Crawling, climbing, perching, and flying by FiBa soft robots.

This paper introduces an approach to fabricating lightweight, untethered soft robots capable of diverse biomimetic locomotion. Untethering soft robotics from electrical or pneumatic power remains one of the prominent challenges within the field. The development of functional untethered soft robotic systems hinges heavily on mitigating their weight; however, the conventional weight of pneumatic network actuators (pneu-nets) in soft robots has hindered untethered operations. To address this challenge, we developed film-balloon (FiBa) modules that drastically reduced the weight of soft actuators. FiBa modules combine transversely curved polymer thin films and three-dimensionally printed pneumatic balloons to achieve varied locomotion modes. These lightweight FiBa modules serve as building blocks to create untethered soft robots mimicking natural movement strategies. These modules substantially reduce overall robot weight, allowing the integration of components such as pumps, valves, batteries, and control boards, thereby enabling untethered operation. FiBa modules integrated with electronic components demonstrated four bioinspired modes of locomotion, including turtle-inspired crawling, inchworm-inspired climbing, bat-inspired perching, and ladybug-inspired flying. Overall, our study offers an alternative tool for designing and customizing lightweight, untethered soft robots with advanced functionalities. The reduction of the weight of soft robots enabled by our approach opens doors to a wide range of applications, including disaster relief, space exploration, remote sensing, and search and rescue operations, where lightweight, untethered soft robotic systems are essential.

Design and Dynamic In Vivo Validation of a Multi-Channel Stretchable Liquid Metal Coil Array.

Recent developments in the field of radiofrequency (RF) coils for magnetic resonance imaging (MRI) offer flexible and patient-friendly solutions. Previously, we demonstrated a proof-of-concept single-element stretchable coil design based on liquid metal and a self-tuning smart geometry. In this work, we numerically analyze and experimentally study a multi-channel stretchable coil array and demonstrate its application in dynamic knee imaging. We also compare our flexible coil array to a commonly used commercial rigid coil array. Our numerical analysis shows that the proposed coil array maintains its resonance frequency (<1% variation) and sensitivity (<6%) at various stretching configurations from 0% to 30%. We experimentally demonstrate that the signal-to-noise ratio (SNR) of the acquired MRI images is improved by up to four times with the stretchable coil array due to its conformal and therefore tight-fitting nature. This stretchable array allows for dynamic knee imaging at different flexion angles, infeasible with traditional, rigid coil arrays. These findings are significant as they address the limitations of current rigid coil technology, offering a solution that enhances patient comfort and image quality, particularly in applications requiring dynamic imaging.

Prediction of textural properties of 3D-printed food using response surface methodology.

3D printing has enabled modifying internal structures of the food affecting textural properties, but predicting desired texture remains challenging. To overcome this challenge, the use of response surface methodology (RSM) was demonstrated to develop empirical models relating 3D printing parameters to textural properties using aqueous inks containing cricket powders as a model system. Regression models were established for our key textural properties (i.e., hardness (H), adhesiveness (A), cohesiveness (C), and springiness (S)) in response to three 3D printing parameters: infill percentage (i), layer height (h), and print speed (s). Our developed model successfully predicted the 3D printing parameters to achieve the intended textural properties using a multi-objective optimization framework. The predicted limits for H, A, C, and S were 0.66-5.39 N, 0.01-12.43 mJ, 0.01-1.05, and 0-19.20 mm, respectively. To validate our models, we simulated the texture of other food using our model ink and achieved high accuracy for H (99%), C (82%), and S (87%). This work highlights a simple way to 3D-print foods with spatially different textures and materials, unlocking the full potential of 3D printing technology for manufacturing a range of customized foods.

3D printing of polyvinyl alcohol hydrogels enabled by aqueous two-phase system.

The synthesis of PVA hydrogels (PVA-Hy) requires a highly basic environment (e.g., an aqueous solution of sodium hydroxide, NaOH, 14% w/w, 4.2 M), but the rapid crosslinking of PVA due to high pH makes it challenging to perform layer-by-layer three-dimensional (3D) printing of PVA-Hy. This work demonstrated 3D printing of PVA-Hy in moderate alkaline conditions (e.g., NaOH, 1% w/w, 0.3 M) assisted by aqueous two-phase system (ATPS). Salting out of PVA to form ATPS allowed temporal shape retention of a 3D-printed PVA structure while it was physically crosslinked in moderate alkaline conditions. Crucially, the layer-to-layer adhesion of PVA was facilitated by delayed crosslinking of PVA that required additional reaction time and overlapping between the layers. To verify this principle, we studied the feasibility of direct ink write (DIW) 3D printing of PVA inks (5-25% w/w, µ = 0.1-20 Pa s, and MW = 22 000 and 74 800) in aqueous embedding media offering three distinct chemical environments: (1) salts for salting out (e.g., Na2SO4), (2) alkali hydroxides for physical crosslinking (e.g., NaOH), and (3) a mixture of salt and alkali hydroxide. Our study suggested the feasibility of 3D-printed PVA-Hy using the mixture of salt and alkali hydroxide, demonstrating a unique concept of embedded 3D printing enabled by ATPS for temporary stabilization of the printed structures to facilitate 3D fabrication.

Large-Scale Preparation of Hair Follicle Germs Using a Microfluidic Device.

Hair follicle morphogenesis during embryonic development is driven by the formation of hair follicle germs (HFGs) via interactions between epithelial and mesenchymal cells. Bioengineered HFGs are potential tissue grafts for hair regenerative medicine because they can replicate interactions and hair follicle morphogenesis after transplantation. However, a mass preparation approach for HFGs is necessary for clinical applications, given that thousands of de novo hair follicles are required to improve the appearance of a single patient with alopecia. In this study, we developed a microfluidics-based approach for the large-scale preparation of HFGs. A simple flow-focusing microfluidic device allowed collagen solutions containing epithelial and mesenchymal cells to flow and generate collagen microbeads with distinct Janus structures. During the 3 days of culture, the collagen beads contracted owing to cellular traction forces, resulting in collagen- and cell-dense HFGs. The transplantation of HFGs into nude mice resulted in highly efficient de novo hair follicle regeneration. This method provides a scalable and robust tissue graft preparation approach for hair regeneration.

Dual-Channel Stretchable, Self-Tuning, Liquid Metal Coils and Their Fabrication Techniques.

Flexible and stretchable radiofrequency coils for magnetic resonance imaging represent an emerging and rapidly growing field. The main advantage of such coil designs is their conformal nature, enabling a closer anatomical fit, patient comfort, and freedom of movement. Previously, we demonstrated a proof-of-concept single element stretchable coil design with a self-tuning smart geometry. In this work, we evaluate the feasibility of scaling this coil concept to a multi-element coil array and the associated engineering and manufacturing challenges. To this goal, we study a dual-channel coil array using full-wave simulations, bench testing, in vitro, and in vivo imaging in a 3 T scanner. We use three fabrication techniques to manufacture dual-channel receive coil arrays: (1) single-layer casting, (2) double-layer casting, and (3) direct-ink-writing. All fabricated arrays perform equally well on the bench and produce similar sensitivity maps. The direct-ink-writing method is found to be the most advantageous fabrication technique for fabrication speed, accuracy, repeatability, and total coil array thickness (0.6 mm). Bench tests show excellent frequency stability of 128 ± 0.6 MHz (0% to 30% stretch). Compared to a commercial knee coil array, the stretchable coil array is more conformal to anatomy and provides 50% improved signal-to-noise ratio in the region of interest.

3D printability and biochemical analysis of revalorized orange peel waste.

Orange peels are often discarded as food waste despite being a nutritious source of vitamins and antioxidants. These orange peel wastes (OPW) are produced in millions of tons globally every year; discarding them results in detrimental environmental and economical impacts. This paper discusses the application of 3D printing technology to effectively upcycle the OPW into edible, healthy snacks for consumption. We aimed to develop a method to enable OPW to formulate 3D-printable inks for direct ink writing (DIW). Using DIW 3D printing, we successfully created edible constructs of rheologically modified inks containing OPW. The formulated ink possessed an initial viscosity of 22.5 kPa.s, a yield stress of 377 Pa, and a storage modulus of 44.24 kPa. To validate the method, we conducted a biochemical analysis of the OPW at each stage of the fabrication process. This study suggested that our ink formulation and 3D printing process did not affect the content of bioflavonoids and antioxidants of the OPW. The cell viability test using human dermal microvascular endothelium (HMEC-1) suggested that the OPW did not exhibit cytotoxicity throughout the entire process of the ink manipulation. Overall, this study has highlighted a potential scenario to revalorize food waste into the food value chain using 3D printing toward more sustainable and circular food manufacturing and consumption.

Printability of Poly(lactic acid) Ink by Embedded 3D Printing via Immersion Precipitation.

Immersion precipitation three-dimensional printing (ip3DP) and freeform polymer precipitation (FPP) are unique and versatile methods of 3D printing to fabricate 3D structures based on nonsolvent-induced phase separation via direct ink writing (DIW). Immersion precipitation involves complex dynamics among solvents, nonsolvents, and dissolved polymers, and the printability of 3D models in these methods requires further understanding. To this end, we characterized these two methods of 3D printing using polylactide (PLA) dissolved in dichloromethane (7.5-30% w/w) as model inks. We analyzed the rheological properties of the solutions and the effect of printing parameters on solvent-nonsolvent diffusion to achieve printability. The PLA inks exhibited shear-thinning properties, and their viscosities varied over three orders of magnitude (10-1∼102 Pa·s). A processing map was presented to understand the ideal ranges of the concentration of PLA in inks and the nozzle diameter to ensure printability, and the fabrication of complex 3D structures was fabricated with adequate applied pressure and nozzle speed. The processing map also highlighted the advantages of embedded 3D printing over solvent-cast 3D printing based on solvent evaporation. Lastly, we demonstrated that the porosity of the interface and inner structure of the printed objects was readily tailored by the concentration of the PLA and the porogen added to the ink. The methods presented here offer new perspectives to fabricate micro-to-centimeter objects of thermoplastics with nanometer-scale inner pores and provide guidelines for successful embedded 3D printing based on immersion precipitation.

Embedded Core-Shell 3D Printing (eCS3DP) with Low-Viscosity Polysiloxanes.

Flexible core-shell 3D structures are essential for the development of soft sensors and actuators. Despite recent advancements in 3D printing, the fabrication of flexible 3D objects with internal architectures (such as channels and void spaces) remains challenging with liquid precursors due to the difficulty to maintain the printed structures. The difficulty of such fabrication is prominent especially when low-viscosity polysiloxane resins are used. This study presents a unique approach to applying direct ink writing (DIW) 3D printing in a three-phase system to overcome this limitation. We performed core-shell 3D printing using a low-viscosity commercial polysiloxane resin (Ecoflex 10) as shell inks combined with a coaxially extruded core liquid (Pluronic F127) in Bingham plastic microparticulate gels (ethanol gel). In the process termed embedded core-shell 3D printing (eCS3DP), we highlighted the dependence of the rheological characteristics of the three fluids on the stability of the printed core-shell filament. With the core liquid with a sufficiently high concentration of Pluronic F127 (30 w/w%; σy = 158.5 Pa), the interfacial instability between the shell liquid and core liquid was suppressed; the removal of the core liquid permitted the fabrication of perfusable channels. We identified the printing conditions to ensure lateral attachments of printed core-shell filaments. Interestingly, judicious selection of the rheological properties and flow rates of three phases allowed the formation of droplets consisting of core liquids distributed along the printed filaments. eCS3DP offers a simple route to fabricate 3D structures of a soft elastomeric matrix with embedded channels and should serve as a useful tool for DIW-based fabrication of flexible wearable devices and soft robotic components.

Biomimetic Vasculatures by 3D-Printed Porous Molds.

Despite recent advances in biofabrication, recapitulating complex architectures of cell-laden vascular constructs remains challenging. To date, biofabricated vascular models have not yet realized four fundamental attributes of native vasculatures simultaneously: freestanding, branching, multilayered, and perfusable. In this work, a microfluidics-enabled molding technique combined with coaxial bioprinting to fabricate anatomically relevant, cell-laden vascular models consisting of hydrogels is developed. By using 3D porous molds of poly(ethylene glycol) diacrylate as casting templates that gradually release calcium ions as a crosslinking agent, freestanding, and perfusable vascular constructs of complex geometries are fabricated. The bioinks can be tailored to improve the compatibility with specific vascular cells and to tune the mechanical modulus mimicking native blood vessels. Crucially, the integration of relevant vascular cells (such as smooth muscle cells and endothelial cells) in a multilayer and biomimetic configuration is highlighted. It is also demonstrated that the fabricated freestanding vessels are amenable for testing percutaneous coronary interventions (i.e., drug-eluting balloons and stents) under physiological mechanical states such as stretching and bending. Overall, a versatile fabrication technique with multifaceted possibilities of generating biomimetic vascular models that can benefit future research in mechanistic understanding of cardiovascular diseases and the development of therapeutic interventions is introduced.

Design and fabrication of micro/nanofluidics devices and systems.

This chapter provides an overview of the science, engineering, and design methods required in the development of micro/nanofluidic devices. Section 2 provides the scientific background of fluid mechanics and physical phenomena in micro/nanoscale. Section 3 gives a brief overview of the existing fabrication techniques employed in micro/nanofluidics. The techniques are grouped into three categories: (1) subtractive manufacturing, (2) formative manufacturing, and (3) additive manufacturing. The advantages and disadvantages of each manufacturing technique are also discussed. Implementation of the fluidic devices beyond laboratory demonstrations is not trivial, which requires a good understanding of the problems of interest and the end-users. To that end, Section 4 introduces the design thinking approach and its application to develop micro/nanofluidic devices. Finally, Section 5 concludes the chapter with future outlooks.

Digital Light Processing Based Bioprinting with Composable Gradients.

Recapitulation of complex tissues signifies a remarkable challenge and, to date, only a few approaches have emerged that can efficiently reconstruct necessary gradients in 3D constructs. This is true even though mimicry of these gradients is of great importance to establish the functionality of engineered tissues and devices. Here, a composable-gradient Digital Light Processing (DLP)-based (bio)printing system is developed, utilizing the unprecedented integration of a microfluidic mixer for the generation of either continual or discrete gradients of desired (bio)inks in real time. Notably, the precisely controlled gradients are composable on-the-fly by facilely by adjusting the (bio)ink flow ratios. In addition, this setup is designed in such a way that (bio)ink waste is minimized when exchanging the gradient (bio)inks, further enhancing this time- and (bio)ink-saving strategy. Various planar and 3D structures exhibiting continual gradients of materials, of cell densities, of growth factor concentrations, of hydrogel stiffness, and of porosities in horizontal and/or vertical direction, are exemplified. The composable fabrication of multifunctional gradients strongly supports the potential of the unique bioprinting system in numerous biomedical applications.

Three-Dimensional Printing of Food Foams Stabilized by Hydrocolloids for Hydration in Dysphagia.

Three-dimensional food printing offers the possibility of modifying the structural design, nutrition, and texture of food, which may be used for consumers with special dietary requirements such as dysphagic patients. One of the food matrices that can be used for liquid delivery to dysphagic patients is food foams. Foams are widely used in different food products to adjust food density, rheological properties, and texture. Foams allow the food to stay in the mouth for sufficient time to provide hydration while minimizing the danger of choking. Our work studies the foam properties and printability of both egg white foams and eggless foams with a strong focus on their foaming properties, rheological properties, printability, and suitability for dysphagic patients. Food hydrocolloid, xanthan gum (XG), is added to improve foam stability and rheological properties so that the inks are printable. Rheological and syneresis properties of the pre-printed foam inks are examined. The texture profile and microstructure properties are studied post-printing. International dysphagia diet standardization initiative tests are carried out to assess the inks' potential for dysphagic diets. Inks with XG performed better with minimal water seepage, better foam stability, and excellent printability. This suggests that hydrocolloids lead to more stable food foams that are suitable for 3DFP and safe for hydration delivery to dysphagic patients.

Bridging the academia-to-industry gap: organ-on-a-chip platforms for safety and toxicology assessment.

Some organ-on-a-chip (OoC) systems for drug evaluation show better predictive capabilities than planar, static cell cultures and animal models. One of the ongoing initiatives led by OoC developers is to bridge the academia-to-industry gap in the hope of gaining wider adoption by end-users - academic biological researchers and industry. We discuss several recommendations that can help to drive the adoption of OoC systems by the market. We first review some key challenges faced by OoC developers before highlighting current advances in OoC platforms. We then offer recommendations for OoC developers to promote the uptake of OoC systems by the industry.

Ultra-Deformable and Tissue-Adhesive Liquid Metal Antennas with High Wireless Powering Efficiency.

Flexible and stretchable antennas are important for wireless communication using wearable and implantable devices to address mechanical mismatch at the tissue-device interface. Emerging technologies of liquid-metal-based stretchable electronics are promising approaches to improve the flexibility and stretchability of conventional metal-based antennas. However, existing methods to encapsulate liquid metals require monolithically thick (at least 100 µm) substrates, and the resulting devices are limited in deformability and tissue-adhesiveness. To overcome this limitation, fabrication of microchannels by direct ink writing on a 7 µm-thick elastomeric substrate is demonstrated, to obtain liquid metal microfluidic antennas with unprecedented deformability. The fabricated wireless light-emitting device is powered by a standard near-field-communication system (13.56 MHz, 1 W) and retained a consistent operation under deformations including stretching (>200% uniaxial strain), twisting (180° twist), and bending (3.0 mm radius of curvature) while maintaining a high quality factor (q > 20). Suture-free conformal adhesion of the polydopamine-coated device to ex vivo animal tissues under mechanical deformations is also demonstrated. This technology offers a new capability for the design and fabrication of wireless biomedical devices requiring conformable tissue-device integration toward minimally invasive, imperceptible medical treatments.

Effect of Oil Content on the Printability of Coconut Cream.

We developed a method to perform direct ink writing (DIW) three-dimensional (3D) printing of coconut-based products with high oil content by varying compositions of the coconut oil and the coconut cream. The addition of oils is particularly crucial in providing energy, developing neurological functions, and improving the palatability of food. Despite the potential merits of high oil-content foods, there have been limited studies on 3D printing of high oil-content foods. In particular, the effect of oil content on the printability of food inks has not been studied to date. 3D printing of food inks with high oil contents is challenging due to oil separation that leads to unpredictable changes in rheological properties. In this work, we surveyed the behavior of the mixture of the coconut oil and the coconut cream and identified the appropriate conditions for the food inks that show the printability in DIW 3D printing. We initially formulated coconut cream inks added with coconut oil that did not exhibit oil separation, and characterized the rheological properties of such inks. We successfully 3D-printed coconut cream with additional coconut oil and successfully fabricated 3D structures with inks containing 25% water with an additional 10% (w/w) of coconut oil. Texture profile analysis (TPA) suggested that the hardness index and the chewiness index of mesh-shaped 3D-printed coconut cream decreased due to an increase in the water content of the ink. Overall, this study offered an understanding of the stability of the food inks and demonstrated the fabrication of 3D colloidal food with controlled oil content, which can be applied to formulating foods with tunable oil content to cater to individual nutritional needs without compromising the stability of the inks.

Evaluation of 3D-printed molds for fabrication of non-planar microchannels.

Replica obtained from micromolds patterned by simple photolithography has features with uniform heights, and attainable microchannels are thus quasi-two-dimensional. Recent progress in three-dimensional (3D) printing has enabled facile desktop fabrication of molds to replicate microchannels with varying heights. We investigated the replica obtained from four common techniques of 3D printing-fused deposition modeling, selective laser sintering, photo-polymer inkjet printing (PJ), and stereolithography (SL)-for the suitability to form microchannels in terms of the surface roughness inherent to the mechanism of 3D printing. There have been limited quantitative studies that focused on the surface roughness of a 3D-printed mold with different methods of 3D printing. We discussed that the surface roughness of the molds affected (1) transparency of the replica and (2) delamination pressure of poly(dimethylsiloxane) replica bonded to flat glass substrates. Thereafter, we quantified the accuracy of replication from 3D-printed molds by comparing the dimensions of the replicated parts to the designed dimensions and tested the ability to fabricate closely spaced microchannels. This study suggested that molds printed by PJ and SL printers were suitable for replica molding to fabricate microchannels with varying heights. The insight from this study shall be useful to fabricate 3D microchannels with controlled 3D patterns of flows guided by the geometry of the microchannels.

Method to Reduce the Contact Resistivity between Galinstan and a Copper Electrode for Electrical Connection in Flexible Devices.

This study demonstrates a method to mount electronic components using gallium-based liquid metals (LMs) with reduced contact resistivity between the LM and a copper (Cu) electrode. Gallium-based LMs have low volume resistivity and low melting points, and they are used as electronic components such as interconnects and sensors of stretchable electronic devices. However, the high contact resistivity of the oxide layer on the surface of the Ga-based LMs becomes a problem when the Ga-based LMs are used in contact with rigid electronic components. To overcome this problem, we studied herein the effect of the oxide layer on contact resistivity via the contact methods of the Ga-based LM (galinstan) and the Cu film. Through the placement of galinstan after the placement of the Cu film and application of vacuum to reduce the effect of the oxide layer, the contact resistivity was reduced to 0.59 × 10-7 Ωm2, which was 90% lower than that in the case where the Cu film was placed on galinstan on which the oxide layer grew (5.7 × 10-7 Ωm2) (day 1). Additionally, it was found that the contact resistivity decreased in the same order (10-8 Ωm2) over time regardless of the methods in which galinstan was applied (day 103). Furthermore, alloy formation on the Cu film surface was confirmed via elemental analysis. Finally, the mounting method using galinstan was demonstrated, which enabled the change in contact resistance to be maintained as low as 7.2% during 100% stretching deformation repeated 100 times (day 1 and day 130). Our results show that low and stable contact resistance with a high stretch tolerance can be achieved via the mounting method using galinstan based on our contact methods. This mounting method, therefore, expands the range of materials suitable for use as substrates and provides new opportunities for the development of stretchable electronics.

3D-PAD: Paper-Based Analytical Devices with Integrated Three-Dimensional Features.

This paper describes the use of fused deposition modeling (FDM) printing to fabricate paper-based analytical devices (PAD) with three-dimensional (3D) features, which is termed as 3D-PAD. Material depositions followed by heat reflow is a standard approach for the fabrication of PAD. Such devices are primarily two-dimensional (2D) and can hold only a limited amount of liquid samples in the device. This constraint can pose problems when the sample consists of organic solvents that have low interfacial energies with the hydrophobic barriers. To overcome this limitation, we developed a method to fabricate PAD integrated with 3D features (vertical walls as an example) by FDM 3D printing. 3D-PADs were fabricated using two types of thermoplastics. One thermoplastic had a low melting point that formed hydrophobic barriers upon penetration, and another thermoplastic had a high melting point that maintained 3D features on the filter paper without reflowing. We used polycaprolactone (PCL) for the former, and polylactic acid (PLA) for the latter. Both PCL and PLA were printed with FDM without gaps at the interface, and the resulting paper-based devices possessed hydrophobic barriers consisting of PCL seamlessly integrated with vertical features consisting of PLA. We validated the capability of 3D-PAD to hold 30 µL of solvents (ethanol, isopropyl alcohol, and acetone), all of which would not be retained on conventional PADs fabricated with solid wax printers. To highlight the importance of containing an increased amount of liquid samples, a colorimetric assay for the formation of dimethylglyoxime (DMG)-Ni (II) was demonstrated using two volumes (10 µL and 30 µL) of solvent-based dimethylglyoxime (DMG). FDM printing of 3D-PAD enabled the facile construction of 3D structures integrated with PAD, which would find applications in paper-based chemical and biological assays requiring organic solvents.

Evaluation of Lateral and Vertical Dimensions of Micromolds Fabricated by a PolyJet™ Printer.

PolyJet™ 3D printers have been widely used for the fabrication of microfluidic molds to replicate castable resins due to the ease to create microstructures with smooth surfaces. However, the microstructures fabricated by PolyJet printers do not accurately match with those defined by the computer-aided design (CAD) drawing. While the reflow and spreading of the resin before photopolymerization are known to increase the lateral dimension (width) of the printed structures, the influence of resin spreading on the vertical dimension (height) has not been fully investigated. In this work, we characterized the deviations in both lateral and vertical dimensions of the microstructures printed by PolyJet printers. The width of the printed structures was always larger than the designed width due to the spreading of resin. Importantly, the microstructures designed with narrow widths failed to reproduce the intended heights of the structures. Our study revealed that there existed a threshold width (wd') required to achieve the designed height, and the layer thickness (a parameter set by the printer) influenced the threshold width. The thresholds width to achieve the designed height was found to be 300, 300, and 500 µm for the print layer thicknesses of 16, 28, and 36 µm, respectively. We further developed two general mathematical models for the regions above and below this threshold width. Our models represented the experimental data with an accuracy of more than 96% for the two different regions. We validated our models against the experimental data and the maximum deviation was found to be <4.5%. Our experimental findings and model framework should be useful for the design and fabrication of microstructures using PolyJet printers, which can be replicated to form microfluidic devices.