused surfaces (LIS), remains an outstanding challenge. Moreover, models of photo-Marangoni migration are still needed to identify optimal photoswitches and assess the feasibility of new applications. In this work, we demonstrate 2D droplet motion on liquid surfaces and on LIS, as well as rectilinear motion in solid capillary tubes. We synthesize photoswitches based on spiropyran and merocyanine, capable of tension changes of up to 5.5 mN/m across time scales as short as 1.7 s. A millimeter-sized droplet migrates at up to 5.5 mm/s on a liquid, and 0.25 mm/s on LIS. We observe an optimal droplet size for fast migration, which we explain by developing a scaling model. The model also predicts that faster migration is enabled by surfactants that maximize the ratio between the tension change and the photoswitching time. To better understand migration on LIS, we visualize the droplet flow using tracer particles, and we develop corresponding numerical simulations, finding reasonable agreement. The methods and insights demonstrated in this study enable advances for manipulation of droplets for microfluidic, thermal and water harvesting devices.

Efficient fabrication of bioinspired soft, ridged-slippery surfaces with large-range anisotropic wettability for droplet manipulation

The droplet lossless directional motion control on slippery surfaces holds immense promise for applications in microfluidic chips, hazardous substance detection, chemical dispensing, etc. However, a significant challenge in this domain lies in efficiently developing soft, slippery surfaces with large-range anisotropic wettability and compatibility for curved scenarios. This study addressed this challenge through a quick 3D printing-assisted method to produce soft, ridged-slippery surfaces (SRSSs) as the droplet manipulation platform. The SRSSs demonstrated substantial anisotropic rolling resistances, measuring 116.9 μN in the perpendicular direction and 7.7 μN in the parallel direction, exhibiting a ratio of 15.2. Combining several extents of anisotropic wettability on a soft substrate could realize diverse reagent manipulation functions. Furthermore, these SRSSs showcased high compatibility with various droplet constituents, impressive liquid impact resistance, self-repair capability, and mechanical durability and thermal durability, ensuring exceptional applicability. As proofs of concept, the SRSSs were successfully applied in droplet control and classification for heavy metal ion detection, mechanical arm-based droplet grab and release, and cross-species transport, showcasing their remarkable versatility, compatibility, and practicality in advanced droplet microfluidic chips and water harvesting applications.

On-chip droplet analysis and cell spheroid screening by capillary wrapping enabled shape-adaptive ferrofluid transporters

Non-invasive droplet manipulation with no physical damage to the sample is important for the practical value of manipulation tools in multidisciplinary applications from biochemical analysis and diagnostics to cell engineering. It is a challenge to achieve this for most existing photothermal, electric stimuli, and magnetic field-based technologies. Herein, we present a droplet handling toolbox, the ferrofluid transporter, for non-invasive droplet manipulation in an oil environment. It involves the transport of droplets with high robustness and efficiency owing to low interfacial friction. This capability caters to various scenarios including droplets with varying components and solid cargo. Moreover, we fabricated a droplet array by transporter positioning and achieved droplet gating and sorting for complex manipulation in the droplet array. Benefiting from the ease of scale-up and high biocompatibility, the transporter-based droplet array can serve as a digital microfluidic platform for on-chip droplet-based bioanalysis, cell spheroid culture, and downstream drug screening tests.

Magnetic Lateral Ladder for Unidirectional Transport of Microrobots: Design Principles and Potential Applications of Cells-on-Chip

Functionalized microrobots, which are directionally manipulated in a controlled and precise manner for specific tasks, face challenges. However, magnetic field-based controls constrain all microrobots to move in a coordinated manner, limiting their functions and independent behaviors. This article presents a design principle for achieving unidirectional microrobot transport using an asymmetric magnetic texture in the shape of a lateral ladder, which the authors call the "railway track." An asymmetric magnetic energy distribution along the axis allows for the continuous movement of microrobots in a fixed direction regardless of the direction of the magnetic field rotation. The authors demonstrated precise control and simple utilization of this method. Specifically, by placing magnetic textures with different directionalities, an integrated cell/particle collector can collect microrobots distributed in a large area and move them along a complex trajectory to a predetermined location.  The authors can leverage the versatile capabilities offered by this texture concept, including hierarchical isolation, switchable collection, programmable pairing, selective drug-response test, and local fluid mixing for target objects. The results demonstrate the importance of microrobot directionality in achieving complex individual control. This novel concept represents significant advancement over conventional magnetic field-based control technology and paves the way for further research in biofunctionalized microrobotics.

Open microfluidics: droplet microarrays as next generation multiwell plates for high throughput screening

Multiwell plates are prominent in the biological and chemical sciences; however, they face limitations in terms of throughput and deployment in emerging bioengineering fields. Droplet microarrays, as an open microfluidic technology, organise tiny droplets typically in the order of thousands, on an accessible plate. In this perspective, we summarise current approaches for generating droplets, fluid handling on them, and analysis within droplet microarrays. By enabling unique plate engineering opportunities, demonstrating the necessary experimental procedures required for manipulating and interacting with biological cells, and integrating with label-free analytical techniques, droplet microarrays can be deployed across a more extensive experimental domain than what is currently covered by multiwell plates. Droplet microarrays thus offer a solution to the bottlenecks associated with multiwell plates, particularly in the areas of biological cultivation and high-throughput compound screening.

Adhesion performance of magnetically responsive surfaces under wet conditions

Adhesion is the key functionality to pick-and-place objects in wet environments. Recently, various micropillars and external stimuli have been proposed to achieve reversible wet adhesion. However, their underlying mechanisms of liquid/solid regulations have not been sufficiently revealed. Herein, two kinds of magnetically responsive micropillar arrays with different terminals (pointed and flat) are developed using a spray self-assembly method. The coupling effect of geometric structures and external stimuli on the wet adhesion performance between a solid substrate and the developed surface is discussed. In situ observation and analysis of theoretical models demonstrate that changes in adhesive forces are mainly caused by the length of the liquid bridge and the apparent contact angle of the developed surface. The adhesion conversion efficiency in the presence of an on/off magnetic field can achieve a highest value of 72% for the micropillar arrays with flat terminals, which exceeds 3 times that of the micropillar arrays with pointed terminals. In addition, wet adhesion measurements during the process of repeatedly switching the magnetic field demonstrate the durability and cyclic reversibility of the magnetically responsive surface. Furthermore, the transportation of microcomponents verifies the application potential of the magnetically responsive surface, which may provide inspiration for transfer printing systems and wet climbing robots.

Velocity-Switched Droplet Rebound Direction on Anisotropic Superhydrophobic Surfaces

Droplet well-controlled directional motion being an essential function has attracted much interest in academic and industrial applications, such as self-cleaning, micro-/nano-electro-mechanical systems, drug delivery, and heat-transferring. Conventional understanding has it that a droplet impacted on an anisotropic surface tends to bounce along the microstructural direction, which is mainly dictated by surface properties rather than initial conditions. In contrast to previous findings, it demonstrates that the direction of a droplet's rebound on an anisotropic surface can be switched by designing the initial impacting velocity. With an increase in impacting height from 2 to 10 cm, the droplet successively shows a backward, vertical, and forward motion on anisotropic surfaces. Theoretical demonstrations establish that the transition of droplet bouncing on the anisotropic surface is related to its dynamic wettability during impacting process. Characterized by the liquid-solid interaction, it is demonstrated that the contact state at small and large impacting heights induces an opposite resultant force in microstructures. Furthermore, energy balance analysis reveals that the energy conversion efficiency of backward motion is almost three times as that of traditional bouncing. This work, including experiments, theoretical models, and energy balance analysis provides insight view in droplet motions on the anisotropic surfaces and opens a new way for the droplet transport.

Biocompatible Ferrofluid-Based Millirobot for Tumor Photothermal Therapy in Near-Infrared-II Window

Ferrofluidic robots with excellent deformability and controllability have been intensively studied recently. However, most of these studies are in vitro and the use of ferrofluids for in vivo medicinal applications remains a big challenge. The application of ferrofluidic robots to the body requires the solution of many key problems. In this study, biocompatibility, controllability, and tumor-killing efficacy are considered when creating a ferrofluid-based millirobot for in vivo tumor-targeted therapy. For biocompatibility problems, corn oil is used specifically for the ferrofluid robot. In addition, a control system is built that enables a 3D magnetic drive to be implemented in complex biological media. Using the photothermal conversion property of 1064 nm, the ferrofluid robot can kill tumor cells in vitro; inhibit tumor volume, destroy the tumor interstitium, increase tumor cell apoptosis, and inhibit tumor cell proliferation in vivo. This study provides a reference for ferrofluid-based millirobots to achieve targeted therapies in vivo.

Design of Light-Driven Biocompatible and Biodegradable Microrobots Containing Mg-Based Metallic Glass Nanowires

Light-driven microrobots capable of moving rapidly on water surfaces in response to external stimuli are widely used in a variety of fields, such as drug delivery, remote sampling, and biosensors. However, most light-driven microrobots use graphene and carbon nanotubes as photothermal materials, resulting in poor biocompatibility and degradability, which greatly limits their practical bioapplications. To address this challenge, a composition and microstructure design strategy with excellent photothermal properties suitable for the fabrication of light-driven microrobots was proposed in this work. The Mg-based metallic glass nanowires (Mg-MGNWs) were embedded with polyhydroxyalkanoates (PHA) to fabricate biocompatible and degradable microrobots with excellent photothermal effect and complex shapes. Consequently, the microrobot can be precisely driven by a near-infrared laser to achieve high efficiency and remote manipulation on the water surface for a long period of time, with a velocity of 9.91 mm/s at a power density of 2.0 W/cm2. Due to the Marangoni effect, programmable and complex motions of the microrobot such as linear, clockwise, counterclockwise, and obstacle avoidance motions can be achieved. The biocompatible and degradable microrobot fabrication strategy could have great potential in the fields of environmental detection, targeted drug delivery, disease diagnosis, and detection.

Study on a Noncontact Microdroplet Separation Method under the Action of Corona Discharge

Precision manipulation of various liquids is essential in many fields such as various thermal, optical, and medical applications. This paper proposes an effective noncontact microdroplet separation method that is based on the action of corona discharge. A blade-plate electrode is constructed to generate an ionic wind, thereby enabling the droplet to be separated according to the shape of the blade electrode. Line, curve, S-shape, and parallel separation of the droplet can be realized in the experiment setup. Furthermore, experiment parameters, including the driving voltage, cutting speed, the distance of the upper and lower electrodes, cutting depth, etc., are discussed. Experimental results show that the proposed method is feasible and effective and can be used in application scenarios that require precise manipulation of droplets.

Magnetoactive Soft Materials with Programmable Magnetic Domains for Multifunctional Actuators

Despite considerable progress having been made in the research of soft actuators, there remains a grand challenge in creating a facile manufacturing process that offers both extensive programmability and exceptional actuation capabilities. Taking inspiration from uncomplicated small organisms, this work aims to develop soft actuators that can be mobilized through straightforward design and control, similar to caterpillars or inchworms. They execute intricate actions and functions to meet survival needs in the most efficient manner possible. Here, a novel soft actuator with uniformly dispersed ferromagnetic microparticles but programmatic magnetic profile distribution is proposed by a convenient magnetization process. Benefiting from its high magnetic sensitivity and good matrix flexibility, the actuator can simultaneously achieve reversible, remote, and fast programmable shape transformation and controllable movement even in a magnetic field as low as 14 Gs. Complemented by intrinsic material properties and structural configuration, actuation employing spatial magnetization profiles can facilitate multiple modes of locomotion when subjected to magnetic fields, allowing for an efficient manipulation task of both solid and liquid media. More importantly, a finite element model is developed to assist in the design of the interaction between the alternating magnetic field and the magnetic torques. This advanced soft actuator would strongly push forward major breakthroughs in key applications such as intelligent sensors, disaster rescue, and wearable devices.

Magnetic Liquid Metal Droplet Robot with Multifunction and High Output Force in Milli-Newton

Magnetically actuated miniature robots have immeasurable potential in lab-on-a-chip and biomedical due to their ability to navigate in constrained space. However, current soft robots made by elastomers have limited functionalities and are prevented from very narrow environments such as channel much smaller than their size because of their non- or limited deformability. In this study, a soft and multifunctional robot based on liquid metal (magnetic liquid-metal droplet robot [MLDR]) with high output force is reported. It is fabricated by engulfing iron particles into a Galinstan droplet. By changing the shape and motion of permanent magnets, the MLDR can be reshaped and moved. The MLDR can also be split in batches and merged efficiently. It shows good softness and flexibility when navigating freely in a narrow channel, and thus can pass through a confined space smaller than its size easily. Furthermore, the MLDR can also push and spread the accumulated liquid in a desired path, and manipulate the motions of small objects well. Benefiting from the solidification-like phenomenon, an MLDR can output milli-Newton-level force much higher than the output force of ferrofluid droplet robots in micro-Newton level. The demonstrated capabilities of the MLDR are promising for the applications in lab-on-a-chip or biomedical devices.

Combined three dimensional locomotion and deformation of functional ferrofluidic robots

Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.

Advances in the Research of Photo, Electrical, and Magnetic Responsive Smart Superhydrophobic Materials: Synthesis and Potential Applications

With the rapid advancement of technology, the wettability of conventional superhydrophobic materials no longer suffice to meet the demands of practical applications. Intelligent responsive superhydrophobic materials have emerged as a highly sought-after material in various fields. The exceptional superhydrophobicity, reversible wetting, and intelligently controllable characteristics of these materials have led to extensive applications across industries, including industry, agriculture, defense, and medicine. Therefore, the development of intelligent superhydrophobic materials with superior performance, economic practicality, enhanced sensitivity, and controllability assumes utmost importance in advancing technology worldwide. This article provides a summary of the wettability principles of superhydrophobic surfaces and the mechanisms behind intelligent responsive superhydrophobicity. Furthermore, it reviews and analyzes the recent research progress on light, electric, and magnetic responsive superhydrophobic materials, encompassing aspects such as material synthesis, modification, performance, and responses under diverse external stimuli. The article also explores the challenges associated with different types of responsive superhydrophobic materials and the unique application prospects of light, electric, and magnetic responsive superhydrophobic materials. Additionally, it outlines the future directions for the development of intelligent responsive superhydrophobic materials.