Variable sensitivity multimaterial robotic e-skin combining electronic and ionic conductivity using electrical impedance tomography

Electronic skins (e-skins) aim to replicate the capabilities of human skin by integrating electronic components and advanced materials into a flexible, thin, and stretchable substrate. Electrical impedance tomography (EIT) has recently been adopted in the area of e-skin thanks to its robustness and simplicity of fabrication compared to previous methods. However, the most common EIT configurations have limitations in terms of low sensitivities in areas far from the electrodes. Here we combine two piezoresistive materials with different conductivities and charge carriers, creating anisotropy in the sensitive part of the e-skin. The bottom layer consists of an ionically conducting hydrogel, while the top layer is a self-healing composite that conducts electrons through a percolating carbon black network. By changing the pattern of the top layer, the resulting distribution of currents in the e-skin can be tuned to locally adapt the sensitivity. This approach can be used to biomimetically adjust the sensitivities of different regions of the skin. It was demonstrated how the sensitivity increased by 500% and the localization error reduced by 40% compared to the homogeneous case, eliminating the lower sensitivity regions. This principle enables integrating the various sensing capabilities of our skins into complex 3D geometries. In addition, both layers of the developed e-skin have self-healing capabilities, showing no statistically significant difference in localization performance before the damage and after healing. The self-healing bilayer e-skin could recover full sensing capabilities after healing of severe damage.

Fast Self-Healing at Room Temperature in Diels-Alder Elastomers

Despite being primarily categorized as non-autonomous self-healing polymers, we demonstrate the ability of Diels-Alder polymers to heal macroscopic damages at room temperature, resulting in complete restoration of their mechanical properties within a few hours. Moreover, we observe immediate partial recovery, occurring mere minutes after reuniting the fractured surfaces. This fast room-temperature healing is accomplished by employing an off-stoichiometric maleimide-to-furan ratio in the polymer network. Through an extensive investigation of seven Diels-Alder polymers, the influence of crosslink density on self-healing, thermal, and (thermo-)mechanical performance was thoroughly examined. Crosslink density variations were achieved by adjusting the molecular weight of the monomers or utilizing the off-stoichiometric maleimide-to-furan ratio. Quasistatic tensile testing, dynamic mechanical analysis, dynamic rheometry, differential scanning calorimetry, and thermogravimetric analysis were employed to evaluate the individual effects of these parameters on material performance. While lowering the crosslink density in the polymer network via decreasing the off-stoichiometric ratio demonstrated the greatest acceleration of healing, it also led to a slight decrease in (dynamic) mechanical performance. On the other hand, reducing crosslink density using longer monomers resulted in faster healing, albeit to a lesser extent, while maintaining the (dynamic) mechanical performance.

Assisted damage closure and healing in soft robots by shape memory alloy wires

Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuator made out of a castor oil-based self-healing polymer, with the incorporated ability to recover from large incisions via shape memory assisted healing. The integrated SMA wires serve three major purposes; (i) Large incisions are closed by contraction of the current-activated SMA wires that are integrated into the chamber. These pull the fracture surfaces into contact, enabling the healing. (ii) The heat generated during the activation of the SMA wires is synergistically exploited for accelerating the healing. (iii) Lastly, during pneumatic actuation, the wires constrain radial expansion and one-side longitudinal extension of the soft chamber, effectuating the desired actuator bending motion. This novel approach of healing is studied via mechanical and ultrasound tests on the specimen level, as well as via bending characterization of the pneumatic robot in multiple damage healing cycles. This technology allows soft robots to become more independent in terms of their self-healing capabilities from human intervention.

An Interdisciplinary Tutorial: A Self-Healing Soft Finger with Embedded Sensor

In the field of soft robotics, knowledge of material science is becoming more and more important. However, many researchers have a background in only one of both domains. To aid the understanding of the other domain, this tutorial describes the complete process from polymer synthesis over fabrication to testing of a soft finger. Enough background is provided during the tutorial such that researchers from both fields can understand and sharpen their knowledge. Self-healing polymers are used in this tutorial, showing that these polymers that were once a specialty, have become accessible for broader use. The use of self-healing polymers allows soft robots to recover from fatal damage, as shown in this tutorial, which increases their lifespan significantly.

Processing of Self-Healing Polymers for Soft Robotics

Soft robots are, due to their softness, inherently safe and adapt well to unstructured environments. However, they are prone to various damage types. Self-healing polymers address this vulnerability. Self-healing soft robots can recover completely from macroscopic damage, extending their lifetime. For developing healable soft robots, various formative and additive manufacturing methods have been exploited to shape self-healing polymers into complex structures. Additionally, several novel manufacturing techniques, noted as (re)assembly binding techniques that are specific to self-healing polymers, have been created. Herein, the wide variety of processing techniques of self-healing polymers for robotics available in the literature is reviewed, and limitations and opportunities discussed thoroughly. Based on defined requirements for soft robots, these techniques are critically compared and validated. A strong focus is drawn to the reversible covalent and (physico)chemical cross-links present in the self-healing polymers that do not only endow healability to the resulting soft robotic components, but are also beneficial in many manufacturing techniques. They solve current obstacles in soft robots, including the formation of robust multi-material parts, recyclability, and stress relaxation. This review bridges two promising research fields, and guides the reader toward selecting a suitable processing method based on a self-healing polymer and the intended soft robotics application.

Substituent effect on the thermophysical properties and thermal dissociation behaviour of 9-substituted anthracene derivatives

The chemical structure and location of substituents on anthracene derivatives influence the electron balance of the aromatic system, thus determining the wavelengths at which light is absorbed, which results in the photochemically induced dimerization or monomerization. Here, the thermal dissociation kinetics of 7 photodimers of 9-substituted anthracene derivatives are studied using a combination of spectroscopic and calorimetric techniques in the condensed state and compared to scarce literature data on thermal dissociation of other anthracene derivatives. The length and chemical structure of the substituent chains have a clear impact on the melting temperatures of the anthracene derivatives and corresponding photodimers. The crystallinity of the photodimers and monomers in turn influences the thermal dissociation kinetics. The thermal dissociation behaviour and previously published photochemistry data are related to the electronic effects of the substituents by means of the Hammett parameters. Stronger electron-withdrawing effects result in larger red shifts of the maximum wavelength λmax for the photodimerization of the anthracene derivatives. It is also shown that for the studied substitutions on the 9-position of anthracene, the higher the magnitude of the electronic effect - both electron-donating and electron-withdrawing - the faster the thermal dissociation kinetics and thus the lower the thermal stability. The strong electronic effects of the substituents on the thermal and photochemical reactivity of the anthracene derivatives and their photodimers allow tuning of the thermal or photochemical responsiveness, e.g. for polymer networks.

Thermal dissociation of anthracene photodimers in the condensed state: kinetic evaluation and complex phase behaviour

Thermally and photochemically reversible functional groups, such as photodimers of anthracene derivatives, offer interesting stimuli-responsive behaviour. To evaluate their potential for application in reversible polymer networks, accurate kinetic parameters and knowledge of their thermophysical behaviour are required. Accurate kinetic studies of the thermal dissociation of the photodimers in the condensed state, thus without the influence of solvents on their reactivity, is still lacking. A methodology was set up to accurately evaluate the chemical reaction kinetics and complex phase behaviour during the thermal dissociation of photodimers into their corresponding monomers. Temperature-controlled time-resolved FTIR spectroscopy was used to determine the reaction progress, while non-isothermal DSC measurements were used to study the thermophysical changes, resulting from the thermal dissociation reaction. The thermal dissociation behaviour in the condensed state is more challenging than in the solution state due to the crystallinity of the dimers, stabilizing the dimers and thus slowing down the initial dissociation rates. Distinctly different sets of kinetic parameters were found for the dissociation from the molten and the crystalline state. For experiments performed below the melting temperature of the photodimer, the reaction rate changes abruptly as the dimer is partly dissociated and partly dissolved into the formed monomer. This methodology provides an accurate assessment of the reaction kinetics with detailed knowledge about the complex phase behaviour of the mixture of the anthracene photodimer and monomer during thermal dissociation.

Additive Manufacturing for Self-Healing Soft Robots

The field of self-healing soft robots was initiated a few years ago. A healing ability can be integrated in soft robots by manufacturing their soft membranes out of synthetic self-healing polymers, more specifically elastomeric Diels-Alder (DA) networks. As such they can recover completely from macroscopic damage, including scratches, cuts, and ruptures. Before this research, these robots were manufactured using a technique named "shaping-through-folding-and-self-healing." This technique requires extensive manual labor, is relatively slow, and does not allow for complex shapes. In this article, an additive manufacturing methodology, fused filament fabrication, is developed for the thermoreversible DA polymers, and the approach is validated on a soft robotic gripper. The reversibility of their network permits manufacturing these flexible self-healing polymers through reactive printing into the complex shapes required in soft robotics. The degree of freedom in the design of soft robotics that this new manufacturing technique offers is illustrated through the construction of adaptive DHAS gripper fingers, based on the design by FESTO. Being constructed out of self-healing soft flexible polymer, the fingers can recover entirely from large cuts, tears, and punctures. This is highlighted through various damage-heal cycles.

UV-Curable Biobased Polyacrylates Based on a Multifunctional Monomer Derived from Furfural

The controlled polymerization of a new biobased monomer, 4-oxocyclopent-2-en-1-yl acrylate (4CPA), was established via reversible addition-fragmentation chain transfer (RAFT) (co)polymerization to yield polymers bearing pendent cyclopentenone units. 4CPA contains two reactive functionalities, namely, a vinyl group and an internal double bond, and is an unsymmetrical monomer. Therefore, competition between the internal double bond and the vinyl group eventually leads to gel formation. With RAFT polymerization, when aiming for a degree of polymerization (DP) of 100, maximum 4CPA conversions of the vinyl group between 19.0 and 45.2% were obtained without gel formation or extensive broadening of the dispersity. When the same conditions were applied in the copolymerization of 4CPA with lauryl acrylate (LA), methyl acrylate (MA), and isobornyl acrylate, 4CPA conversions of the vinyl group between 63 and 95% were reached. The additional functionality of 4CPA in copolymers was demonstrated by model studies with 4-oxocyclopent-2-en-1-yl acetate (1), which readily dimerized under UV light via [2 + 2] photocyclodimerization. First-principles quantum mechanical simulations supported the experimental observations made in NMR. Based on the calculated energetics and chemical shifts, a mixture of head-to-head and head-to-tail dimers of (1) were identified. Using the dimerization mechanism, solvent-cast LA and MA copolymers containing 30 mol % 4CPA were cross-linked under UV light to obtain thin films. The cross-linked films were characterized by dynamic scanning calorimetry, dynamic mechanical analysis, IR, and swelling experiments. This is the first case where 4CPA is described as a monomer for functional biobased polymers that can undergo additional UV curing via photodimerization.

The influence of stereochemistry on the reactivity of the Diels–Alder cycloaddition and the implications for reversible network polymerization

The differences in reactivity and thermal stability of the stereoisomers define the thermal properties and responsiveness of the reversible polymer network.

Aromatic sulfonation with sulfur trioxide: mechanism and kinetic model

Electrophilic aromatic sulfonation of benzene with sulfur trioxide is studied with ab initio molecular dynamics simulations in gas phase, and in explicit noncomplexing (CCl3F) and complexing (CH3NO2) solvent models. We investigate different possible reaction pathways, the number of SO3 molecules participating in the reaction, and the influence of the solvent. Our simulations confirm the existence of a low-energy concerted pathway with formation of a cyclic transition state with two SO3 molecules. Based on the simulation results, we propose a sequence of elementary reaction steps and a kinetic model compatible with experimental data. Furthermore, a new alternative reaction pathway is proposed in complexing solvent, involving two SO3 and one CH3NO2.

Seed-Mediated Hot-Injection Synthesis of Tiny Ag Nanocrystals on Nanoscale Solid Supports and Reaction Mechanism

Controlling the size and shape of noble Ag nanocrystals (NCs) is of great interest because of their unique size- and shape-dependent properties, especially below 20 nm, and because of interesting applications in drug delivery, sensing, and catalysis. However, the high surface energy and tendency of these tiny NCs to aggregate deteriorates their unique properties and limits their applications. To avoid the aggregation of Ag NCs and improve their performance, we report a seed-mediated hot injection approach to synthesize highly dispersed tiny Ag NCs on a nanosized solid CaCO3 support. This simple, low-cost, and effective chemical approach allows for synthesizing highly uniform Ag NCs (∼10 nm) on the surface of presynthesized CaCO3 single NCs (∼52 nm) without any aggregation of the Ag NCs. Viscose fibers were coated with the Ag@CaCO3 composite nanoparticles (NPs) produced, as well as with ∼126 nm Ag NPs for reference. The Ag@CaCO3 composite NPs show excellent UV protection and antibacterial activity against Escherichia coli. In addition, they give a satin sheen gold to a dark gold color to the viscose fibers, while the Ag NPs (∼126 nm) result in a silver color. The proposed synthesis approach is highly versatile and applicable for many other noble metals, like Au or Pt.

Development of a self-healing soft pneumatic actuator: a first concept

Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure safe interaction in unstructured, unknown environments. Due to their intrinsic softness, these actuators have the ability to resist large mechanical impacts. However, the soft materials used in these structures are in general susceptible to damage caused by sharp objects found in the unstructured environments. This paper proposes to integrate a self-healing (SH-) mechanism in SPAs, such that cuts, tears and perforations in the actuator can be self-healed. Diels-Alder (DA-) polymers, covalent polymer network systems based on the thermoreversible DA-reaction, were selected and their mechanical, as well as SH-properties, are described. To evaluate the feasibility of developing an SPA constructed out of SH-material, a single cell prototype, a SH-soft pneumatic cell (SH-SPC), was constructed entirely out of DA-polymers. Exploiting the SH-property of the DA-polymers, a completely new shaping process is presented in this paper, referred to as 'shaping through folding and self-healing'. 3D polygon structures, like the cubic SH-SPC, can be constructed by folding SH-polymer sheet. The sides of the structures can be sealed and made airtight using a SH-procedure at relatively low temperatures (<90 °C). Both the (thermo) mechanical and SH-properties of the SH-SPC prototype were experimentally validated and showed excellent performances. Macroscopic incisions in the prototype were completely healed using a SH-procedure (<70 °C). Starting from this single-cell prototype, it is straight-forward to develop a multi-cell prototype, the first SPA ever built completely out of SH-polymers.

Evaluation of the Yasuda parameter for the atmospheric plasma deposition of allyl methacrylate

Plasma density influences the chemistry and the morphology of deposited plasma polymers even under the same energy to monomer ratio.

Quantitative analysis of polymer mixtures in solution by pulsed field-gradient spin echo NMR spectroscopy

Pulsed Field-Gradient Spin Echo (PGSE) NMR, which associates to a spectral dimension the measure of diffusion coefficients, is a convenient technique for mixture analysis. Unfortunately, because of relaxation, the quantification of mixtures by PGSE NMR is far from straightforward for mixtures with strong spectral overlap. Antalek (J. Am. Chem. Soc. 128 (2006) 8402-8403) proposed a quantification strategy based on DECRA analysis and extrapolation to zero of the diffusion delay. More recently, Barrère et al. (J. Magn. Reson. 216 (2012) 201-208) presented a new strategy based also on DECRA and on the renormalization of the intensities using estimates of the T1 and T2 relaxation times. Here we report an alternative quantification approach in which the fractions are obtained by analyzing the PGSE attenuation profile with a general Stejskal-Tanner equation that explicitly includes the relaxation effects. The required values of T1 and T2 relaxation times are either independently measured with conventional sequences or determined, along with the fractions and the diffusion coefficients, from the simultaneous analysis of up to 6 PGSE data sets recorded with different diffusion delays. This method yields errors lower than 3% for the fractions, even for complete spectral overlap, as demonstrated on model binary and ternary mixtures of polystyrene in the case of a convection compensating double stimulated echo (DSTE) sequence.

Phase diagram of P3HT/PCBM blends and its implication for the stability of morphology

In this work, the phase diagram of poly(3-hexyl thiophene) (P3HT) and [6,6]-phenyl C61-butyric acid methyl ester (PCBM) blends is measured by means of standard and modulated temperature differential scanning calorimetry. Blends were made by solvent-casting from chlorobenzene, as blends cast from toluene or 1,2-dichlorobenzene prove to retain effects of phase segregation during casting, hindering the determination of the phase diagram. The film morphology of P3HT/PCBM blends cast from chlorobenzene results from a dual crystallization behavior, in which the crystallization of each component is hindered by the other component. A single glass transition is observed for all compositions. The glass transition temperature (Tg) increases with increasing concentration of PCBM: from 12.1 degrees C for pure P3HT to 131.2 degrees C for pure PCBM. The observed Tg defines the operating window for the thermal annealing and explains the long-term instability of both the morphology and the photovoltaic performance of the P3HT/PCBM solar cells.

Phase Transformations in Aqueous Low Molar Mass Poly(vinyl methyl ether) Solutions: Theoretical Prediction and Experimental Validation of the Peculiar Solvent Melting Line, Bimodal LCST, and (Adjacent) UCST Miscibility Gaps

Supported by theoretical predictions based on the Wertheim Lattice Thermodynamic Perturbation Theory, modulated temperature differential scanning calorimetry (MTDSC) was used to further the knowledge of the phase behavior of aqueous poly(vinyl methyl ether) (PVME) solutions. Using a narrowly dispersed low molar mass PVME, we determined the following phase boundaries: (i) a bimodal lower critical solution temperature (LCST) miscibility gap at physiological temperature (around 37 degrees C), (ii) an upper critical solution temperature (UCST) two-phase area at sub-zero temperatures and high polymer concentration, and (iii) the melting line of the solvent across the entire concentration range, showing a peculiar stepwise decrease with composition. The location of the glass transition region and its influence on the crystallization/melting behavior of the solvent is discussed.