1
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Xu R, Xu Q. A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation. MICROMACHINES 2024; 15:468. [PMID: 38675279 PMCID: PMC11052276 DOI: 10.3390/mi15040468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 03/23/2024] [Accepted: 03/28/2024] [Indexed: 04/28/2024]
Abstract
Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.
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Affiliation(s)
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China;
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2
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Cui Z, Wang Y, den Toonder JMJ. Metachronal Motion of Biological and Artificial Cilia. Biomimetics (Basel) 2024; 9:198. [PMID: 38667209 PMCID: PMC11048255 DOI: 10.3390/biomimetics9040198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2024] [Revised: 03/22/2024] [Accepted: 03/23/2024] [Indexed: 04/28/2024] Open
Abstract
Cilia are slender, hair-like cell protrusions that are present ubiquitously in the natural world. They perform essential functions, such as generating fluid flow, propulsion, and feeding, in organisms ranging from protozoa to the human body. The coordinated beating of cilia, which results in wavelike motions known as metachrony, has fascinated researchers for decades for its role in functions such as flow generation and mucus transport. Inspired by nature, researchers have explored diverse materials for the fabrication of artificial cilia and developed several methods to mimic the metachronal motion observed in their biological counterparts. In this review, we will introduce the different types of metachronal motion generated by both biological and artificial cilia, the latter including pneumatically, photonically, electrically, and magnetically driven artificial cilia. Furthermore, we review the possible applications of metachronal motion by artificial cilia, focusing on flow generation, transport of mucus, particles, and droplets, and microrobotic locomotion. The overall aim of this review is to offer a comprehensive overview of the metachronal motions exhibited by diverse artificial cilia and the corresponding practical implementations. Additionally, we identify the potential future directions within this field. These insights present an exciting opportunity for further advancements in this domain.
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Affiliation(s)
- Zhiwei Cui
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Jaap M. J. den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands; (Z.C.); (Y.W.)
- Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
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3
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Wang T, Ul Islam T, Steur E, Homan T, Aggarwal I, Onck PR, den Toonder JMJ, Wang Y. Programmable metachronal motion of closely packed magnetic artificial cilia. LAB ON A CHIP 2024; 24:1573-1585. [PMID: 38305798 DOI: 10.1039/d3lc00956d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/03/2024]
Abstract
Despite recent advances in artificial cilia technologies, the application of metachrony, which is the collective wavelike motion by cilia moving out-of-phase, has been severely hampered by difficulties in controlling closely packed artificial cilia at micrometer length scales. Moreover, there has been no direct experimental proof yet that a metachronal wave in combination with fully reciprocal ciliary motion can generate significant microfluidic flow on a micrometer scale as theoretically predicted. In this study, using an in-house developed precise micro-molding technique, we have fabricated closely packed magnetic artificial cilia that can generate well-controlled metachronal waves. We studied the effect of pure metachrony on fluid flow by excluding all symmetry-breaking ciliary features. Experimental and simulation results prove that net fluid transport can be generated by metachronal motion alone, and the effectiveness is strongly dependent on cilia spacing. This technique not only offers a biomimetic experimental platform to better understand the mechanisms underlying metachrony, it also opens new pathways towards advanced industrial applications.
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Affiliation(s)
- Tongsheng Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Tanveer Ul Islam
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Erik Steur
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Tess Homan
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
| | - Ishu Aggarwal
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Patrick R Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Jaap M J den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems, Eindhoven University of Technology, 5600 MB, Eindhoven, The Netherlands
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4
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Moradi M, Shklyaev OE, Balazs AC. Integrating chemistry, fluid flow, and mechanics to drive spontaneous formation of three-dimensional (3D) patterns in anchored microstructures. Proc Natl Acad Sci U S A 2024; 121:e2319777121. [PMID: 38437554 PMCID: PMC10945754 DOI: 10.1073/pnas.2319777121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/10/2023] [Accepted: 01/17/2024] [Indexed: 03/06/2024] Open
Abstract
Enzymatic reactions in solution drive the convection of confined fluids throughout the enclosing chambers and thereby couple the processes of reaction and convection. In these systems, the energy released from the chemical reactions generates a force, which propels the fluids' spontaneous motion. Here, we use theoretical and computational modeling to determine how reaction-convection can be harnessed to tailor and control the dynamic behavior of soft matter immersed in solution. Our model system encompasses an array of surface-anchored, flexible posts in a millimeter-sized, fluid-filled chamber. Selected posts are coated with enzymes, which react with dissolved chemicals to produce buoyancy-driven fluid flows. We show that these chemically generated flows exert a force on both the coated (active) and passive posts and thus produce regular, self-organized patterns. Due to the specificity of enzymatic reactions, the posts display controllable kaleidoscopic behavior where one regular pattern is smoothly morphed into another with the addition of certain reactants. These spatiotemporal patterns also form "fingerprints" that distinctly characterize the system, reflecting the type of enzymes used, placement of the enzyme-coated posts, height of the chamber, and bending modulus of the elastic posts. The results reveal how reaction-convection provides concepts for designing soft matter that readily switches among multiple morphologies. This behavior enables microfluidic devices to be spontaneously reconfigured for specific applications without construction of new chambers and the fabrication of standalone sensors that operate without extraneous power sources.
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Affiliation(s)
- Moslem Moradi
- Department of Chemical Engineering, University of Pittsburgh, Pittsburgh, PA15261
| | - Oleg E. Shklyaev
- Department of Chemical Engineering, University of Pittsburgh, Pittsburgh, PA15261
| | - Anna C. Balazs
- Department of Chemical Engineering, University of Pittsburgh, Pittsburgh, PA15261
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5
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Deng Z, Zhang H, Priimagi A, Zeng H. Light-Fueled Nonreciprocal Self-Oscillators for Fluidic Transportation and Coupling. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2209683. [PMID: 36525600 DOI: 10.1002/adma.202209683] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/20/2022] [Revised: 11/30/2022] [Indexed: 06/17/2023]
Abstract
Light-fueled self-oscillators based on soft actuating materials have triggered novel designs for small-scale robotic constructs that self-sustain their motion at non-equilibrium states and possess bioinspired autonomy and adaptive functions. However, the motions of most self-oscillators are reciprocal, which hinders their use in sophisticated biomimetic functions such as fluidic transportation. Here, an optically powered soft material strip that can perform nonreciprocal, cilia-like, self-sustained oscillation under water is reported. The actuator is made of planar-aligned liquid crystal elastomer responding to visible light. Two laser beams from orthogonal directions allow for piecewise control over the strip deformation, enabling two self-shadowing effects coupled in one single material to yield nonreciprocal strokes. The nonreciprocity, stroke pattern and handedness are connected to the fluidic pumping efficiency, which can be controlled by the excitation conditions. Autonomous microfluidic pumping in clockwise and anticlockwise directions, translocation of a micro-object by liquid propulsion, and coupling between two oscillating strips through liquid medium interaction are demonstrated. The results offer new concepts for non-equilibrium soft actuators that can perform bio-like functions under water.
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Affiliation(s)
- Zixuan Deng
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI 33101, Finland
| | - Hang Zhang
- Department of Applied Physics, Aalto University, P.O. Box 15100, Espoo, FI 02150, Finland
| | - Arri Priimagi
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI 33101, Finland
| | - Hao Zeng
- Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, P.O. Box 541, Tampere, FI 33101, Finland
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6
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Wang Z, Chen Y, Ma Y, Wang J. Bioinspired Stimuli-Responsive Materials for Soft Actuators. Biomimetics (Basel) 2024; 9:128. [PMID: 38534813 DOI: 10.3390/biomimetics9030128] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/29/2024] [Revised: 02/16/2024] [Accepted: 02/19/2024] [Indexed: 03/28/2024] Open
Abstract
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.
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Affiliation(s)
- Zhongbao Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yixin Chen
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yuan Ma
- Department of Mechanical Engineering, Research Institute for Intelligent Wearable Systems, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Jing Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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7
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Janbaz S, Coulais C. Diffusive kinks turn kirigami into machines. Nat Commun 2024; 15:1255. [PMID: 38341411 DOI: 10.1038/s41467-024-45602-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/25/2023] [Accepted: 01/30/2024] [Indexed: 02/12/2024] Open
Abstract
Kinks define boundaries between distinct configurations of a material. In the context of mechanical metamaterials, kinks have recently been shown to underpin logic, shape-changing and locomotion functionalities. So far such kinks propagate by virtue of inertia or of an external load. Here, we discover the emergence of propagating kinks in purely dissipative kirigami. To this end, we create kirigami that shape-change into different textures depending on how fast they are stretched. We find that if we stretch fast and wait, the viscoelastic kirigami can eventually snap from one texture to another. Crucially, such a snapping instability occurs in a sequence and a propagating diffusive kink emerges. As such, it mimics the slow sequential folding observed in biological systems, e.g., Mimosa Pudica. We finally demonstrate that diffusive kinks can be harnessed for basic machine-like functionalities, such as sensing, dynamic shape morphing, transport and manipulation of objects.
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Affiliation(s)
- Shahram Janbaz
- Institute of Physics, Universiteit van Amsterdam, Amsterdam, The Netherlands
| | - Corentin Coulais
- Institute of Physics, Universiteit van Amsterdam, Amsterdam, The Netherlands.
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8
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Ren Z, Sitti M. Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion. Nat Protoc 2024; 19:441-486. [PMID: 38097687 DOI: 10.1038/s41596-023-00916-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Accepted: 09/21/2023] [Indexed: 02/12/2024]
Abstract
Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland.
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey.
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9
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Chen Z, Wang Y, Chen H, Law J, Pu H, Xie S, Duan F, Sun Y, Liu N, Yu J. A magnetic multi-layer soft robot for on-demand targeted adhesion. Nat Commun 2024; 15:644. [PMID: 38245517 PMCID: PMC10799857 DOI: 10.1038/s41467-024-44995-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/22/2023] [Accepted: 01/04/2024] [Indexed: 01/22/2024] Open
Abstract
Magnetic soft robots have shown great potential for biomedical applications due to their high shape reconfigurability, motion agility, and multi-functionality in physiological environments. Magnetic soft robots with multi-layer structures can enhance the loading capacity and function complexity for targeted delivery. However, the interactions between soft entities have yet to be fully investigated, and thus the assembly of magnetic soft robots with on-demand motion modes from multiple film-like layers is still challenging. Herein, we model and tailor the magnetic interaction between soft film-like layers with distinct in-plane structures, and then realize multi-layer soft robots that are capable of performing agile motions and targeted adhesion. Each layer of the robot consists of a soft magnetic substrate and an adhesive film. The mechanical properties and adhesion performance of the adhesive films are systematically characterized. The robot is capable of performing two locomotion modes, i.e., translational motion and tumbling motion, and also the on-demand separation with one side layer adhered to tissues. Simulation results are presented, which have a good qualitative agreement with the experimental results. The feasibility of using the robot to perform multi-target adhesion in a stomach is validated in both ex-vivo and in-vivo experiments.
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Affiliation(s)
- Ziheng Chen
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Junhui Law
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Huayan Pu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Shaorong Xie
- School of Computer Engineering and Science, Shanghai University, Shanghai, 200444, China
| | - Feng Duan
- Department of Interventional Radiology, Chinese PLA General Hospital, Beijing, 100853, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
| | - Na Liu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China.
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China.
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China.
- School of Medicine, The Chinese University of Hong Kong, Shenzhen, 518172, China.
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10
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Bondoc-Naumovitz KG, Laeverenz-Schlogelhofer H, Poon RN, Boggon AK, Bentley SA, Cortese D, Wan KY. Methods and Measures for Investigating Microscale Motility. Integr Comp Biol 2023; 63:1485-1508. [PMID: 37336589 PMCID: PMC10755196 DOI: 10.1093/icb/icad075] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Revised: 05/31/2023] [Accepted: 06/06/2023] [Indexed: 06/21/2023] Open
Abstract
Motility is an essential factor for an organism's survival and diversification. With the advent of novel single-cell technologies, analytical frameworks, and theoretical methods, we can begin to probe the complex lives of microscopic motile organisms and answer the intertwining biological and physical questions of how these diverse lifeforms navigate their surroundings. Herein, we summarize the main mechanisms of microscale motility and give an overview of different experimental, analytical, and mathematical methods used to study them across different scales encompassing the molecular-, individual-, to population-level. We identify transferable techniques, pressing challenges, and future directions in the field. This review can serve as a starting point for researchers who are interested in exploring and quantifying the movements of organisms in the microscale world.
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Affiliation(s)
| | | | - Rebecca N Poon
- Living Systems Institute, University of Exeter, Stocker Road, EX4 4QD, Exeter, UK
| | - Alexander K Boggon
- Living Systems Institute, University of Exeter, Stocker Road, EX4 4QD, Exeter, UK
| | - Samuel A Bentley
- Living Systems Institute, University of Exeter, Stocker Road, EX4 4QD, Exeter, UK
| | - Dario Cortese
- Living Systems Institute, University of Exeter, Stocker Road, EX4 4QD, Exeter, UK
| | - Kirsty Y Wan
- Living Systems Institute, University of Exeter, Stocker Road, EX4 4QD, Exeter, UK
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11
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Xia T, Umezu K, Scully DM, Wang S, Larina IV. In vivo volumetric depth-resolved imaging of cilia metachronal waves using dynamic optical coherence tomography. OPTICA 2023; 10:1439-1451. [PMID: 38665775 PMCID: PMC11044847 DOI: 10.1364/optica.499927] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/05/2023] [Accepted: 09/21/2023] [Indexed: 04/28/2024]
Abstract
Motile cilia are dynamic hair-like structures covering epithelial surfaces in multiple organs. The periodic coordinated beating of cilia creates waves propagating along the surface, known as the metachronal waves, which transport fluids and mucus along the epithelium. Motile ciliopathies result from disrupted coordinated cilia beating and are associated with serious clinical complications, including reproductive disorders. Despite the recognized clinical significance, research of cilia dynamics is extremely limited. Here, we present quantitative imaging of cilia metachronal waves volumetrically through tissue layers using dynamic optical coherence tomography (OCT). Our method relies on spatiotemporal mapping of the phase of intensity fluctuations in OCT images caused by the ciliary beating. We validated our new method ex vivo and implemented it in vivo to visualize cilia metachronal wave propagation within the mouse fallopian tube. This method can be extended to the assessment of physiological cilia function and ciliary dyskinesias in various organ systems, contributing to better management of pathologies associated with motile ciliopathies.
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Affiliation(s)
- Tian Xia
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
| | - Kohei Umezu
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
| | - Deirdre M Scully
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
| | - Shang Wang
- Department of Biomedical Engineering, Stevens Institute of Technology, Hoboken, New Jersey 07030, USA
| | - Irina V Larina
- Department of Integrative Physiology, Baylor College of Medicine, Houston, Texas 77030, USA
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12
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Fan X, Zhang Y, Wu Z, Xie H, Sun L, Chen T, Yang Z. Combined three dimensional locomotion and deformation of functional ferrofluidic robots. NANOSCALE 2023. [PMID: 37982182 DOI: 10.1039/d3nr02535g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/21/2023]
Abstract
Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.
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Affiliation(s)
- Xinjian Fan
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
| | - Yunfei Zhang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
| | - Zhengnan Wu
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
| | - Hui Xie
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Yikuang, Harbin 150080, China
| | - Lining Sun
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
| | - Tao Chen
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
- School of Future Science and Engineering, Soochow University, No. 1, Jiuyongxi Road, Suzhou 215222, China.
| | - Zhan Yang
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China.
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou 215123, China
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13
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Han J, Dong X, Yin Z, Zhang S, Li M, Zheng Z, Ugurlu MC, Jiang W, Liu H, Sitti M. Actuation-enhanced multifunctional sensing and information recognition by magnetic artificial cilia arrays. Proc Natl Acad Sci U S A 2023; 120:e2308301120. [PMID: 37792517 PMCID: PMC10589697 DOI: 10.1073/pnas.2308301120] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Accepted: 09/04/2023] [Indexed: 10/06/2023] Open
Abstract
Artificial cilia integrating both actuation and sensing functions allow simultaneously sensing environmental properties and manipulating fluids in situ, which are promising for environment monitoring and fluidic applications. However, existing artificial cilia have limited ability to sense environmental cues in fluid flows that have versatile information encoded. This limits their potential to work in complex and dynamic fluid-filled environments. Here, we propose a generic actuation-enhanced sensing mechanism to sense complex environmental cues through the active interaction between artificial cilia and the surrounding fluidic environments. The proposed mechanism is based on fluid-cilia interaction by integrating soft robotic artificial cilia with flexible sensors. With a machine learning-based approach, complex environmental cues such as liquid viscosity, environment boundaries, and distributed fluid flows of a wide range of velocities can be sensed, which is beyond the capability of existing artificial cilia. As a proof of concept, we implement this mechanism on magnetically actuated cilia with integrated laser-induced graphene-based sensors and demonstrate sensing fluid apparent viscosity, environment boundaries, and fluid flow speed with a reconfigurable sensitivity and range. The same principle could be potentially applied to other soft robotic systems integrating other actuation and sensing modalities for diverse environmental and fluidic applications.
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Affiliation(s)
- Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Xiaoguang Dong
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN37212
| | - Zhen Yin
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- Department of Control Science and Engineering, Tongji University, Shanghai201800, China
- Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai200120, China
| | - Shuaizhong Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
- National Key Laboratory of Hoisting Machinery Key Technology, Yanshan University, Qinhuangdao066004, China
- Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao066004, China
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Musab Cagri Ugurlu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Hongzhong Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, 710054Xi’an, China
- School of Mechanical Engineering, Xi’an Jiaotong University, 710054Xi’an, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450Istanbul, Turkey
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14
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Jiang H, Gu H, Nelson BJ, Zhang T. Numerical Study of Metachronal Wave-Modulated Locomotion in Magnetic Cilia Carpets. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 5:2300212. [PMID: 37885909 PMCID: PMC10601495 DOI: 10.1002/aisy.202300212] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 04/25/2023] [Indexed: 10/28/2023]
Abstract
Metachronal motions are ubiquitous in terrestrial and aquatic organisms and have attracted substantial attention in engineering for their potential applications. Hard-magnetic soft materials are shown to provide new opportunities for metachronal wave-modulated robotic locomotion by multi-agent active morphing in response to external magnetic fields. However, the design and optimization of such magnetic soft robots can be complex, and the fabrication and magnetization processes are often delicate and time-consuming. Herein, a computational model is developed that integrates granular models into a magnetic-lattice model, both of which are implemented in the highly efficient parallel computing platform large-scale atomic/molecular massively parallel simulator (LAMMPS). The simulations accurately reproduce the deformation of single cilium, the metachronal wave motion of multiple cilia, and the crawling and rolling locomotion of magnetic cilia soft robots. Furthermore, the simulations provide insight into the spatial and temporal variation of friction forces and trajectories of cilia tips. The results contribute to the understanding of metachronal wave-modulated locomotion and potential applications in the field of soft robotics and biomimetic engineering. The developed model also provides a versatile computational framework for simulating the movement of magnetic soft robots in realistic environments and has the potential to guide the design, optimization, and customization of these systems.
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Affiliation(s)
- Hao Jiang
- Department of Mechanical and Aerospace Engineering Syracuse University, Syracuse, NY 13244, USA; BioInspired Syracuse Syracuse, University Syracuse, NY 13244, USA
| | - Hongri Gu
- Department of Physics, University of Konstanz, 78464 Konstanz, Germany
| | - Bradley J Nelson
- Institute of Robotics and Intelligent Systems, ETH Zurich, 8092 Zurich, Switzerland
| | - Teng Zhang
- Department of Mechanical and Aerospace Engineering Syracuse University Syracuse, NY 13244, USA; BioInspired Syracuse Syracuse University Syracuse, NY 13244, USA
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15
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Lee YJ, Abdelrahman MK, Kalairaj MS, Ware TH. Self-Assembled Microactuators Using Chiral Liquid Crystal Elastomers. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 19:e2302774. [PMID: 37291979 DOI: 10.1002/smll.202302774] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/02/2023] [Revised: 05/18/2023] [Indexed: 06/10/2023]
Abstract
Materials that undergo reversible changes in form typically require top-down processing to program the microstructure of the material. As a result, it is difficult to program microscale, 3D shape-morphing materials that undergo non-uniaxial deformations. Here, a simple bottom-up fabrication approach to prepare bending microactuators is described. Spontaneous self-assembly of liquid crystal (LC) monomers with controlled chirality within 3D micromold results in a change in molecular orientation across thickness of the microstructure. As a result, heating induces bending in these microactuators. The concentration of chiral dopant is varied to adjust the chirality of the monomer mixture. Liquid crystal elastomer (LCE) microactuators doped with 0.05 wt% of chiral dopant produce needle-shaped actuators that bend from flat to an angle of 27.2 ± 11.3° at 180 °C. Higher concentrations of chiral dopant lead to actuators with reduced bending, and lower concentrations of chiral dopant lead to actuators with poorly controlled bending. Asymmetric molecular alignment inside 3D structure is confirmed by sectioning actuators. Arrays of microactuators that all bend in the same direction can be fabricated if symmetry of geometry of the microstructure is broken. It is envisioned that the new platform to synthesize microstructures can further be applied in soft robotics and biomedical devices.
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Affiliation(s)
- Yoo Jin Lee
- Department of Biomedical Engineering, Texas A&M University, College Station, TX, 77843, USA
| | - Mustafa K Abdelrahman
- Department of Materials Science and Engineering, Texas A&M University, College Station, TX, 77843, USA
| | | | - Taylor H Ware
- Department of Biomedical Engineering, Texas A&M University, College Station, TX, 77843, USA
- Department of Materials Science and Engineering, Texas A&M University, College Station, TX, 77843, USA
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16
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Glass P, Shar A, Pemberton C, Nguyen E, Park SH, Joung D. 3D-Printed Artificial Cilia Arrays: A Versatile Tool for Customizable Mechanosensing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2303164. [PMID: 37483144 PMCID: PMC10502633 DOI: 10.1002/advs.202303164] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/14/2023] [Indexed: 07/25/2023]
Abstract
Bio-inspired cilium-based mechanosensors offer a high level of responsiveness, making them suitable for a wide range of industrial, environmental, and biomedical applications. Despite great promise, the development of sensors with multifunctionality, scalability, customizability, and sensing linearity presents challenges due to the complex sensing mechanisms and fabrication methods involved. To this end, high-aspect-ratio polycaprolactone/graphene cilia structures with high conductivity, and facile fabrication are employed to address these challenges. For these 3D-printed structures, an "inter-cilium contact" sensing mechanism that enables the sensor to function akin to an on-off switch, significantly enhancing sensitivity and reducing ambiguity in detection, is proposed. The cilia structures exhibit high levels of customizability, including thickness, height, spacing, and arrangement, while maintaining mechanical robustness. The simplicity of the sensor design enables highly sensitive detection in diverse applications, encompassing airflow and water flow monitoring, braille detection, and debris recognition. Overall, the unique conductive cilia-based sensing mechanism that is proposed brings several advantages, advancing the development of multi-sensing capabilities and flexible electronic skin applications in smart robotics and human prosthetics.
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Affiliation(s)
- Phillip Glass
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Andy Shar
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Charles Pemberton
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Ethan Nguyen
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
| | - Sung Hyun Park
- Sustainable Technology and Wellness R&D GroupKorea Institute of Industrial Technology (KITECH)Jeju‐siJeju‐do63243Republic of Korea
| | - Daeha Joung
- Department of PhysicsVirginia Commonwealth UniversityRichmondVA23284USA
- Massey Cancer CenterVirginia Commonwealth UniversityRichmondVA23298USA
- Institute for Sustainable Energy and EnvironmentVirginia Commonwealth UniversityRichmondVA23284USA
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17
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Cui Z, Wang Y, Zhang S, Wang T, den Toonder JMJ. Miniaturized metachronal magnetic artificial cilia. Proc Natl Acad Sci U S A 2023; 120:e2304519120. [PMID: 37611057 PMCID: PMC10629582 DOI: 10.1073/pnas.2304519120] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/22/2023] [Accepted: 07/14/2023] [Indexed: 08/25/2023] Open
Abstract
Biological cilia, hairlike organelles on cell surfaces, often exhibit collective wavelike motion known as metachrony, which helps generating fluid flow. Inspired by nature, researchers have developed artificial cilia as microfluidic actuators, exploring several methods to mimic the metachrony. However, reported methods are difficult to miniaturize because they require either control of individual cilia properties or the generation of a complex external magnetic field. We introduce a concept that generates metachronal motion of magnetic artificial cilia (MAC), even though the MAC are all identical, and the applied external magnetic field is uniform. This is achieved by integrating a paramagnetic substructure in the substrate underneath the MAC. Uniquely, we can create both symplectic and antiplectic metachrony by changing the relative positions of MAC and substructure. We demonstrate the flow generation of the two metachronal motions in both high and low Reynolds number conditions. Our research marks a significant milestone by breaking the size limitation barrier in metachronal artificial cilia. This achievement not only showcases the potential of nature-inspired engineering but also opens up a host of exciting opportunities for designing and optimizing microsystems with enhanced fluid manipulation capabilities.
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Affiliation(s)
- Zhiwei Cui
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
| | - Ye Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
| | - Shuaizhong Zhang
- Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Tongsheng Wang
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
| | - Jaap M. J. den Toonder
- Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
- Institute for Complex Molecular Systems, Eindhoven University of Technology, Eindhoven5600MB, The Netherlands
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18
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Yan Y, Wang T, Zhang R, Liu Y, Hu W, Sitti M. Magnetically assisted soft milli-tools for occluded lumen morphology detection. SCIENCE ADVANCES 2023; 9:eadi3979. [PMID: 37585531 PMCID: PMC10431716 DOI: 10.1126/sciadv.adi3979] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/24/2023] [Accepted: 07/17/2023] [Indexed: 08/18/2023]
Abstract
Methodologies based on intravascular imaging have revolutionized the diagnosis and treatment of endovascular diseases. However, current methods are limited in detecting, i.e., visualizing and crossing, complicated occluded vessels. Therefore, we propose a miniature soft tool comprising a magnet-assisted active deformation segment (ADS) and a fluid drag-driven segment (FDS) to visualize and cross the occlusions with various morphologies. First, via soft-bodied deformation and interaction, the ADS could visualize the structure details of partial occlusions with features as small as 0.5 millimeters. Then, by leveraging the fluidic drag from the pulsatile flow, the FDS could automatically detect an entry point selectively from severe occlusions with complicated microchannels whose diameters are down to 0.2 millimeters. The functions have been validated in both biologically relevant phantoms and organs ex vivo. This soft tool could help enhance the efficacy of minimally invasive medicine for the diagnosis and treatment of occlusions in various circulatory systems.
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Affiliation(s)
- Yingbo Yan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Laboratory for Multiscale Mechanics and Medical Science, SV LAB, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China
| | - Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Rongjing Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Yilun Liu
- Laboratory for Multiscale Mechanics and Medical Science, SV LAB, School of Aerospace, Xi’an Jiaotong University, Xi’an 710049, China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, 8092 Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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19
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Richter M, Sikorski J, Makushko P, Zabila Y, Venkiteswaran VK, Makarov D, Misra S. Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302077. [PMID: 37330643 PMCID: PMC10460866 DOI: 10.1002/advs.202302077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 05/21/2023] [Indexed: 06/19/2023]
Abstract
Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
| | - Jakub Sikorski
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
| | - Pavlo Makushko
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Yevhen Zabila
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
- The H. Niewodniczanski Institute of Nuclear Physics, Polish Academy of SciencesKrakow31‐342Poland
| | | | - Denys Makarov
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
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20
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Zhang S, Hu X, Li M, Bozuyuk U, Zhang R, Suadiye E, Han J, Wang F, Onck P, Sitti M. 3D-printed micrometer-scale wireless magnetic cilia with metachronal programmability. SCIENCE ADVANCES 2023; 9:eadf9462. [PMID: 36947622 PMCID: PMC7614626 DOI: 10.1126/sciadv.adf9462] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/22/2022] [Accepted: 02/21/2023] [Indexed: 06/08/2023]
Abstract
Biological cilia play essential roles in self-propulsion, food capture, and cell transportation by performing coordinated metachronal motions. Experimental studies to emulate the biological cilia metachronal coordination are challenging at the micrometer length scale because of current limitations in fabrication methods and materials. We report on the creation of wirelessly actuated magnetic artificial cilia with biocompatibility and metachronal programmability at the micrometer length scale. Each cilium is fabricated by direct laser printing a silk fibroin hydrogel beam affixed to a hard magnetic FePt Janus microparticle. The 3D-printed cilia show stable actuation performance, high temperature resistance, and high mechanical endurance. Programmable metachronal coordination can be achieved by programming the orientation of the identically magnetized FePt Janus microparticles, which enables the generation of versatile microfluidic patterns. Our platform offers an unprecedented solution to create bioinspired microcilia for programmable microfluidic systems, biomedical engineering, and biocompatible implants.
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Affiliation(s)
- Shuaizhong Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Xinghao Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- State Key Laboratory of Solidification Processing, Center of Advanced Lubrication and Seal Materials, Northwestern Polytechnical University, Xi'an 710072, China
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ugur Bozuyuk
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Rongjing Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Eylul Suadiye
- Central Scientific Facility Materials, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710054, China
| | - Fan Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Patrick Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG Groningen, Netherlands
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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21
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Zou B, Liang Z, Zhong D, Cui Z, Xiao K, Shao S, Ju J. Magneto-Thermomechanically Reprogrammable Mechanical Metamaterials. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2207349. [PMID: 36385420 DOI: 10.1002/adma.202207349] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/12/2022] [Revised: 10/28/2022] [Indexed: 06/16/2023]
Abstract
Future active metamaterials for reconfigurable structural applications require fast, untethered, reversible, and reprogrammable (multimodal) transformability with shape locking. Magnetic control has a superior advantage for fast and remotely controlled deployment; however, a significant drawback is needed to maintain the magnetic force to hold the transformation, limiting its use in structural applications. The shape-locking property of shape-memory polymers (SMPs) can resolve this issue. However, the intrinsic irreversibility of SMPs may limit their reconfigurability as active metamaterials. Moreover, to date, reprogrammable methods have required high power with laser and arc welding proving to be energy-inefficient control methods. In this work, a magneto-thermomechanical tool is constructed and demonstrated, which enables a single material system to transform with untethered, reversible, low-powered reprogrammable deformations, and shape locking via the application of magneto-thermomechanically triggered prestress on the SMP and structural instability with asymmetric magnetic torque. The mutual assistance of two physics concepts-magnetic control combined with the thermomechanical behavior of SMPs is demonstrated, without requiring new materials synthesis and high-power energy for reprogramming. This approach can open a new path of active metamaterials, flexible yet stiff soft robots, multimodal morphing structures, and mechanical computing devices where it can be designed in reversible and reprogrammable ways.
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Affiliation(s)
- Bihui Zou
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Zihe Liang
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Dijia Zhong
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Zhiming Cui
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Kai Xiao
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Shuang Shao
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Jaehyung Ju
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
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22
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Aubry G, Lee HJ, Lu H. Advances in Microfluidics: Technical Innovations and Applications in Diagnostics and Therapeutics. Anal Chem 2023; 95:444-467. [PMID: 36625114 DOI: 10.1021/acs.analchem.2c04562] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023]
Affiliation(s)
- Guillaume Aubry
- School of Chemical & Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
| | - Hyun Jee Lee
- School of Chemical & Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
| | - Hang Lu
- School of Chemical & Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States.,Petit Institute for Bioengineering and Bioscience, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
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23
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Sun M, Hao B, Yang S, Wang X, Majidi C, Zhang L. Exploiting ferrofluidic wetting for miniature soft machines. Nat Commun 2022; 13:7919. [PMID: 36564394 PMCID: PMC9789085 DOI: 10.1038/s41467-022-35646-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/03/2022] [Accepted: 12/15/2022] [Indexed: 12/24/2022] Open
Abstract
Miniature magnetic soft machines could significantly impact minimally invasive robotics and biomedical applications. However, most soft machines are limited to solid magnetic materials, whereas further progress also relies on fluidic constructs obtained by reconfiguring liquid magnetic materials, such as ferrofluid. Here we show how harnessing the wettability of ferrofluids allows for controlled reconfigurability and the ability to create versatile soft machines. The ferrofluid droplet exhibits multimodal motions, and a single droplet can be controlled to split into multiple sub-droplets and then re-fuse back on demand. The soft droplet machine can negotiate changing terrains in unstructured environments. In addition, the ferrofluid droplets can be configured as a liquid capsule, enabling cargo delivery; a wireless omnidirectional liquid cilia matrix capable of pumping biofluids; and a wireless liquid skin, allowing multiple types of miniature soft machine construction. This work improves small magnetic soft machines' achievable complexity and boosts their future biomedical applications capabilities.
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Affiliation(s)
- Mengmeng Sun
- grid.10784.3a0000 0004 1937 0482Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Bo Hao
- grid.10784.3a0000 0004 1937 0482Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Shihao Yang
- grid.10784.3a0000 0004 1937 0482Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Xin Wang
- grid.10784.3a0000 0004 1937 0482Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Carmel Majidi
- grid.147455.60000 0001 2097 0344Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA
| | - Li Zhang
- grid.10784.3a0000 0004 1937 0482Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China ,grid.10784.3a0000 0004 1937 0482Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China ,Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong SAR, China ,grid.10784.3a0000 0004 1937 0482Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China ,grid.10784.3a0000 0004 1937 0482CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
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24
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Lim S, Du Y, Lee Y, Panda SK, Tong D, Khalid Jawed M. Fabrication, control, and modeling of robots inspired by flagella and cilia. BIOINSPIRATION & BIOMIMETICS 2022; 18:011003. [PMID: 36533860 DOI: 10.1088/1748-3190/aca63d] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/21/2022] [Accepted: 11/25/2022] [Indexed: 06/17/2023]
Abstract
Flagella and cilia are slender structures that serve important functionalities in the microscopic world through their locomotion induced by fluid and structure interaction. With recent developments in microscopy, fabrication, biology, and modeling capability, robots inspired by the locomotion of these organelles in low Reynolds number flow have been manufactured and tested on the micro-and macro-scale, ranging from medicalin vivomicrobots, microfluidics to macro prototypes. We present a collection of modeling theories, control principles, and fabrication methods for flagellated and ciliary robots.
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Affiliation(s)
- Sangmin Lim
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yayun Du
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Yongkyu Lee
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Shivam Kumar Panda
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - Dezhong Tong
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
| | - M Khalid Jawed
- Department of Mechanical & Aerospace Engineering, Westwood Plaza, University of California, Los Angeles, CA 90095, United States of America
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Xia N, Jin D, Pan C, Zhang J, Yang Z, Su L, Zhao J, Wang L, Zhang L. Dynamic morphological transformations in soft architected materials via buckling instability encoded heterogeneous magnetization. Nat Commun 2022; 13:7514. [PMID: 36473857 PMCID: PMC9727123 DOI: 10.1038/s41467-022-35212-6] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/18/2022] [Accepted: 11/23/2022] [Indexed: 12/12/2022] Open
Abstract
The geometric reconfigurations in three-dimensional morphable structures have a wide range of applications in flexible electronic devices and smart systems with unusual mechanical, acoustic, and thermal properties. However, achieving the highly controllable anisotropic transformation and dynamic regulation of architected materials crossing different scales remains challenging. Herein, we develop a magnetic regulation approach that provides an enabling technology to achieve the controllable transformation of morphable structures and unveil their dynamic modulation mechanism as well as potential applications. With buckling instability encoded heterogeneous magnetization profiles inside soft architected materials, spatially and temporally programmed magnetic inputs drive the formation of a variety of anisotropic morphological transformations and dynamic geometric reconfiguration. The introduction of magnetic stimulation could help to predetermine the buckling states of soft architected materials, and enable the formation of definite and controllable buckling states without prolonged magnetic stimulation input. The dynamic modulations can be exploited to build systems with switchable fluidic properties and are demonstrated to achieve capabilities of fluidic manipulation, selective particle trapping, sensitivity-enhanced biomedical analysis, and soft robotics. The work provides new insights to harness the programmable and dynamic morphological transformation of soft architected materials and promises benefits in microfluidics, programmable metamaterials, and biomedical applications.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Guangdong, China.
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Jiachen Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Liu Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, 230026, Hefei, Anhui, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China.
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China.
- Department of Surgery, The Chinese University of Hong Kong, 999077, Hong Kong SAR, China.
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26
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Jokura K, Sato Y, Shiba K, Inaba K. Two distinct compartments of a ctenophore comb plate provide structural and functional integrity for the motility of giant multicilia. Curr Biol 2022; 32:5144-5152.e6. [PMID: 36272402 DOI: 10.1016/j.cub.2022.09.061] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/24/2022] [Revised: 08/12/2022] [Accepted: 09/29/2022] [Indexed: 11/05/2022]
Abstract
Comb plates are large ciliary structures uniquely seen in comb jellies (ctenophores).1,2,3 A comb plate is constructed from tens of thousands of cilia that are bundled together by structures called compartmenting lamellae (CLs).4,5,6 We previously reported the first component of the CL, CTENO64, and found that it was specifically found in ctenophores and was essential for the determination of ciliary orientation.3 However, CTENO64 is localized only in the proximal region of the CL; therefore, the molecular architecture of the CL over the entire length of a comb plate has not been elucidated. Here, we identified a second CL component, CTENO189. This ctenophore-specific protein was present in the distal region of comb plates, with a localization clearly segregated from CTENO64. Knockdown of the CTENO189 gene using morpholino antisense oligonucleotides resulted in complete loss of CLs in the distal region of comb plates but did not affect the formation of comb plates or the orientation of each cilium. However, the hexagonal distribution of cilia was disarranged, and the metachronal coordination of comb plates along a comb row was lost in the CTENO189 morphants. The morphant comb plate showed asymmetric ciliary-type movement in normal seawater, and in a high-viscosity solution, it could not maintain the normal waveforms but showed a symmetric flagellar-type movement. Our findings demonstrated two distinct compartments of a comb plate: the proximal CL as the building foundation that rigidly fixes the ciliary orientation, and the distal CL that reinforces the elastic connection among cilia to overcome the hydrodynamic drag of giant multiciliary plates.
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Affiliation(s)
- Kei Jokura
- Shimoda Marine Research Center, University of Tsukuba, Shimoda, Shizuoka 415-0025, Japan; Living Systems Institute, University of Exeter, Exeter EX4 4QD, UK
| | - Yu Sato
- Shimoda Marine Research Center, University of Tsukuba, Shimoda, Shizuoka 415-0025, Japan
| | - Kogiku Shiba
- Shimoda Marine Research Center, University of Tsukuba, Shimoda, Shizuoka 415-0025, Japan
| | - Kazuo Inaba
- Shimoda Marine Research Center, University of Tsukuba, Shimoda, Shizuoka 415-0025, Japan.
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Binsley JL, Pagliara S, Ogrin FY. Numerical investigation of flexible Purcell-like integrated microfluidic pumps. JOURNAL OF APPLIED PHYSICS 2022; 132:164701. [PMID: 36313737 PMCID: PMC9605776 DOI: 10.1063/5.0109263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/12/2022] [Accepted: 09/20/2022] [Indexed: 06/16/2023]
Abstract
Integrating miniature pumps within microfluidic devices is crucial for advancing point-of-care diagnostics. Understanding the emergence of flow from novel integrated pumping systems is the first step in their successful implementation. A Purcell-like elasto-magnetic integrated microfluidic pump has been simulated in COMSOL Multiphysics and its performance has been investigated and evaluated. An elastic, cilia-like element contains an embedded magnet, which allows for actuation via a weak, uniaxial, sinusoidally oscillating, external magnetic field. Pumping performance is correlated against a number of variables, such as the frequency of the driving field and the proximity of the pump to the channel walls, in order to understand the emergence of the pumping behavior. Crucially, these simulations capture many of the trends observed experimentally and shed light on the key interactions. The proximity of the channel walls in the in-plane direction strongly determines the direction of net fluid flow. This characterization has important implications for the design and optimization of this pump in practical applications.
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Affiliation(s)
- Jacob L. Binsley
- Department of Physics and Astronomy, University of Exeter, Exeter EX4 4QL, United Kingdom
| | - Stefano Pagliara
- Living Systems Institute and Biosciences, University of Exeter, Exeter EX4 4QD, United Kingdom
| | - Feodor Y. Ogrin
- Department of Physics and Astronomy, University of Exeter, Exeter EX4 4QL, United Kingdom
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Miao J, Sun S, Zhang T, Li G, Ren H, Shen Y. Natural Cilia and Pine Needles Combinedly Inspired Asymmetric Pillar Actuators for All-Space Liquid Transport and Self-Regulated Robotic Locomotion. ACS APPLIED MATERIALS & INTERFACES 2022; 14:50296-50307. [PMID: 36282113 DOI: 10.1021/acsami.2c12434] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Natural structures and motion behaviors open new avenues for effective small-scale transport, such as the plant-inspired energy-free liquid transport surfaces and cilia-inspired propulsion systems. However, they are restricted by either the fixed structure or nonself-regulating beating modes, making many complex tasks remain challenging, e.g., the controllable multidirectional liquid transport and flexible propulsion. Herein, inspired by pine needles and natural cilia, we report an asymmetric-structured intelligent magnetic pillar actuator (AI-MPA) with both the "passive" and "active" transport features. Under the control of the magnetic field, the AI-MPA shows an all-space liquid transport ability toward arbitrary directions. Moreover, benefiting from the material's magnetoelasticity and asymmetric-structured design, the AI-MPA enables self-regulation of two-dimensional (2D)/three-dimensional (3D) cilia-like beating modes and can be further developed for robotic crawling and self-rotatable motion. The AI-MPA integrates the superiority of static and dynamic systems in nature and exhibits intelligent self-regulation that could not be achieved before. Confirmed theoretically and demonstrated experimentally, this work provides insights into increasingly functional and intelligent miniature biomimetic systems, with applications from directional liquid transport to robotic locomotion.
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Affiliation(s)
- Jiaqi Miao
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong999077, China
| | - Siqi Sun
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Tieshan Zhang
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Gen Li
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Hao Ren
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
| | - Yajing Shen
- Shenzhen Research Institute of City University of Hong Kong, Shenzhen518057, China
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong999077, China
- Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong999077, China
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29
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Coral physiology: Going with the ciliary flow. Curr Biol 2022; 32:R998-R1000. [PMID: 36220095 DOI: 10.1016/j.cub.2022.08.049] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Corals have long been known to generate local fluid flows using ciliary beating, but the importance of these ciliary flows is just being discovered. Two new papers shed light on how ciliary-flow physics plays a key role in shaping coral physiology.
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30
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Bhattacharjee A, Jabbarzadeh M, Kararsiz G, Fu HC, Kim MJ. Bacteria-inspired magnetically actuated rod-like soft robot in viscous fluids. BIOINSPIRATION & BIOMIMETICS 2022; 17:065001. [PMID: 35926485 DOI: 10.1088/1748-3190/ac870f] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2022] [Accepted: 08/04/2022] [Indexed: 06/15/2023]
Abstract
This paper seeks to design, develop, and explore the locomotive dynamics and morphological adaptability of a bacteria-inspired rod-like soft robot propelled in highly viscous Newtonian fluids. The soft robots were fabricated as tapered, hollow rod-like soft scaffolds by applying a robust and economic molding technique to a polyacrylamide-based hydrogel polymer. Cylindrical micro-magnets were embedded in both ends of the soft scaffolds, which allowed bending (deformation) and actuation under a uniform rotating magnetic field. We demonstrated that the tapered rod-like soft robot in viscous Newtonian fluids could perform two types of propulsion; boundary rolling was displayed when the soft robot was located near a boundary, and swimming was displayed far away from the boundary. In addition, we performed numerical simulations to understand the swimming propulsion along the rotating axis and the way in which this propulsion is affected by the soft robot's design, rotation frequency, and fluid viscosity. Our results suggest that a simple geometrical asymmetry enables the rod-like soft robot to perform propulsion in the low Reynolds number (Re≪ 1) regime; these promising results provide essential insights into the improvements that must be made to integrate the soft robots into minimally invasivein vivoapplications.
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Affiliation(s)
- Anuruddha Bhattacharjee
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
| | - Mehdi Jabbarzadeh
- Department of Mechanical Engineering, The University of Utah, Salt Lake City, UT 84112, United States of America
| | - Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
| | - Henry C Fu
- Department of Mechanical Engineering, The University of Utah, Salt Lake City, UT 84112, United States of America
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75205, United States of America
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31
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Ren Z, Zhang M, Song S, Liu Z, Hong C, Wang T, Dong X, Hu W, Sitti M. Soft-robotic ciliated epidermis for reconfigurable coordinated fluid manipulation. SCIENCE ADVANCES 2022; 8:eabq2345. [PMID: 36026449 PMCID: PMC9417179 DOI: 10.1126/sciadv.abq2345] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/27/2022] [Accepted: 07/13/2022] [Indexed: 06/08/2023]
Abstract
The fluid manipulation capabilities of current artificial cilia are severely handicapped by the inability to reconfigure near-surface flow on various static or dynamically deforming three-dimensional (3D) substrates. To overcome this challenge, we propose an electrically driven soft-robotic ciliated epidermis with multiple independently controlled polypyrrole bending actuators. The beating kinematics and the coordination of multiple actuators can be dynamically reconfigured to control the strength and direction of fluid transportation. We achieve fluid transportation along and perpendicular to the beating directions of the actuator arrays, and toward or away from the substrate. The ciliated epidermises are bendable and stretchable and can be deployed on various static or dynamically deforming 3D surfaces. They enable previously difficult to obtain fluid manipulation functionalities, such as transporting fluid in tubular structures or enhancing fluid transportation near dynamically bending and expanding surfaces.
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Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
| | - Mingchao Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Shanyuan Song
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Chong Hong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Xiaoguang Dong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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32
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Guido I, Vilfan A, Ishibashi K, Sakakibara H, Shiraga M, Bodenschatz E, Golestanian R, Oiwa K. A Synthetic Minimal Beating Axoneme. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2107854. [PMID: 35815940 DOI: 10.1002/smll.202107854] [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: 12/17/2021] [Revised: 06/03/2022] [Indexed: 06/15/2023]
Abstract
Cilia and flagella are beating rod-like organelles that enable the directional movement of microorganisms in fluids and fluid transport along the surface of biological organisms or inside organs. The molecular motor axonemal dynein drives their beating by interacting with microtubules. Constructing synthetic beating systems with axonemal dynein capable of mimicking ciliary beating still represents a major challenge. Here, the bottom-up engineering of a sustained beating synthoneme consisting of a pair of microtubules connected by a series of periodic arrays of approximately eight axonemal dyneins is reported. A model leads to the understanding of the motion through the cooperative, cyclic association-dissociation of the molecular motor from the microtubules. The synthoneme represents a bottom-up self-organized bio-molecular machine at the nanoscale with cilia-like properties.
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Affiliation(s)
- Isabella Guido
- Max Planck Institute for Dynamics and Self-Organization (MPIDS), 37077, Göttingen, Germany
| | - Andrej Vilfan
- Max Planck Institute for Dynamics and Self-Organization (MPIDS), 37077, Göttingen, Germany
- Jožef Stefan Institute, Ljubljana, 1000, Slovenia
| | - Kenta Ishibashi
- Graduate School of Frontier Biosciences, Osaka University, Osaka, 5650871, Japan
- Center for Information and Neural Networks (CiNet), National Institute of Information and Communications Technology, Osaka, 565-0871, Japan
| | - Hitoshi Sakakibara
- Advanced ICT Research Institute, National Institute of Information and Communications Technology, Kobe, 651-2492, Japan
| | - Misaki Shiraga
- Graduate School of Life Science, University of Hyogo, Hyogo, 678-1297, Japan
| | - Eberhard Bodenschatz
- Max Planck Institute for Dynamics and Self-Organization (MPIDS), 37077, Göttingen, Germany
- Institute for Dynamics of Complex Systems, Georg-August-University Göttingen, 37073, Göttingen, Germany
- Laboratory of Atomic and Solid-State Physics, Cornell University, Ithaca, NY, 14853, USA
| | - Ramin Golestanian
- Max Planck Institute for Dynamics and Self-Organization (MPIDS), 37077, Göttingen, Germany
- Rudolf Peierls Centre for Theoretical Physics, University of Oxford, Oxford, OX1 3PU, UK
| | - Kazuhiro Oiwa
- Advanced ICT Research Institute, National Institute of Information and Communications Technology, Kobe, 651-2492, Japan
- Graduate School of Life Science, University of Hyogo, Hyogo, 678-1297, Japan
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33
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Wu Y, Dong X, Kim JK, Wang C, Sitti M. Wireless soft millirobots for climbing three-dimensional surfaces in confined spaces. SCIENCE ADVANCES 2022; 8:eabn3431. [PMID: 35622917 PMCID: PMC9140972 DOI: 10.1126/sciadv.abn3431] [Citation(s) in RCA: 28] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/19/2021] [Accepted: 04/11/2022] [Indexed: 06/01/2023]
Abstract
Wireless soft-bodied robots at the millimeter scale allow traversing very confined unstructured terrains with minimal invasion and safely interacting with the surrounding environment. However, existing untethered soft millirobots still lack the ability of climbing, reversible controlled surface adhesion, and long-term retention on unstructured three-dimensional (3D) surfaces, limiting their use in biomedical and environmental applications. Here, we report a fundamental peeling-and-loading mechanism to allow untethered soft-bodied robots to climb 3D surfaces by using both the soft-body deformation and whole-body motion of the robot under external magnetic fields. This generic mechanism is implemented with different adhesive robot footpad designs, allowing vertical and inverted surface climbing on diverse 3D surfaces with complex geometries and different surface properties. With the unique robot footpad designs that integrate microstructured adhesives and tough bioadhesives, the soft climbing robot could achieve controllable adhesion and friction to climb 3D soft and wet surfaces including porcine tissues, which paves the way for future environmental inspection and minimally invasive medicine applications.
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Affiliation(s)
- Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Xiaoguang Dong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA
| | - Jae-kang Kim
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Chunxiang Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Germany
- Institute for Biomedical Engineering, ETH Zürich, Zürich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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34
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Zhang R, Toonder JD, Onck PR. Metachronal patterns by magnetically-programmable artificial cilia surfaces for low Reynolds number fluid transport and mixing. SOFT MATTER 2022; 18:3902-3909. [PMID: 35535750 DOI: 10.1039/d1sm01680f] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Motile cilia can produce net fluid flows at low Reynolds number because of their asymmetric motion and metachrony of collective beating. Mimicking this with artificial cilia can find application in microfluidic devices for fluid transport and mixing. Here, we study the metachronal beating of nonidentical, magnetically-programmed artificial cilia whose individual non-reciprocal motion and collective metachronal beating pattern can be independently controlled. We use a finite element method that accounts for magnetic forces, cilia deformation and fluid flow in a fully coupled manner. Mimicking biological cilia, we study magnetic cilia subject to a full range of metachronal driving patterns, including antiplectic, symplectic, laeoplectic and diaplectic waves. We analyse the induced primary flow, secondary flow and mixing rate as a function of the phase lag between cilia and explore the underlying physical mechanism. Our results show that shielding effects between neighboring cilia lead to a primary flow that is larger for antiplectic than for symplectic metachronal waves. The secondary flow can be fully explained by the propagation direction of the metachronal wave. Finally, we show that the mixing rate can be strongly enhanced by laeoplectic and diaplectic metachrony resulting in large velocity gradients and vortex-like flow patterns.
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Affiliation(s)
- Rongjing Zhang
- Zernike Institute for Advanced Materials, University of Groningen, 9747AG Groningen, The Netherlands.
| | - Jaap den Toonder
- Department of Mechanical Engineering and Institute for Complex Molecular Systems, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
| | - Patrick R Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747AG Groningen, The Netherlands.
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35
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Sahadevan V, Panigrahi B, Chen CY. Microfluidic Applications of Artificial Cilia: Recent Progress, Demonstration, and Future Perspectives. MICROMACHINES 2022; 13:mi13050735. [PMID: 35630202 PMCID: PMC9147031 DOI: 10.3390/mi13050735] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/23/2022] [Revised: 04/19/2022] [Accepted: 04/19/2022] [Indexed: 02/06/2023]
Abstract
Artificial cilia-based microfluidics is a promising alternative in lab-on-a-chip applications which provides an efficient way to manipulate fluid flow in a microfluidic environment with high precision. Additionally, it can induce favorable local flows toward practical biomedical applications. The endowment of artificial cilia with their anatomy and capabilities such as mixing, pumping, transporting, and sensing lead to advance next-generation applications including precision medicine, digital nanofluidics, and lab-on-chip systems. This review summarizes the importance and significance of the artificial cilia, delineates the recent progress in artificial cilia-based microfluidics toward microfluidic application, and provides future perspectives. The presented knowledge and insights are envisaged to pave the way for innovative advances for the research communities in miniaturization.
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Affiliation(s)
- Vignesh Sahadevan
- Department of Mechanical Engineering, National Cheng Kung University, Tainan 701, Taiwan;
| | - Bivas Panigrahi
- Department of Refrigeration, Air Conditioning and Energy Engineering, National Chin-Yi University of Technology, Taichung 411, Taiwan;
| | - Chia-Yuan Chen
- Department of Mechanical Engineering, National Cheng Kung University, Tainan 701, Taiwan;
- Correspondence: ; Tel.: +886-2757575-62169; Fax: +886-2352973
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36
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Ul Islam T, Wang Y, Aggarwal I, Cui Z, Eslami Amirabadi H, Garg H, Kooi R, Venkataramanachar BB, Wang T, Zhang S, Onck PR, den Toonder JMJ. Microscopic artificial cilia - a review. LAB ON A CHIP 2022; 22:1650-1679. [PMID: 35403636 PMCID: PMC9063641 DOI: 10.1039/d1lc01168e] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/23/2021] [Accepted: 04/04/2022] [Indexed: 05/14/2023]
Abstract
Cilia are microscopic hair-like external cell organelles that are ubiquitously present in nature, also within the human body. They fulfill crucial biological functions: motile cilia provide transportation of fluids and cells, and immotile cilia sense shear stress and concentrations of chemical species. Inspired by nature, scientists have developed artificial cilia mimicking the functions of biological cilia, aiming at application in microfluidic devices like lab-on-chip or organ-on-chip. By actuating the artificial cilia, for example by a magnetic field, an electric field, or pneumatics, microfluidic flow can be generated and particles can be transported. Other functions that have been explored are anti-biofouling and flow sensing. We provide a critical review of the progress in artificial cilia research and development as well as an evaluation of its future potential. We cover all aspects from fabrication approaches, actuation principles, artificial cilia functions - flow generation, particle transport and flow sensing - to applications. In addition to in-depth analyses of the current state of knowledge, we provide classifications of the different approaches and quantitative comparisons of the results obtained. We conclude that artificial cilia research is very much alive, with some concepts close to industrial implementation, and other developments just starting to open novel scientific opportunities.
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Affiliation(s)
- Tanveer Ul Islam
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Ye Wang
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Ishu Aggarwal
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Zhiwei Cui
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Hossein Eslami Amirabadi
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Hemanshul Garg
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Roel Kooi
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Bhavana B Venkataramanachar
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Tongsheng Wang
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
| | - Shuaizhong Zhang
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Max Planck Institute for Intelligent Systems, Heisenbergstr. 3, 70569, Stuttgart, Germany
| | - Patrick R Onck
- Zernike Institute for Advanced Materials, University of Groningen, 9747 AG, Groningen, The Netherlands
| | - Jaap M J den Toonder
- Microsystems, Department of Mechanical Engineering, Eindhoven University of Technology, 5612 AE, Eindhoven, The Netherlands.
- Institute for Complex Molecular Systems (ICMS), Eindhoven University of Technology, 5612 AJ, Eindhoven, The Netherlands
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Cilia metasurfaces for electronically programmable microfluidic manipulation. Nature 2022; 605:681-686. [PMID: 35614247 DOI: 10.1038/s41586-022-04645-w] [Citation(s) in RCA: 23] [Impact Index Per Article: 11.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/19/2021] [Accepted: 03/14/2022] [Indexed: 12/30/2022]
Abstract
Cilial pumping is a powerful strategy used by biological organisms to control and manipulate fluids at the microscale. However, despite numerous recent advances in optically, magnetically and electrically driven actuation, development of an engineered cilial platform with the potential for applications has remained difficult to realize1-6. Here we report on active metasurfaces of electronically actuated artificial cilia that can create arbitrary flow patterns in liquids near a surface. We first create voltage-actuated cilia that generate non-reciprocal motions to drive surface flows at tens of microns per second at actuation voltages of 1 volt. We then show that a cilia unit cell can locally create a range of elemental flow geometries. By combining these unit cells, we create an active cilia metasurface that can generate and switch between any desired surface flow pattern. Finally, we integrate the cilia with a light-powered complementary metal-oxide-semiconductor (CMOS) clock circuit to demonstrate wireless operation. As a proof of concept, we use this circuit to output voltage pulses with various phase delays to demonstrate improved pumping efficiency using metachronal waves. These powerful results, demonstrated experimentally and confirmed using theoretical computations, illustrate a pathway towards fine-scale microfluidic manipulation, with applications from microfluidic pumping to microrobotic locomotion.
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38
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Liu Z, Li M, Dong X, Ren Z, Hu W, Sitti M. Creating three-dimensional magnetic functional microdevices via molding-integrated direct laser writing. Nat Commun 2022; 13:2016. [PMID: 35440590 PMCID: PMC9019016 DOI: 10.1038/s41467-022-29645-2] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/27/2021] [Accepted: 03/02/2022] [Indexed: 11/10/2022] Open
Abstract
Magnetically driven wireless miniature devices have become promising recently in healthcare, information technology, and many other fields. However, they lack advanced fabrication methods to go down to micrometer length scales with heterogeneous functional materials, complex three-dimensional (3D) geometries, and 3D programmable magnetization profiles. To fill this gap, we propose a molding-integrated direct laser writing-based microfabrication approach in this study and showcase its advanced enabling capabilities with various proof-of-concept functional microdevice prototypes. Unique motions and functionalities, such as metachronal coordinated motion, fluid mixing, function reprogramming, geometrical reconfiguring, multiple degrees-of-freedom rotation, and wireless stiffness tuning are exemplary demonstrations of the versatility of this fabrication method. Such facile fabrication strategy can be applied toward building next-generation smart microsystems in healthcare, robotics, metamaterials, microfluidics, and programmable matter.
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Affiliation(s)
- Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092, Zurich, Switzerland
| | - Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Stuttgart, Germany
| | - Xiaoguang Dong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Stuttgart, Germany.,Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37235, USA
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zurich, 8092, Zurich, Switzerland
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Stuttgart, Germany.
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, 70569, Stuttgart, Germany. .,Institute for Biomedical Engineering, ETH Zurich, 8092, Zurich, Switzerland. .,School of Medicine & College of Engineering, Koç University, 34450, Istanbul, Turkey.
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39
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Xia N, Jin B, Jin D, Yang Z, Pan C, Wang Q, Ji F, Iacovacci V, Majidi C, Ding Y, Zhang L. Decoupling and Reprogramming the Wiggling Motion of Midge Larvae Using a Soft Robotic Platform. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2109126. [PMID: 35196405 DOI: 10.1002/adma.202109126] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/11/2021] [Revised: 02/06/2022] [Indexed: 06/14/2023]
Abstract
The efficient motility of invertebrates helps them survive under evolutionary pressures. Reconstructing the locomotion of invertebrates and decoupling the influence of individual basic motion are crucial for understanding their underlying mechanisms, which, however, generally remain a challenge due to the complexity of locomotion gaits. Herein, a magnetic soft robot to reproduce midge larva's key natural swimming gaits is developed, and the coupling effect between body curling and rotation on motility is investigated. Through the authors' systematically decoupling studies using programmed magnetic field inputs, the soft robot (named LarvaBot) experiences various coupled gaits, including biomimetic side-to-side flexures, and unveils that the optimal rotation amplitude and the synchronization of curling and rotation greatly enhance its motility. The LarvaBot achieves fast locomotion and upstream capability at the moderate Reynolds number regime. The soft robotics-based platform provides new insight to decouple complex biological locomotion, and design programmed swimming gaits for the fast locomotion of soft-bodied swimmers.
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Affiliation(s)
- Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Bowen Jin
- Beijing Computational Science Research Center, Haidian District, Beijing, 100193, China
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Qianqian Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Fengtong Ji
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
| | - Veronica Iacovacci
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, 56025, Italy
| | - Carmel Majidi
- Soft Machines Lab, Carnegie Mellon University, Pittsburgh, PA, 15213, USA
| | - Yang Ding
- Beijing Computational Science Research Center, Haidian District, Beijing, 100193, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, 999077, China
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40
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Lee SH, Kang BS, Kwak MK. Magneto-Responsive Actuating Surfaces with Controlled Wettability and Optical Transmittance. ACS APPLIED MATERIALS & INTERFACES 2022; 14:14721-14728. [PMID: 35289610 DOI: 10.1021/acsami.1c24556] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
The wettability of surfaces can be manipulated using actuating micro/nanostructures, as in the manipulation of water droplets with magnetic forces. Controlling water droplets with magneto-responsive surfaces is limited to optical applications, however, because these surfaces are normally opaque. Herein, we introduce a magneto-responsive actuating surface that is capable of controlling not only the wettability but also the optical transmittance. The magneto-responsive actuating surface is fabricated using a composite of iron particles with polydimethylsiloxane (PDMS). Thanks to the elastic properties of PDMS, fabricated microstructures' bending is induced by applying magnetic force. Therefore, the static/dynamic water contact angle and the optical transmittance can be controlled. Furthermore, as a feasible application, a sliding angle control system that depends on the magnet location is implemented. On the basis of the interesting characteristics of not only wettability but also optical transmittance, this study is expected to be widely used in various fields such as optics, surface self-cleaning systems of solar cells, and smart windows.
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Affiliation(s)
- Sung Ho Lee
- Department of Electrical Electronics and Computer Science, University of Michigan, Ann Arbor, Michigan 48109, United States
| | - Bong Su Kang
- Department of Mechanical Engineering, Kyungpook National University, Daegu 41566, Republic of Korea
| | - Moon Kyu Kwak
- Department of Mechanical Engineering, Kyungpook National University, Daegu 41566, Republic of Korea
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41
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Li M, Tang Y, Soon RH, Dong B, Hu W, Sitti M. Miniature coiled artificial muscle for wireless soft medical devices. SCIENCE ADVANCES 2022; 8:eabm5616. [PMID: 35275717 PMCID: PMC8916729 DOI: 10.1126/sciadv.abm5616] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
Wireless small-scale soft-bodied devices are capable of precise operation inside confined internal spaces, enabling various minimally invasive medical applications. However, such potential is constrained by the small output force and low work capacity of the current miniature soft actuators. To address this challenge, we report a small-scale soft actuator that harnesses the synergetic interactions between the coiled artificial muscle and radio frequency-magnetic heating. This wirelessly controlled actuator exhibits a large output force (~3.1 N) and high work capacity (3.5 J/g). Combining this actuator with different mechanical designs, its tensile and torsional behaviors can be engineered into different functional devices, such as a suture device, a pair of scissors, a driller, and a clamper. In addition, by assuming a spatially varying magnetization profile, a multilinked coiled muscle can have both magnetic field-induced bending and high contractile force. Such an approach could be used in various future untethered miniature medical devices.
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Affiliation(s)
- Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute of Functional Nano & Soft Materials (FUNSOM), Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Soochow University, Suzhou, Jiangsu 215123, P. R. China
| | - Yichao Tang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Tongji University, Shanghai 201804, P. R. China
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Tongji University, Shanghai 201804, P. R. China
| | - Bin Dong
- Institute of Functional Nano & Soft Materials (FUNSOM), Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Soochow University, Suzhou, Jiangsu 215123, P. R. China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Corresponding author. (W.H.); (M.S.)
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
- Corresponding author. (W.H.); (M.S.)
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Abstract
In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.
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Affiliation(s)
- Yoonho Kim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xuanhe Zhao
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
- Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
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43
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Li M, Pal A, Aghakhani A, Pena-Francesch A, Sitti M. Soft actuators for real-world applications. NATURE REVIEWS. MATERIALS 2022; 7:235-249. [PMID: 35474944 PMCID: PMC7612659 DOI: 10.1038/s41578-021-00389-7] [Citation(s) in RCA: 153] [Impact Index Per Article: 76.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 09/21/2021] [Indexed: 05/22/2023]
Abstract
Inspired by physically adaptive, agile, reconfigurable and multifunctional soft-bodied animals and human muscles, soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, haptic devices and medical devices. However, the complex performance of biological systems cannot yet be fully replicated in synthetic designs. In this Review, we discuss new materials and structural designs for the engineering of soft actuators with physical intelligence and advanced properties, such as adaptability, multimodal locomotion, self-healing and multi-responsiveness. We examine how performance can be improved and multifunctionality implemented by using programmable soft materials, and highlight important real-world applications of soft actuators. Finally, we discuss the challenges and opportunities for next-generation soft actuators, including physical intelligence, adaptability, manufacturing scalability and reproducibility, extended lifetime and end-of-life strategies.
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Affiliation(s)
- Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey
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44
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Peshkov A, McGaffigan S, Quillen AC. Synchronized oscillations in swarms of nematode Turbatrix aceti. SOFT MATTER 2022; 18:1174-1182. [PMID: 35029257 DOI: 10.1039/d1sm01572a] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
There is a recent surge of interest in the behavior of active particles that can at the same time align their direction of movement and synchronize their oscillations, known as swarmalators. While theoretical and numerical models of such systems are now abundant, no real-life examples have been shown to date. We present an experimental investigation of the collective motion of the nematode Turbatrix aceti that self-propel by body undulation. We discover that these nematodes can synchronize their body oscillations, forming striking traveling metachronal waves, which produces strong fluid flows. We uncover that the location and strength of this collective state can be controlled through the shape of the confining structure; in our case the contact angle of a droplet. This opens a way for producing controlled work such as on-demand flows or displacement of objects. We illustrate this by showing that the force generated by this state is sufficient to change the physics of evaporation of fluid droplets, by counteracting the surface-tension force, which allow us to estimate its strength. The relatively large size and ease of culture make Turbatrix aceti a promising model organism for experimental investigation of swarming and oscillating active matter capable of producing controllable work.
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Affiliation(s)
- Anton Peshkov
- Department of Physics and Astronomy, University of Rochester, Rochester, NY 14627, USA.
| | - Sonia McGaffigan
- Department of Physics and Astronomy, University of Rochester, Rochester, NY 14627, USA.
| | - Alice C Quillen
- Department of Physics and Astronomy, University of Rochester, Rochester, NY 14627, USA.
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45
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Milana E, Van Raemdonck B, Casla AS, De Volder M, Reynaerts D, Gorissen B. Morphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators. Front Robot AI 2022; 8:788067. [PMID: 35047567 PMCID: PMC8762291 DOI: 10.3389/frobt.2021.788067] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/01/2021] [Accepted: 11/29/2021] [Indexed: 11/24/2022] Open
Abstract
Soft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named “morphological control”, and it can be used to decrease the number of components (tubing, valves and regulators) required by the controller. In this paper, we demonstrate morphological control of bio-inspired asymmetric motions for systems of soft bending actuators that are interconnected with passive flow restrictors. We introduce bending actuators consisting out of a cylindrical latex balloon in a flexible PVC shell. By tuning the radii of the tube and the shell, we obtain a nonlinear relation between internal pressure and volume in the actuator with a peak and valley in pressure. Because of the nonlinear characteristics of the actuators, they can be assembled in a system with a single pressure input where they bend in a discrete, preprogrammed sequence. We design and analyze two such systems inspired by the asymmetric movements of biological cilia. The first replicates the swept area of individual cilia, having a different forward and backward stroke, and the second generates a travelling wave across an array of cilia.
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Affiliation(s)
- Edoardo Milana
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Leuven, Belgium
| | - Bert Van Raemdonck
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Leuven, Belgium
| | - Andrea Serrano Casla
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Leuven, Belgium
| | - Michael De Volder
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Leuven, Belgium.,Department of Engineering, Institute for Manufacturing, University of Cambridge, Cambridge, United Kingdom
| | - Dominiek Reynaerts
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Leuven, Belgium
| | - Benjamin Gorissen
- Department of Mechanical Engineering, KU Leuven and Flanders Make, Leuven, Belgium
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46
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Zhang Y, Zhou A, Chen S, Lum GZ, Zhang X. A perspective on magnetic microfluidics: Towards an intelligent future. BIOMICROFLUIDICS 2022; 16:011301. [PMID: 35069962 PMCID: PMC8769766 DOI: 10.1063/5.0079464] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/21/2021] [Accepted: 01/02/2022] [Indexed: 05/09/2023]
Abstract
Magnetic microfluidics has been gradually recognized as an area of its own. Both conventional microfluidic platforms have incorporated magnetic actuation for microfluidic operation and microscale object manipulation. Nonetheless, there is still much room for improvement after decades of development. In this Perspective, we first provide a quick review of existing magnetic microfluidic platforms with a focus on the magnetic tools and actuation mechanisms. Next, we discuss several emerging technologies, including magnetic microrobots, additive manufacture, and artificial intelligence, and their potential application in the future development of magnetic microfluidics. We believe that these technologies can eventually inspire highly functional magnetic tools for microfluidic manipulation and coordinated microfluidic control at the system level, which eventually drives magnetic microfluidics into an intelligent system for automated experimentation.
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Affiliation(s)
- Yi Zhang
- School of Electronic Science and Engineering, University of Electronic Science and Technology of China Chengdu, China
- Authors to whom correspondence should be addressed:; ;
and
| | - Aiwu Zhou
- Singapore Centre for 3D Printing, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Songlin Chen
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Guo Zhan Lum
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
- Authors to whom correspondence should be addressed:; ;
and
| | - Xiaosheng Zhang
- School of Electronic Science and Engineering, University of Electronic Science and Technology of China Chengdu, China
- Authors to whom correspondence should be addressed:; ;
and
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47
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Guido I. Spontaneously Beating Biomimetic Structures. Methods Mol Biol 2022; 2430:205-218. [PMID: 35476334 DOI: 10.1007/978-1-0716-1983-4_13] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
The propulsion of motile cells such as sperms and the transport of fluids on cell surfaces rely on oscillatory bending of cellular appendages that can perform periodic oscillations. These structures are flagella and cilia. Their beating is driven by the interaction between microtubules and motor proteins and the mechanism regulating this is still a puzzle. One approach to address this issue is the assembling of synthetic minimal systems by using natural building blocks, e.g., microtubules and kinesin motors, which undergo persistent oscillation in the presence of ATP. An example of an autonomous molecular system is reported in this chapter. It dynamically self-organizes through its elasticity and the interaction with the environment represented by the active forces exerted by motor proteins. The resulting motion resembles the beating of sperm flagella. Assembling such minimal systems able to mimic the behavior of complex biological structures might help to unveil basic mechanisms underlying the beating of natural cilia and flagella.
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Affiliation(s)
- Isabella Guido
- Max Planck Institute for Dynamics and Self-Organization, Göttingen, Germany.
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48
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Qi J, Chen Z, Jiang P, Hu W, Wang Y, Zhao Z, Cao X, Zhang S, Tao R, Li Y, Fang D. Recent Progress in Active Mechanical Metamaterials and Construction Principles. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2102662. [PMID: 34716676 PMCID: PMC8728820 DOI: 10.1002/advs.202102662] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2021] [Revised: 08/31/2021] [Indexed: 05/03/2023]
Abstract
Active mechanical metamaterials (AMMs) (or smart mechanical metamaterials) that combine the configurations of mechanical metamaterials and the active control of stimuli-responsive materials have been widely investigated in recent decades. The elaborate artificial microstructures of mechanical metamaterials and the stimulus response characteristics of smart materials both contribute to AMMs, making them achieve excellent properties beyond the conventional metamaterials. The micro and macro structures of the AMMs are designed based on structural construction principles such as, phase transition, strain mismatch, and mechanical instability. Considering the controllability and efficiency of the stimuli-responsive materials, physical fields such as, the temperature, chemicals, light, electric current, magnetic field, and pressure have been adopted as the external stimuli in practice. In this paper, the frontier works and the latest progress in AMMs from the aspects of the mechanics and materials are reviewed. The functions and engineering applications of the AMMs are also discussed. Finally, existing issues and future perspectives in this field are briefly described. This review is expected to provide the basis and inspiration for the follow-up research on AMMs.
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Affiliation(s)
- Jixiang Qi
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zihao Chen
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Peng Jiang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Wenxia Hu
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Yonghuan Wang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zeang Zhao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Xiaofei Cao
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Shushan Zhang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ran Tao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ying Li
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Daining Fang
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
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Shape-programmable artificial cilia for microfluidics. iScience 2021; 24:103367. [PMID: 34825146 PMCID: PMC8605101 DOI: 10.1016/j.isci.2021.103367] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2021] [Revised: 06/13/2021] [Accepted: 10/26/2021] [Indexed: 01/21/2023] Open
Abstract
The artificial ciliary motion has been known not to be hydrodynamically optimal, limiting their associated applications in the microscale flow domain. One of the major hurdles of contemporary artificial cilia is its structural rigidity, which restricts their flexibility. To address this issue, this work proposed a shape-programmable artificial cilia design with distinctive polydimethylsiloxane (PDMS) and magnetic segments distributed throughout the structure, which provided precise control for time-spatial modulation of the whole artificial cilia structure under external magnetic actuation. For the fabrication of the proposed multi-segment artificial cilia, a facile microfabrication process with stepwise mold blocking followed by the PDMS and magnetic composite casting was adopted. The hydrodynamic analysis further elucidated that the proposed artificial cilia beating induced significant flow disturbance within the flow field, and the associated application was demonstrated through an efficient mixing operation. Fabrication of artificial cilia was conducted through micromilling and casting methods. The weighted index was correlated to the bending angles of artificial cilia. Hydrodynamic analysis of artificial cilia was performed through the μPIV analysis. A significant improvement in mixing performance was achieved in few seconds.
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Dillinger C, Nama N, Ahmed D. Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish. Nat Commun 2021; 12:6455. [PMID: 34753910 PMCID: PMC8578555 DOI: 10.1038/s41467-021-26607-y] [Citation(s) in RCA: 45] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/30/2020] [Accepted: 10/01/2021] [Indexed: 01/03/2023] Open
Abstract
Cilia are short, hair-like appendages ubiquitous in various biological systems, which have evolved to manipulate and gather food in liquids at regimes where viscosity dominates inertia. Inspired by these natural systems, synthetic cilia have been developed and utilized in microfluidics and microrobotics to achieve functionalities such as propulsion, liquid pumping and mixing, and particle manipulation. Here, we demonstrate ultrasound-activated synthetic ciliary bands that mimic the natural arrangements of ciliary bands on the surface of starfish larva. Our system leverages nonlinear acoustics at microscales to drive bulk fluid motion via acoustically actuated small-amplitude oscillations of synthetic cilia. By arranging the planar ciliary bands angled towards (+) or away (-) from each other, we achieve bulk fluid motion akin to a flow source or sink. We further combine these flow characteristics with a physical principle to circumvent the scallop theorem and realize acoustic-based propulsion at microscales. Finally, inspired by the feeding mechanism of a starfish larva, we demonstrate an analogous microparticle trap by arranging + and - ciliary bands adjacent to each other.
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Affiliation(s)
- Cornel Dillinger
- grid.5801.c0000 0001 2156 2780Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland
| | - Nitesh Nama
- grid.24434.350000 0004 1937 0060Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE USA
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland.
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