Ferromagnetic soft continuum robots
28 Aug 2019-Vol. 4, Iss: 33
TL;DR: A submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface is presented.
Abstract: Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot's body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot's body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.
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TL;DR: In this paper, a review aimed at synergistically reporting: (i) general design principles for hydrogels to achieve extreme mechanical and physical properties, (ii) implementation strategies for the design principles using unconventional polymer networks, and (iii) future directions for the orthogonal design of hydrogel to achieve multiple combined mechanical, physical, chemical, and biological properties.
Abstract: Hydrogels are polymer networks infiltrated with water. Many biological hydrogels in animal bodies such as muscles, heart valves, cartilages, and tendons possess extreme mechanical properties including being extremely tough, strong, resilient, adhesive, and fatigue-resistant. These mechanical properties are also critical for hydrogels' diverse applications ranging from drug delivery, tissue engineering, medical implants, wound dressings, and contact lenses to sensors, actuators, electronic devices, optical devices, batteries, water harvesters, and soft robots. Whereas numerous hydrogels have been developed over the last few decades, a set of general principles that can rationally guide the design of hydrogels using different materials and fabrication methods for various applications remain a central need in the field of soft materials. This review is aimed at synergistically reporting: (i) general design principles for hydrogels to achieve extreme mechanical and physical properties, (ii) implementation strategies for the design principles using unconventional polymer networks, and (iii) future directions for the orthogonal design of hydrogels to achieve multiple combined mechanical, physical, chemical, and biological properties. Because these design principles and implementation strategies are based on generic polymer networks, they are also applicable to other soft materials including elastomers and organogels. Overall, the review will not only provide comprehensive and systematic guidelines on the rational design of soft materials, but also provoke interdisciplinary discussions on a fundamental question: why does nature select soft materials with unconventional polymer networks to constitute the major parts of animal bodies?
312 citations
TL;DR: This review focuses on tough conductive hydrogels for flexible sensors, which have great potential for applications in wearable and implantable devices, soft robotics and artificial skin.
Abstract: Flexible pressure and strain sensors have great potential for applications in wearable and implantable devices, soft robotics and artificial skin. Compared to flexible sensors based on filler/elastomer composites, conductive hydrogels are advantageous due to their biomimetic structures and properties, as well as biocompatibility. Numerous chemical and structural designs provide unlimited opportunities to tune the properties and performance of conductive hydrogels to match various demands for practical applications. Many electronically and ionically conductive hydrogels have been developed to fabricate pressure and strain sensors with different configurations, including resistance type and capacitance type. The sensitivity, reliability and stability of hydrogel sensors are dependent on their network structures and mechanical properties. This review focuses on tough conductive hydrogels for flexible sensors. Representative strategies to prepare stretchable, strong, tough and self-healing hydrogels are briefly reviewed since these strategies are illuminating for the development of tough conductive hydrogels. Then, a general account on various conductive hydrogels is presented and discussed. Recent advances in tough conductive hydrogels with well designed network structures and their sensory performance are discussed in detail. A series of conductive hydrogel sensors and their application in wearable devices are reviewed. Some perspectives on flexible conductive hydrogel sensors and their applications are presented at the end.
309 citations
306 citations
01 Oct 2020
TL;DR: In this article, the authors acknowledge generous support of the King Abdullah University of Science and Technology (KAUST), and acknowledge Dr Joanna M. Nassar, Dr Galo A. Torres, Dr Mohamed T. Ghoneim, Davide Priante, Jhonathan P. Rojas, Sigurdur T. Thoroddsen, and Prof. Boon S. Ooi who contributed to the “pause-embed-resume” data.
Abstract: The authors acknowledge generous support of the King Abdullah University of Science and Technology (KAUST). The authors acknowledge Dr. Joanna M. Nassar, Dr. Galo A. Torres, Dr. Mohamed T. Ghoneim, Andres A. Aguirre-Pablo, Davide Priante, Dr. Jhonathan P. Rojas, Sigurdur T. Thoroddsen, and Prof. Boon S. Ooi who contributed to the “pause-embed-resume” data. The authors thank Kelly Rader for proof reading this manuscript.
219 citations
TL;DR: Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine.
Abstract: Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actuators and their performances under various external stimuli are reviewed. Fiber/yarn-based artificial muscles for soft-robots manipulation and assistance in human motion are discussed, as well as smart clothes for improving human perception. Second, the geometric designs, fabrications, mechanisms, and functions of fibers/fabrics for sensing and energy harvesting from the human body and environments are summarized. Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine. Lastly, the relationships between robotic/wearable fibers/fabrics and the external stimuli, together with the challenges and possible routes for revolutionizing the robotic fibers/fabrics and wearables in this new era are proposed.
207 citations
References
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TL;DR: In this paper, the authors demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels.
Abstract: Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.
1,326 citations
TL;DR: 3D printing of programmed ferromagnetic domains in soft materials that enable fast transformations between complex 3D shapes via magnetic actuation are reported, enabling a set of previously inaccessible modes of transformation, such as remotely controlled auxetic behaviours of mechanical metamaterials with negative Poisson’s ratios.
Abstract: Soft materials capable of transforming between three-dimensional (3D) shapes in response to stimuli such as light, heat, solvent, electric and magnetic fields have applications in diverse areas such as flexible electronics1,2, soft robotics3,4 and biomedicine5–7. In particular, magnetic fields offer a safe and effective manipulation method for biomedical applications, which typically require remote actuation in enclosed and confined spaces8–10. With advances in magnetic field control
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, magnetically responsive soft materials have also evolved from embedding discrete magnets
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or incorporating magnetic particles
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into soft compounds to generating nonuniform magnetization profiles in polymeric sheets14,15. Here we report 3D printing of programmed ferromagnetic domains in soft materials that enable fast transformations between complex 3D shapes via magnetic actuation. Our approach is based on direct ink writing
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of an elastomer composite containing ferromagnetic microparticles. By applying a magnetic field to the dispensing nozzle while printing
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, we reorient particles along the applied field to impart patterned magnetic polarity to printed filaments. This method allows us to program ferromagnetic domains in complex 3D-printed soft materials, enabling a set of previously inaccessible modes of transformation, such as remotely controlled auxetic behaviours of mechanical metamaterials with negative Poisson’s ratios. The actuation speed and power density of our printed soft materials with programmed ferromagnetic domains are orders of magnitude greater than existing 3D-printed active materials. We further demonstrate diverse functions derived from complex shape changes, including reconfigurable soft electronics, a mechanical metamaterial that can jump and a soft robot that crawls, rolls, catches fast-moving objects and transports a pharmaceutical dose.
1,246 citations
TL;DR: The state of the art in continuum robot manipulators and systems intended for application to interventional medicine are described, and relevant research in design, modeling, control, and sensing for continuum manipulators are discussed.
Abstract: In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.
986 citations
"Ferromagnetic soft continuum robots..." refers background in this paper
...To cope with the substantial friction experienced while navigating highly unstructured environments (5, 32), we grew hydrogel skin (33), a thin (10 to 25 m) layer of hydrated cross-linked polymers, onto the robot’s surface....
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...Surgeons benefit from remotely controlled continuum robots, which allow them to work away from the radiation source required for real-time imaging during operations (5, 6)....
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