Magnetoactive Soft Drivers with Radial-Chain Iron Microparticles
28 Jul 2021-ACS Applied Materials & Interfaces (American Chemical Society (ACS))-Vol. 13, Iss: 29, pp 34935-34941
TL;DR: In this paper, two kinds of novel magnetoactive elastomers (MAEs) embedding soft magnetic iron microparticles with radial chains, which can be molded in one piece, achieve 3D deformation, and co-work between multiple MAEs under single homogeneous stimuli, are proposed.
Abstract: Magnetoactive elastomers (MAEs), one kind of typical novel magnetoactive driver applied in the soft robotic area, have become one of the research hotspots as they can provide biologically friendly driving methods with safe, preprogrammed, and easy-to-implement properties. In this study, novel MAEs embedding soft magnetic iron microparticles with radial chains, which can be molded in one piece, achieve 3D deformation, and co-work between multiple MAEs under single homogeneous stimuli, are proposed. Then, two kinds of novel magnetoactive drivers are established based on the proposed MAEs, which can achieve the synchronous pumping behavior of heart and the extension behavior of muscle under applied homogeneous magnetic fields. The experimental data show that (1) for the pumping behavior, the maximum instantaneous flow rate and total pumping volume can reach 200.1 and 52.3 mL/min, respectively, under 120 BPM applied harmonic magnetic field with 0-300 mT amplitude; (2) the muscle extension behavior can achieve a strain of 0.925 without a loading mass and carry a load of 40 times its own weight with a pronounced dynamic movement. It should be emphasized that the behavior of the proposed magnetoactive drivers can be excited by remote homogeneous magnetic fields, and it has great application potential in biomimetic or bioinspired soft driving systems.
Citations
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TL;DR: In this paper , a new vibration isolator integrating tunable stiffness-damping and active driving properties based on Magnetorheological Elastomer (MRE) embedding radial iron chains is proposed.
4 citations
TL;DR: Wang et al. as discussed by the authors proposed a magnetic-driven folded diaphragm to achieve large 3D and bi-directional deformation with inside volume change capability subjected to the low homogeneous magnetically driving field (40 mT).
Abstract: Functional soft materials, exhibiting multiple types of deformation, have shown their potential/abilities to achieve complicated biomimetic behaviors (soft robots). Inspired by the locomotion of earthworm, which is conducted through the contraction and stretching between body segments, this study proposes a type of one-piece-mold folded diaphragm, consisting of the structure of body segments with radial magnetization property, to achieve large 3D and bi-directional deformation with inside-volume change capability subjected to the low homogeneous magnetically driving field (40 mT). Moreover, the appearance based on the proposed magnetic-driven folded diaphragm is able to be easily customized to desired ones and then implanted into different untethered soft robotic systems as soft drivers. To verify the above points, we design the diaphragm pump providing unique properties of lightweight, powerful output and rapid response, and the soft robot including the bio-earthworm crawling robot and swimming robot inspired by squid to exhibit the flexible and rapid locomotion excited by single homogeneous magnetic fields.
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TL;DR: In this paper, a programming methodology for soft-magnetic-material-based magneto-active elastomers (MAEs) to catch the predefined specific objective curves is proposed.
Abstract: A programming methodology, which can be applied to soft-magnetic-material-based magneto-active elastomers (MAEs), to catch the predefined specific objective curves is proposed in this study. The objective curves have been equally separated into a couple of segments, which will be filled by the designed MAE elements. Furthermore, the designed MAE segments with different chain angles, in which the deformation orientation of each element under applied homogeneous magnetic fields has been investigated based on the designed experimental setup, are arrayed based on the proposed programming methodology to constitute the MAE composite to catch the orientation of the objective curve. The experimental results show that based on the proposed programming methodology, the MAE composites can describe different curves, which include harmonic, tangential and arc tangential functions under applied homogeneous magnetic fields with good agreement. Furthermore, on the basis of the proposed programming methodology, the MAE composites are utilized to mimic the typical biomimetic behavior (the peeking-up behavior of snakes and the flapping behavior of birds) with smooth curvature properties, in which the dynamic procedures present continuous curves.
TL;DR: In this article , a heat-assisted magnetic reprogramming strategy for fabricating soft active matter capable of shape-morphing and self-sensing functions is developed. But the authors do not consider the effect of temperature on the shape.
Abstract: Interest in creating soft active matter that can repeatedly undergo shape morphing and self-sensing in response to external stimuli is growing. Magneto-active soft matter (MASM) with untethered, fast, and reversible shape reconfiguration is highly desirable for diverse applications in biomedical devices, wearable devices, soft robotics. In this work, we develop a heat-assisted magnetic reprogramming strategy for fabricating MASMs capable of reprogrammable shape-morphing and self-sensing functions. The magnetic reprogramming strategy is based on heating thermoplastic matrix above its melting point and reorienting soft-magnetic particle chains by applying magnetic fields during cooling. By reprogramming magnetization profiles through particle chain reconstruction of printed architecture, we demonstrate multiple deformation modes with distinct shape-morphing. This magnetic reprogramming approach enabled multiscale and reprogrammable soft machines with the tunable actuation response, such as adaptive grasping of a soft gripper. In addition, in combining with the unique sensing mechanism of triboelectric skin (tribo-skin), the self-sensing performance of MASMs is realized by using electrical signals to identify the deformation and contact behaviors. We anticipate that the magnetic reprogramming strategy and multimaterial 3D printing-assisted technique can open new avenues for the fabrication of multifunctional MASMs.
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.
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TL;DR: In this article, the authors discuss the capabilities of soft robots, describe examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.
Abstract: Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats e.g. octopus arms and elephant trunks are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.
1,295 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: A simple and general fabrication method for helical swimming micromachines by direct laser writing and e-beam evaporation is demonstrated and the magnetic helical devices exhibit varying magnetic shape anisotropy, yet always generate corkscrew motion using a rotating magnetic field.
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962 citations