https://biodesign.seas.harvard.edu/files/biodesignlab/files/2015_-_polygerinos_-_soft_robotic_glove_for_combined_assistance_and_at-home_rehabilitation.pdf

Soft robotic glove for combined assistance and at-home rehabilitation

Superwettability is a special case of the wetting phenomenon among liquids, gases, and solids. The superhydrophobic/superhydrophilic effect discovered initially has undergone a century of development based on materials science and biomimetics. With the rapid development of research on anti-wetting materials, superoleophobic/superoleophilic surfaces have been fabricated to repel organic liquids besides water. Further studies of underwater superoleophobic/superoleophilic/superaerophobic/superaerophilic materials provide an alternative way to fabricate anti-wetting surfaces rather than lowering the surface energy. Owing to a series of efforts on the studying of extreme wettabilities, a mature superwettability system gradually evolved and has since become a vibrant area of active research, covering topics of superhydrophobicity/superhydrophilicity, superoleophobicity/superoleophilicity in gas or under liquid, superaerophobicity/superaerophilicity under liquid, and combinations of these states. The kinetic stu...

Bioinspired Interfaces with Superwettability: From Materials to Chemistry

https://www.cell.com/trends/biotechnology/pdf/S0167-7799(13)00030-9.pdf

Antibacterial surfaces: the quest for a new generation of biomaterials.

Superhydrophobic and superoleophobic surfaces have so far been made by roughening a hydrophobic material. However, no surfaces were able to repel extremely-low-energy liquids such as fluorinated solvents, which completely wet even the most hydrophobic material. We show how roughness alone, if made of a specific doubly reentrant structure that enables very low liquid-solid contact fraction, can render the surface of any material superrepellent. Starting from a completely wettable material (silica), we micro- and nanostructure its surface to make it superomniphobic and bounce off all available liquids, including perfluorohexane. The same superomniphobicity is further confirmed with identical surfaces of a metal and a polymer. Free of any hydrophobic coating, the superomniphobic silica surface also withstands temperatures over 1000°C and resists biofouling.

/pdf/turning-a-surface-superrepellent-even-to-completely-wetting-2dlo3glabg.pdf

Turning a surface superrepellent even to completely wetting liquids

Soft robotics enables the design of soft machines and devices at different scales. The compliance and mechanical properties of soft robots make them especially interesting for medical applications. Depending on the level of interaction with humans, different levels of biocompatibility and biomimicry are required for soft materials used in robots. In this Review, we investigate soft robots for biomedical applications, including soft tools for surgery, diagnosis and drug delivery, wearable and assistive devices, prostheses, artificial organs and tissue-mimicking active simulators for training and biomechanical studies. We highlight challenges regarding durability and reliability, and examine traditional and novel soft and active materials as well as different actuation strategies. Finally, we discuss future approaches and applications in the field. Soft robots have broad applications in medicine. In this Review, biomedical applications, including surgery, drug delivery, prostheses, wearable devices and artificial organs, are discussed in the context of materials, actuation strategies and challenges.

Biomedical applications of soft robotics

Bacteria primarily exist in robust, surface-associated communities known as biofilms, ubiquitous in both natural and anthropogenic environments. Mature biofilms resist a wide range of antimicrobial treatments and pose persistent pathogenic threats. Treatment of adherent biofilm is difficult, costly, and, in medical systems such as catheters or implants, frequently impossible. At the same time, strategies for biofilm prevention based on surface chemistry treatments or surface microstructure have been found to only transiently affect initial attachment. Here we report that Slippery Liquid-Infused Porous Surfaces (SLIPS) prevent 99.6% of Pseudomonas aeruginosa biofilm attachment over a 7-d period, as well as Staphylococcus aureus (97.2%) and Escherichia coli (96%), under both static and physiologically realistic flow conditions. In contrast, both polytetrafluoroethylene and a range of nanostructured superhydrophobic surfaces accumulate biofilm within hours. SLIPS show approximately 35 times the reduction of attached biofilm versus best case scenario, state-of-the-art PEGylated surface, and over a far longer timeframe. We screen for and exclude as a factor cytotoxicity of the SLIPS liquid, a fluorinated oil immobilized on a structured substrate. The inability of biofilm to firmly attach to the surface and its effective removal under mild flow conditions (about 1 cm/s) are a result of the unique, nonadhesive, “slippery” character of the smooth liquid interface, which does not degrade over the experimental timeframe. We show that SLIPS-based antibiofilm surfaces are stable in submerged, extreme pH, salinity, and UV environments. They are low-cost, passive, simple to manufacture, and can be formed on arbitrary surfaces. We anticipate that our findings will enable a broad range of antibiofilm solutions in the clinical, industrial, and consumer spaces.

https://www.pnas.org/content/pnas/109/33/13182.full.pdf

Liquid-infused structured surfaces with exceptional anti-biofouling performance

More than 130,000 people have strokes each year in the United States [1]. Of these victims, 76% are left with disabilities that cost the nation over $54 billion in lost work and medical fees. One prominent disability is upper extremity hemiplegia, which occurs among approximately 50% of stroke sufferers [2]. Robotic technology has the potential to provide an automated platform for controlled rehabilitation and assisted, task-oriented therapy. Several systems have been designed to assist in patient articulation of an impaired hand using rigid robotic components. While these products have been successful in articulating the pure bending motions of the four fingers, the limited capabilities of rigid technologies fail to reproduce the complicated motion path [5] of the thumb during opposition grasp (see Figure 1). This is the most important articulation for normal hand function and specifically for picking up everyday objects. To date, robotic systems for thumb rehabilitation have not been widely investigated [3] apart from some recent work [4] that used a multi-joint rigid robot.

/pdf/biologically-inspired-soft-robot-for-thumb-rehabilitation-4k1se829ke.pdf

Biologically Inspired Soft Robot for Thumb Rehabilitation

Quantitative gait analysis enables clinicians to evaluate patient mobility and to diagnose neuromuscular disorders. The clinical application of gait analysis is currently limited by the high operating costs of gait laboratories. The use of instrumented footwear that performs out of the lab measurements on subjects’ walking patterns is a promising way to overcome this limitation. Besides serving as assessment tools, such devices can also act as retraining tools that help regulate a patient's gait with acoustic or vibrotactile stimuli.

Validation of a Footwear-Based Gait Analysis System With Action-Related Feedback

This paper introduces the design of SoleSound, a wearable system designed to deliver ecological, audio-tactile, underfoot feedback. The device, which primarily targets clinical applications, uses an audio-tactile footstep synthesis engine informed by the readings of pressure and inertial sensors embedded in the footwear to integrate enhanced feedback modalities into the authors' previously developed instrumented footwear. The synthesis models currently implemented in the SoleSound simulate different ground surface interactions. Unlike similar devices, the system presented here is fully portable, and can therefore be utilized outside the laboratory setting. A first experimental evaluation indicates that the device can effectively modulate the perception of the ground surface during walking, thereby, inducing changes in the gait of healthy subjects.

SoleSound: Towards a novel portable system for audio-tactile underfoot feedback

A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Emily Marie Boggs

Papers

Liquid-infused structured surfaces with exceptional anti-biofouling performance

Biologically Inspired Soft Robot for Thumb Rehabilitation

Validation of a Footwear-Based Gait Analysis System With Action-Related Feedback

SoleSound: Towards a novel portable system for audio-tactile underfoot feedback

Multi-segment reinforced actuators and applications