Showing papers by "George M. Whitesides published in 2016"

An integrated design and fabrication strategy for entirely soft, autonomous robots

Abstract: An untethered, entirely soft robot is designed to operate autonomously by combining microfluidic logic and hydrogen peroxide as an on-board fuel supply. Soft robotics have so far necessarily included some 'hard' or metallic elements, in particular in the form of batteries or wiring, to connect them to an external power source. Additionally, external wiring tethering them to a power source places limits on the autonomy of such robots. Now Jennifer Lewis and colleagues have combined a 3D-printed soft polymeric robot with microfluidic logic and hydrogen peroxide as an onboard fuel to produce an eight-armed robot — an 'octobot' — that actuates its arms, without the incorporation of any hard structures. The hydrogen peroxide decomposes in the presence of a platinum catalyst to produce oxygen and a volumetric expansion that fills bladders embedded within the arms of the octobot. The design of the fuel reservoirs, microfluidic channels and vents to release the gas means that two sets of arms actuate cyclically. Soft robots possess many attributes that are difficult, if not impossible, to achieve with conventional robots composed of rigid materials1,2. Yet, despite recent advances, soft robots must still be tethered to hard robotic control systems and power sources3,4,5,6,7,8,9,10. New strategies for creating completely soft robots, including soft analogues of these crucial components, are needed to realize their full potential. Here we report the untethered operation of a robot composed solely of soft materials. The robot is controlled with microfluidic logic11 that autonomously regulates fluid flow and, hence, catalytic decomposition of an on-board monopropellant fuel supply. Gas generated from the fuel decomposition inflates fluidic networks downstream of the reaction sites, resulting in actuation12. The body and microfluidic logic of the robot are fabricated using moulding and soft lithography, respectively, and the pneumatic actuator networks, on-board fuel reservoirs and catalytic reaction chambers needed for movement are patterned within the body via a multi-material, embedded 3D printing technique13,14. The fluidic and elastomeric architectures required for function span several orders of magnitude from the microscale to the macroscale. Our integrated design and rapid fabrication approach enables the programmable assembly of multiple materials within this architecture, laying the foundation for completely soft, autonomous robots.

Paper-Based Electrical Respiration Sensor.

Abstract: Current methods of monitoring breathing require cumbersome, inconvenient, and often expensive devices; this requirement sets practical limitations on the frequency and duration of measurements. This article describes a paper-based moisture sensor that uses the hygroscopic character of paper (i.e. the ability of paper to adsorb water reversibly from the surrounding environment) to measure patterns and rate of respiration by converting the changes in humidity caused by cycles of inhalation and exhalation to electrical signals. The changing level of humidity that occurs in a cycle causes a corresponding change in the ionic conductivity of the sensor, which can be measured electrically. By combining the paper sensor with conventional electronics, data concerning respiration can be transmitted to a nearby smartphone or tablet computer for post-processing, and subsequently to a cloud server. This means of sensing provides a new, practical method of recording and analyzing patterns of breathing.

A three-dimensional actuated origami-inspired transformable metamaterial with multiple degrees of freedom

Abstract: Reconfigurable devices, whose shape can be drastically altered, are central to expandable shelters, deployable space structures, reversible encapsulation systems and medical tools and robots. All these applications require structures whose shape can be actively controlled, both for deployment and to conform to the surrounding environment. While most current reconfigurable designs are application specific, here we present a mechanical metamaterial with tunable shape, volume and stiffness. Our approach exploits a simple modular origami-like design consisting of rigid faces and hinges, which are connected to form a periodic structure consisting of extruded cubes. We show both analytically and experimentally that the transformable metamaterial has three degrees of freedom, which can be actively deformed into numerous specific shapes through embedded actuation. The proposed metamaterial can be used to realize transformable structures with arbitrary architectures, highlighting a robust strategy for the design of reconfigurable devices over a wide range of length scales.

Buckling Pneumatic Linear Actuators Inspired by Muscle

Abstract: Dr. D. Yang, Dr. M. S. Verma, Dr. J.-H. So, Prof. B. Mosadegh, Prof. C. Keplinger, B. Lee, F. Khashai, E. Lossner, Prof. G. M. Whitesides Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street , Cambridge , MA 02138 , USA E-mail: gwhitesides@gmwgroup.harvard.edu Dr. D. Yang, Prof. Z. Suo School of Engineering and Applied Sciences Harvard University 29 Oxford Street , Cambridge , MA 02138 , USA Prof. B. Mosadegh, Prof. G. M. Whitesides Wyss Institute for Biologically Inspired Engineering Harvard University 60 Oxford Street , Cambridge , MA 02138 , USA Prof. Z. Suo, Prof. G. M. Whitesides Kavli Institute for Bionano Science & Technology Harvard University 29 Oxford Street , Cambridge , MA 02138 , USA

Autocatalytic, bistable, oscillatory networks of biologically relevant organic reactions

Abstract: A few-component network of biologically relevant, organic reactions displays bistability and oscillations, without an enzymatic catalyst. Dissipative chemical reaction networks are systems that operate away from equilibrium and exhibit features such as continuous regeneration of components and autonomous regulation. The biological cell is one such out-of-equilibrium chemical network. Until now it has not been possible to recreate this type of dynamic behavior using simple organic molecules relevant to prebiotic Earth. Now, George Whitesides and colleagues demonstrate a few-component system of interacting organic species that, combined into a reaction network, displays autocatalytic and oscillatory features. All of the organic components are relatively simple and do not require enzymatic catalysis to react. Networks of organic chemical reactions are important in life and probably played a central part in its origin1,2,3. Network dynamics regulate cell division4,5,6, circadian rhythms7, nerve impulses8 and chemotaxis9, and guide the development of organisms10. Although out-of-equilibrium networks of chemical reactions have the potential to display emergent network dynamics11 such as spontaneous pattern formation, bistability and periodic oscillations12,13,14, the principles that enable networks of organic reactions to develop complex behaviours are incompletely understood. Here we describe a network of biologically relevant organic reactions (amide formation, thiolate–thioester exchange, thiolate–disulfide interchange and conjugate addition) that displays bistability and oscillations in the concentrations of organic thiols and amides. Oscillations arise from the interaction between three subcomponents of the network: an autocatalytic cycle that generates thiols and amides from thioesters and dialkyl disulfides; a trigger that controls autocatalytic growth; and inhibitory processes that remove activating thiol species that are produced during the autocatalytic cycle. In contrast to previous studies that have demonstrated oscillations and bistability using highly evolved biomolecules (enzymes15 and DNA16,17) or inorganic molecules of questionable biochemical relevance (for example, those used in Belousov–Zhabotinskii-type reactions)18,19, the organic molecules we use are relevant to metabolism and similar to those that might have existed on the early Earth. By using small organic molecules to build a network of organic reactions with autocatalytic, bistable and oscillatory behaviour, we identify principles that explain the ways in which dynamic networks relevant to life could have developed. Modifications of this network will clarify the influence of molecular structure on the dynamics of reaction networks, and may enable the design of biomimetic networks and of synthetic self-regulating and evolving chemical systems.

Integrating Electronics and Microfluidics on Paper.

Abstract: Paper microfluidics and printed electronics have developed independently, and are incompatible in many aspects. Monolithic integration of microfluidics and electronics on paper is demonstrated. This integration makes it possible to print 2D and 3D fluidic, electrofluidic, and electrical components on paper, and to fabricate devices using them.

Electrically Activated Paper Actuators

Abstract: This paper describes the design and fabrication of electrically controlled paper actuators that operate based on the dimensional changes that occur in paper when the moisture absorbed on the surface of the cellulose fi bers changes. These actuators are called “Hygroexpansive Electrothermal Paper Actuators” (HEPAs). The actuators are made from paper, conducting polymer, and adhesive tape. They are lightweight, inexpensive, and can be fabricated using simple printing techniques. The central element of the HEPAs is a porous conducting path (used to provide electrothermal heating) that changes the moisture content of the paper and causes actuation. This conducting path is made by embedding a conducting polymer (PEDOT:PSS) within the paper, and thus making a paper/polymer composite that retains the porosity and hydrophilicity of paper. Different types of HEPAs (straight, precurved, and creased) achieved different types of motions (e.g., bending motion, accordion type motion). A theoretical model for their behavior is proposed. These actuators have been used for the manipulation of liquids and for the fabrication of an optical shutter.

A Paper-Based "Pop-up" Electrochemical Device for Analysis of Beta-Hydroxybutyrate.

Abstract: This paper describes the design and fabrication of a "pop-up" electrochemical paper-based analytical device (pop-up-EPAD) to measure beta-hydroxybutyrate (BHB)-a biomarker for diabetic ketoacidosis-using a commercial combination BHB/glucometer. Pop-up-EPADs are inspired by pop-up greeting cards and children's books. They are made from a single sheet of paper folded into a three-dimensional (3D) device that changes shape, and fluidic and electrical connectivity, by simply folding and unfolding the structure. The reconfigurable 3D structure makes it possible to change the fluidic path and to control timing; it also provides mechanical support for the folded and unfolded structures that enables good registration and repeatability on folding. A pop-up-EPAD designed to detect BHB shows performance comparable to commercially available plastic test strips over the clinically relevant range of BHB in blood when used with a commercial glucometer that integrates the ability to measure glucose and BHB (combination BHB/glucometer). With simple modifications of the electrode and the design of the fluidic path, the pop-up-EPAD also detects BHB in buffer using a simple glucometer-a device that is more available than the combination BHB/glucometer. Strategies that use a "3D pop-up"-that is, large-scale changes in 3D structure and fluidic paths-by folding/unfolding add functionality to EPADs (e.g., controlled timing, fluidic handling and path programming, control over complex sequences of steps, and alterations in electrical connectivity) and should enable the development of new classes of paper-based diagnostic devices.

High-Sensitivity Measurement of Density by Magnetic Levitation

Abstract: This paper presents methods that use Magnetic Levitation (MagLev) to measure very small differences in density of solid diamagnetic objects suspended in a paramagnetic medium. Previous work in this field has shown that, while it is a convenient method, standard MagLev (i.e., where the direction of magnetization and gravitational force are parallel) cannot resolve differences in density mm) because (i) objects close in density prevent each other from reaching an equilibrium height due to hard contact and excluded volume, and (ii) using weaker magnets or reducing the magnetic susceptibility of the medium destabilizes the magnetic trap. The present work investigates the use of weak magnetic gradients parallel to the faces of the magnets as a means of increasing the sensitivity of MagLev without destabilization. Configuring the MagLev device in a rotated state (i.e., where the direction of magnetization and gravitational force are perpendicular) relative to the standard configuration enables simple measurements along the axes with the highest sensitivity to changes in density. Manipulating the distance of separation between the magnets or the lengths of the magnets (along the axis of measurement) enables the sensitivity to be tuned. These modifications enable an improvement in the resolution up to 100-fold over the standard configuration, and measurements with resolution down to 10(-6) g/cm(3). Three examples of characterizing the small differences in density among samples of materials having ostensibly indistinguishable densities-Nylon spheres, PMMA spheres, and drug spheres-demonstrate the applicability of rotated Maglev to measuring the density of small (0.1-1 mm) objects with high sensitivity. This capability will be useful in materials science, separations, and quality control of manufactured objects.

Electroanalytical devices with pins and thread

Abstract: An electroanalytical device includes a pin set comprising at least two conductive pins for use as working and counter electrodes, wherein the first and second pins are comprised of a head, a shaft and a piercing tip; and a hydrophobic or omniphobic paper substrate, wherein the substrate is shaped to provide at least one recess for holding a liquid, wherein the shafts of two conductive pins traverse the paper substrate to anchor the heads of the two conductive pins on the recess surface. An electroanalytical device can also include at least two conductive pins for use as working and counter electrodes, a thread, serially wound around the shafts of each of the two conductive pins; and a base into which the piercing tip of each of the pins is secured.

Fibroblasts Enhance Migration of Human Lung Cancer Cells in a Paper-Based Coculture System.

Abstract: A multilayered paper-based platform is used to investigate the interactions between human lung tumor cells and fibroblasts that are isolated from primary patient tumor samples.

Tilted Magnetic Levitation Enables Measurement of the Complete Range of Densities of Materials with Low Magnetic Permeability

Abstract: Magnetic levitation (MagLev) of diamagnetic or weakly paramagnetic materials suspended in a paramagnetic solution in a magnetic field gradient provides a simple method to measure the density of small samples of solids or liquids. One major limitation of this method, thus far, has been an inability to measure or manipulate materials outside of a narrow range of densities (0.8 g/cm3 < ρ < 2.3 g/cm3) that are close in density to the suspending, aqueous medium. This paper explores a simple method—“tilted MagLev”—to increase the range of densities that can be levitated magnetically. Tilting the MagLev device relative to the gravitational vector enables the magnetic force to be decreased (relative to the magnetic force) along the axis of measurement. This approach enables many practical measurements over the entire range of densities observed in matter at ambient conditions—from air bubbles (ρ ≈ 0) to osmium and iridium (ρ ≈ 23 g/cm3). The ability to levitate, simultaneously, objects with a broad range of diffe...

Nerve growth factor stimulates axon outgrowth through negative regulation of growth cone actomyosin restraint of microtubule advance.

Abstract: Nerve growth factor (NGF) promotes growth, differentiation, and survival of sensory neurons in the mammalian nervous system. Little is known about how NGF elicits faster axon outgrowth or how growth cones integrate and transform signal input to motor output. Using cultured mouse dorsal root ganglion neurons, we found that myosin II (MII) is required for NGF to stimulate faster axon outgrowth. From experiments inducing loss or gain of function of MII, specific MII isoforms, and vinculin-dependent adhesion-cytoskeletal coupling, we determined that NGF causes decreased vinculin-dependent actomyosin restraint of microtubule advance. Inhibition of MII blocked NGF stimulation, indicating the central role of restraint in directed outgrowth. The restraint consists of myosin IIB- and IIA-dependent processes: retrograde actin network flow and transverse actin bundling, respectively. The processes differentially contribute on laminin-1 and fibronectin due to selective actin tethering to adhesions. On laminin-1, NGF induced greater vinculin-dependent adhesion-cytoskeletal coupling, which slowed retrograde actin network flow (i.e., it regulated the molecular clutch). On fibronectin, NGF caused inactivation of myosin IIA, which negatively regulated actin bundling. On both substrates, the result was the same: NGF-induced weakening of MII-dependent restraint led to dynamic microtubules entering the actin-rich periphery more frequently, giving rise to faster elongation.

Biomineralization Guided by Paper Templates

Abstract: This work demonstrates the fabrication of partially mineralized scaffolds fabricated in 3D shapes using paper by folding and by supporting deposition of calcium phosphate by osteoblasts cultured in these scaffolds. This process generates centimeter-scale free-standing structures composed of paper supporting regions of calcium phosphate deposited by osteoblasts. This work is the first demonstration that paper can be used as a scaffold to induce template-guided mineralization by osteoblasts. Because paper has a porous structure, it allows transport of O2 and nutrients across its entire thickness. Paper supports a uniform distribution of cells upon seeding in hydrogel matrices and allows growth, remodelling and proliferation of cells. Scaffolds made of paper make it possible to construct 3D tissue models easily by tuning material properties such as thickness, porosity and density of chemical functional groups. Paper offers a new approach to study mechanisms of biomineralization and perhaps ultimately new techniques to guide or accelerate the repair of bone.

Tunneling across SAMs Containing Oligophenyl Groups

Abstract: This paper reports rates of charge tunneling across self-assembled monolayers (SAMs) of compounds containing oligophenyl groups, supported on gold and silver, using Ga2O3/EGaIn as the top electrode. It compares the attenuation constant, β, and the pre-exponential parameter, J0, of the simplified Simmons equation across oligophenyl groups (R = Phn; n = 1, 2, 3) with three different anchoring groups (thiol, HSR; methanethiol, HSCH2R; and acetylene, HC≡CR) that attach R to the template-stripped gold or silver substrate. The results demonstrate that the structure of the molecular linker between the anchoring group (−S– or −C≡C−) and the oligophenyl moiety significantly influences the rate of charge transport. SAMs of SPhn and C≡CPhn on gold show similar values of β and log |J0| (β = 0.28 ± 0.03 A–1 and log |J0| = 2.7 ± 0.1 for Au/SPhn; β = 0.30 ± 0.02 A–1 and log |J0| = 3.0 ± 0.1 for Au/C≡CPhn). The introduction of a single intervening methylene (CH2) group between the anchoring sulfur atom and the aromatic u...

Exploiting non-equilibrium phase separation for self-assembly

Abstract: Demixing can occur in systems of two or more particle species that experience different driving forces, e.g., mixtures of self-propelled active particles or of oppositely charged colloids subject to an electric field. Here we show with macroscopic experiments and computer simulations that the forces underlying such non-equilibrium segregation can be used to control the self-assembly of particles that lack attractive interactions. We demonstrate that, depending on the direction, amplitude and frequency of a periodic external force acting on one particle species, the structures formed by a second, undriven species can range from compact clusters to elongated, string-like patterns.

Analytical Devices Based on Direct Synthesis of DNA on Paper

Abstract: This paper addresses a growing need in clinical diagnostics for parallel, multiplex analysis of biomarkers from small biological samples. It describes a new procedure for assembling arrays of ssDNA and proteins on paper. This method starts with the synthesis of DNA oligonucleotides covalently linked to paper and proceeds to assemble microzones of DNA-conjugated paper into arrays capable of simultaneously capturing DNA, DNA-conjugated protein antigens, and DNA-conjugated antibodies. The synthesis of ssDNA oligonucleotides on paper is convenient and effective with 32% of the oligonucleotides cleaved and eluted from the paper substrate being full-length by HPLC for a 32-mer. These ssDNA arrays can be used to detect fluorophore-linked DNA oligonucleotides in solution, and as the basis for DNA-directed assembly of arrays of DNA-conjugated capture antibodies on paper, detect protein antigens by sandwich ELISAs. Paper-anchored ssDNA arrays with different sequences can be used to assemble paper-based devices capa...

Fabrication of Nonperiodic Metasurfaces by Microlens Projection Lithography

Abstract: This paper describes a strategy that uses template-directed self-assembly of micrometer-scale microspheres to fabricate arrays of microlenses for projection photolithography of periodic, quasiperiodic, and aperiodic infrared metasurfaces. This method of “template-encoded microlens projection lithography” (TEMPL) enables rapid prototyping of planar, multiscale patterns of similarly shaped structures with critical dimensions down to ∼400 nm. Each of these structures is defined by local projection lithography with a single microsphere acting as a lens. This paper explores the use of TEMPL for the fabrication of a broad range of two-dimensional lattices with varying types of nonperiodic spatial distribution. The matching optical spectra of the fabricated and simulated metasurfaces confirm that TEMPL can produce structures that conform to expected optical behavior.

Diagnosis of iron deficiency anemia using density-based fractionation of red blood cells

Abstract: Iron deficiency anemia (IDA) is a nutritional disorder that impacts over one billion people worldwide; it may cause permanent cognitive impairment in children, fatigue in adults, and suboptimal outcomes in pregnancy. IDA can be diagnosed by detection of red blood cells (RBCs) that are characteristically small (microcytic) and deficient in hemoglobin (hypochromic), typically by examining the results of a complete blood count performed by a hematology analyzer. These instruments are expensive, not portable, and require trained personnel; they are, therefore, unavailable in many low-resource settings. This paper describes a low-cost and rapid method to diagnose IDA using aqueous multiphase systems (AMPS)—thermodynamically stable mixtures of biocompatible polymers and salt that spontaneously form discrete layers having sharp steps in density. AMPS are preloaded into a microhematocrit tube and used with a drop of blood from a fingerstick. After only two minutes in a low-cost centrifuge, the tests (n = 152) were read by eye with a sensitivity of 84% (72–93%) and a specificity of 78% (68–86%), corresponding to an area under the curve (AUC) of 0.89. The AMPS test outperforms diagnosis by hemoglobin alone (AUC = 0.73) and is comparable to methods used in clinics like reticulocyte hemoglobin concentration (AUC = 0.91). Standard machine learning tools were used to analyze images of the resulting tests captured by a standard desktop scanner to 1) slightly improve diagnosis of IDA—sensitivity of 90% (83–96%) and a specificity of 77% (64–87%), and 2) predict several important red blood cell parameters, such as mean corpuscular hemoglobin concentration. These results suggest that the use of AMPS combined with machine learning provides an approach to developing point-of-care hematology.

Coated and uncoated cellophane as materials for microplates and open-channel microfluidics devices

Abstract: This communication describes the use of uncoated cellophane (regenerated cellulose films) for the fabrication of microplates, and the use of coated cellophane for the fabrication of open-channel microfluidic devices. The microplates based on uncoated cellophane are particularly interesting for applications that require high transparency in the ultraviolet (UV) regime, and offer a low-cost alternative to expensive quartz-well plates. Uncoated cellophane is also resistant to damage by various solvents. The microfluidic devices, based on coated cellophane, can have features with dimensions as small as 500 μm, and complex, non-planar geometries. Electrodes can be printed on the surface of the coated cellophane, and embedded in microfluidic devices, to develop resistive heaters and electroanalytical devices for flow injection analysis, and continuous flow electrochemiluminescence (ECL) applications. These open-channel devices are appropriate for applications where optical transparency (especially in the visible regime), resistance to damage by water, biocompatibility and biodegradability are important. Cellophane microfluidic systems complement existing cellulose-based paper microfluidic systems, and provide an alternative to other materials used in microfluidics, such as synthetic polymers or glass. Cellulose films are plausible materials for uses in integrated microfluidic systems for diagnostics, analyses, cell-culture, and MEMS.

Physical‐Organic Chemistry: A Swiss Army Knife

Abstract: Physical-organic chemistry "i st he nam eg iven to as ubfield of chemistry that applie sp hysical-chemica lt ech- niques to problems in organic chemistry (especially prob- lems involvin gr eaction mechanisms) ." Physical-organic" is, however ,a lso as hort-hand term that describes as trategy for exploratory experimental research in aw ide rang eo f fields (organic, organometallic, and biological chemistry; surface and materials science ;c atalysis ;a nd others )i n which the key element is the correlation of systematic changes in molecular structure with changes in properties and function so fi nterest (reactivity ,m echanism, physical or biological characteristics). This perspective gives ap ersonal view of the historical development, and of possible future applications ,o ft he physical-organic strategy.

Acetylation of Surface Lysine Groups of a Protein Alters the Organization and Composition of Its Crystal Contacts.

Abstract: This paper uses crystals of bovine carbonic anhydrase (CA) and its acetylated variant to examine (i) how a large negative formal charge can be accommodated in protein-protein interfaces, (ii) why lysine residues are often excluded from them, and (iii) how changes in the surface charge of a protein can alter the structure and organization of protein-protein interfaces. It demonstrates that acetylation of lysine residues on the surface of CA increases the participation of polar residues (particularly acetylated lysine) in protein-protein interfaces, and decreases the participation of nonpolar residues in those interfaces. Negatively charged residues are accommodated in protein-protein interfaces via (i) hydrogen bonds or van der Waals interactions with polar residues or (ii) salt bridges with other charged residues. The participation of acetylated lysine in protein-protein interfaces suggests that unacetylated lysine tends to be excluded from interfaces because of its positive charge, and not because of a loss in conformational entropy. Results also indicate that crystal contacts in acetylated CA become less constrained geometrically and, as a result, more closely packed (i.e., more tightly clustered spatially) than those of native CA. This study demonstrates a physical-organic approach-and a well-defined model system-for studying the role of charges in protein-protein interactions.

Distributed pressurization and exhaust systems for soft robots

Abstract: A soft robot is described, including: a flexible and/or stretchable body; a common fluid pressunzation unit; and a plurality of fluid chambers each embedded in the flexible and/or stretchable body and capable of fluidic connection with the common fluid pressurization unit through a pressurizing valve; wherein the pressurizing valve is capable of being activated to allow the pressurized fluid to flow from the common fluid pressurization unit into the fluid chamber to result in actuation. Methods of using the soft robot are also described.

Biomineralization on paper scaffolds

Abstract: Bone-mimetic microstructures are formed within the paper scaffolds. Centimeter scale paper origami scaffolds are seeded with osteoblasts and cultured to induce formation of mineral deposits. The paper-based platform is a promising system to study mechanisms of biomineralization, repair mineralized tissues, understand healing and regeneration of bone, develop therapeutic approaches when mineralization is impaired, and understand the fundamental processes in biomineralization events.

Flexible thin robotic actuators

Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.