Earthworm-Inspired Soft Skin Crawling Robot.

Earthworms are fascinating animals capable of crawling and burrowing through various terrains using peristaltic motion and the directional friction response of their epidermis. Anisotropic anchoring governed by tiny appendages on their skin called setae is known to enhance the earthworm's locomotion. A multi-material fabrication technique is employed to produce soft skins with bristles inspired by the earthworm epidermis and their setae. The effect of bristles arranged in triangular and square grids at two spatial densities on the locomotion capability of a simple soft crawling robot comprised of an extending soft actuator covered by the soft skin is investigated experimentally. The results suggest that the presence of bristles results in a rostral to caudal friction ratio of µR/µC > 1 with some variations across bristle arrangements and applied elongations. Doubling the number of bristles increases the robot's speed by a factor of 1.78 for the triangular grid while it is less pronounced for the rectangular grid with a small factor of 1.06. Additionally, it is observed that increasing the actuation stroke for the skin with the high-density triangular grid, from 15% to 30%, elevates the speed from 0.5 to 0.9 mm s-1, but further increases in stroke to 45% may compromise the durability of the actuators with less gains in speed (1 mm s-1). Finally, it is demonstrated that a crawling robot equipped with soft skin can traverse both a linear and a curved channel.

Kirigami Makes a Soft Magnetic Sheet Crawl.

Limbless crawling on land requires breaking symmetry of the friction with the ground and exploiting an actuation mechanism to generate propulsive forces. Here, kirigami cuts are introduced into a soft magnetic sheet that allow to achieve effective crawling of untethered soft robots upon application of a rotating magnetic field. Bidirectional locomotion is achieved under clockwise and counterclockwise rotating magnetic fields with distinct locomotion patterns and crawling speed in forward and backward propulsions. The crawling and deformation profiles of the robot are experimentally characterized and combined with detailed multiphysics numerical simulations to extract locomotion mechanisms in both directions. It is shown that by changing the shape of the cuts and orientation of the magnet the robot can be steered, and if combined with translational motion of the magnet, complex crawling paths are programed. The proposed magnetic kirigami robot offers a simple approach to developing untethered soft robots with programmable motion.

Hierarchical Porous Monoliths of Steel with Self-Reinforcing Adaptive Properties.

Porous structures offer an attractive approach to reduce the amount of natural resources used while maintaining relatively high mechanical efficiency. However, for some applications the drop in mechanical properties resulting from the introduction of porosity is too high, which has limited the broader utilization of porous materials in industry. Here, it is shown that steel monoliths can be designed to display high mechanical efficiency and reversible self-reinforcing properties when made with porous architectures with up to three hierarchical levels. Ultralight steel structures that can float on water and autonomously adapt their stiffness are manufactured by the thermal reduction and sintering of 3D printed foam templates. Using distinct mechanical testing techniques, image analysis, and finite element simulations, the mechanisms leading to the high mechanical efficiency and self-stiffening ability of the hierarchical porous monoliths are studied. The design and fabrication of mechanically stable porous monoliths using iron as a widely available natural resource is expected to contribute to the future development of functional materials with a more sustainable footprint.

Turning materials into robots.

Researchers showcase a 3D-printed millirobot made out of multifunctional metamaterials.

Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster.

The locomotion of soft snake robots is dependent on frictional interactions with the environment. Frictional anisotropy is a morphological characteristic of snakeskin that allows snakes to engage selectively with surfaces and generate propulsive forces. The prototypical slithering gait of most snakes is lateral undulation, which requires a significant lateral resistance that is lacking in artificial skins of existing soft snake robots. We designed a set of kirigami lattices with curvilinearly-arranged cuts to take advantage of in-plane rotations of the 3D structures when wrapped around a soft bending actuator. By changing the initial orientation of the scales, the kirigami skin produces high lateral friction upon engagement with surface asperities, with lateral to cranial anisotropic friction ratios above 4. The proposed design increased the overall velocity of the soft snake robot more than fivefold compared to robots without skin.

Stretchable Soft Composites with Strain-Induced Architectured Color.

Colors enable interaction and communication between living species in a myriad of biological and artificial environments. While living organisms feature low-power mechanisms to dynamically control color in soft tissues, man-made color-changing devices remain predominantly rigid and energy intensive. Here, architectured composites that display striking color changes when stretched in selective directions under ambient light with minimum power input are reported. The orientation-dependent color change results from the rotation of reflective coated platelets that are embedded in a soft polymer matrix and pre-aligned in a well-defined architecture. The light reflected by the platelets generates structural color defined by the oxide coating on the platelet surface. By magnetically programming the initial orientation and spatial distribution of selected platelets within the soft matrix, composites with strain-modulated color-changing effects that cannot be achieved using state-of-the-art technologies are created. The proposed concept of strain-induced architectured color can be harnessed to develop low-power smart stretchable displays, tactile synthetic skins, and autonomous soft robotic devices that undergo fast and reversible color changes through the mechano-optic coupling programmed within their soft composite architecture.

Digital light 3D printing of customized bioresorbable airway stents with elastomeric properties.

Central airway obstruction is a life-threatening disorder causing a high physical and psychological burden to patients. Standard-of-care airway stents are silicone tubes, which provide immediate relief but are prone to migration. Thus, they require additional surgeries to be removed, which may cause tissue damage. Customized bioresorbable airway stents produced by 3D printing would be highly needed in the management of this disorder. However, biocompatible and biodegradable materials for 3D printing of elastic medical implants are still lacking. Here, we report dual-polymer photoinks for digital light 3D printing of customized and bioresorbable airway stents. These stents exhibit tunable elastomeric properties with suitable biodegradability. In vivo study in healthy rabbits confirmed biocompatibility and showed that the stents stayed in place for 7 weeks after which they became radiographically invisible. This work opens promising perspectives for the rapid manufacturing of the customized medical devices for which high precision, elasticity, and degradability are sought.

Kirigami-Inspired Inflatables with Programmable Shapes.

Kirigami, the Japanese art of paper cutting, has recently enabled the design of stretchable mechanical metamaterials that can be easily realized by embedding arrays of periodic cuts into an elastic sheet. Here, kirigami principles are exploited to design inflatables that can mimic target shapes upon pressurization. The system comprises a kirigami sheet embedded into an unstructured elastomeric membrane. First, it is shown that the inflated shape can be controlled by tuning the geometric parameters of the kirigami pattern. Then, by applying a simple optimization algorithm, the best parameters that enable the kirigami inflatables to transform into a family of target shapes at a given pressure are identified. Furthermore, thanks to the tessellated nature of the kirigami, it is shown that we can selectively manipulate the parameters of the single units to allow the reproduction of features at different scales and ultimately enable a more accurate mimicking of the target.

Bioinspired kirigami metasurfaces as assistive shoe grips.

Falls and subsequent complications are major contributors to morbidity and mortality, especially in older adults. Here, by taking inspiration from claws and scales found in nature, we show that buckling kirigami structures applied to footwear outsoles generate higher friction forces in the forefoot and transversally to the direction of movement. We identified optimal kirigami designs capable of modulating friction for a range of surfaces, including ice, by evaluating the performance of the dynamic kirigami outsoles through numerical simulations and in vitro friction testing, as well as via human-gait force-plate measurements. We anticipate that lightweight kirigami metasurfaces applied to footwear outsoles could help mitigate the risk of slips and falls in a range of environments.

Guided transition waves in multistable mechanical metamaterials.

Transition fronts, moving through solids and fluids in the form of propagating domain or phase boundaries, have recently been mimicked at the structural level in bistable architectures. What has been limited to simple one-dimensional (1D) examples is here cast into a blueprint for higher dimensions, demonstrated through 2D experiments and described by a continuum mechanical model that draws inspiration from phase transition theory in crystalline solids. Unlike materials, the presented structural analogs admit precise control of the transition wave's direction, shape, and velocity through spatially tailoring the underlying periodic network architecture (locally varying the shape or stiffness of the fundamental building blocks, and exploiting interactions of transition fronts with lattice defects such as point defects and free surfaces). The outcome is a predictable and programmable strongly nonlinear metamaterial motion with potential for, for example, propulsion in soft robotics, morphing surfaces, reconfigurable devices, mechanical logic, and controlled energy absorption.

Three-dimensional functional gradients direct stem curling in the resurrection plant Selaginella lepidophylla.

Upon hydration and dehydration, the vegetative tissue of Selaginella lepidophylla can reversibly swell and shrink to generate complex morphological transformations. Here, we investigate how structural and compositional properties at tissue and cell wall levels in S. lepidophylla lead to different stem curling profiles between inner and outer stems. Our results show that directional bending in both stem types is associated with cross-sectional gradients of tissue density, cell orientation and secondary cell wall composition between adaxial and abaxial stem sides. In inner stems, longitudinal gradients of cell wall thickness and composition affect tip-to-base tissue swelling and shrinking, allowing for more complex curling as compared to outer stems. Together, these features yield three-dimensional functional gradients that allow the plant to reproducibly deform in predetermined patterns that vary depending on the stem type. This study is the first to demonstrate functional gradients at different hierarchical levels combining to operate in a three-dimensional context.

Propagation of pop ups in kirigami shells.

Kirigami-inspired metamaterials are attracting increasing interest because of their ability to achieve extremely large strains and shape changes via out-of-plane buckling. While in flat kirigami sheets, the ligaments buckle simultaneously as Euler columns, leading to a continuous phase transition; here, we demonstrate that kirigami shells can also support discontinuous phase transitions. Specifically, we show via a combination of experiments, numerical simulations, and theoretical analysis that, in cylindrical kirigami shells, the snapping-induced curvature inversion of the initially bent ligaments results in a pop-up process that first localizes near an imperfection and then, as the deformation is increased, progressively spreads through the structure. Notably, we find that the width of the transition zone as well as the stress at which propagation of the instability is triggered can be controlled by carefully selecting the geometry of the cuts and the curvature of the shell. Our study significantly expands the ability of existing kirigami metamaterials and opens avenues for the design of the next generation of responsive surfaces as demonstrated by the design of a smart skin that significantly enhances the crawling efficiency of a simple linear actuator.

Programming soft robots with flexible mechanical metamaterials.

The complex behavior of highly deformable mechanical metamaterials can substantially enhance the performance of soft robots.

Kirigami skins make a simple soft actuator crawl.

Bioinspired soft machines made of highly deformable materials are enabling a variety of innovative applications, yet their locomotion typically requires several actuators that are independently activated. We harnessed kirigami principles to significantly enhance the crawling capability of a soft actuator. We designed highly stretchable kirigami surfaces in which mechanical instabilities induce a transformation from flat sheets to 3D-textured surfaces akin to the scaled skin of snakes. First, we showed that this transformation was accompanied by a dramatic change in the frictional properties of the surfaces. Then, we demonstrated that, when wrapped around an extending soft actuator, the buckling-induced directional frictional properties of these surfaces enabled the system to efficiently crawl.

Buckling-Induced Kirigami.

We investigate the mechanical response of thin sheets perforated with a square array of mutually orthogonal cuts, which leaves a network of squares connected by small ligaments. Our combined analytical, experimental and numerical results indicate that under uniaxial tension the ligaments buckle out of plane, inducing the formation of 3D patterns whose morphology is controlled by the load direction. We also find that by largely stretching the buckled perforated sheets, plastic strains develop in the ligaments. This gives rise to the formation of kirigami sheets comprising periodic distribution of cuts and permanent folds. As such, the proposed buckling-induced pop-up strategy points to a simple route for manufacturing complex morphable structures out of flat perforated sheets.

Hierarchies of plant stiffness.

Plants must meet mechanical as well as physiological and reproductive requirements for survival. Management of internal and external stresses is achieved through their unique hierarchical architecture. Stiffness is determined by a combination of morphological (geometrical) and compositional variables that vary across multiple length scales ranging from the whole plant to organ, tissue, cell and cell wall levels. These parameters include, among others, organ diameter, tissue organization, cell size, density and turgor pressure, and the thickness and composition of cell walls. These structural parameters and their consequences on plant stiffness are reviewed in the context of work on stems of the genetic reference plant Arabidopsis thaliana (Arabidopsis), and the suitability of Arabidopsis as a model system for consistent investigation of factors controlling plant stiffness is put forward. Moving beyond Arabidopsis, the presence of morphological parameters causing stiffness gradients across length-scales leads to beneficial emergent properties such as increased load-bearing capacity and reversible actuation. Tailoring of plant stiffness for old and new purposes in agriculture and forestry can be achieved through bioengineering based on the knowledge of the morphological and compositional parameters of plant stiffness in combination with gene identification through the use of genetics.

Snapping mechanical metamaterials under tension.

A snapping mechanical metamaterial is designed, which exhibits a sequential snap-through behavior under tension. The tensile response of this mechanical metamaterial can be altered by tuning the architecture of the snapping segments to achieve a range of nonlinear mechanical responses, including monotonic, S-shaped, plateau, and non-monotonic snap-through behavior.

Hydro-responsive curling of the resurrection plant Selaginella lepidophylla.

The spirally arranged stems of the spikemoss Selaginella lepidophylla, an ancient resurrection plant, compactly curl into a nest-ball shape upon dehydration. Due to its spiral phyllotaxy, older outer stems on the plant interlace and envelope the younger inner stems forming the plant centre. Stem curling is a morphological mechanism that limits photoinhibitory and thermal damages the plant might experience in arid environments. Here, we investigate the distinct conformational changes of outer and inner stems of S. lepidophylla triggered by dehydration. Outer stems bend into circular rings in a relatively short period of desiccation, whereas inner stems curl slowly into spirals due to hydro-actuated strain gradient along their length. This arrangement eases both the tight packing of the plant during desiccation and its fast opening upon rehydration. The insights gained from this work shed light on the hydro-responsive movements in plants and might contribute to the development of deployable structures with remarkable shape transformations in response to environmental stimuli.

Hygroscopic swelling and shrinkage of latewood cell wall micropillars reveal ultrastructural anisotropy.

We document the hygroscopic swelling and shrinkage of the central and the thickest secondary cell wall layer of wood (named S2) in response to changes in environmental humidity using synchrotron radiation-based phase contrast X-ray tomographic nanoscopy. The S2 layer is a natural fibre-reinforced nano-composite polymer and is strongly reactive to water. Using focused ion beam, micropillars with a cross section of few micrometres are fabricated from the S2 layer of the latewood cell walls of Norway spruce softwood. The thin neighbouring cell wall layers are removed to prevent hindering or restraining of moisture-induced deformation during swelling or shrinkage. The proposed experiment intended to get further insights into the microscopic origin of the anisotropic hygro-expansion of wood. It is found that the swelling/shrinkage strains are highly anisotropic in the transverse plane of the cell wall, larger in the normal than in the direction parallel to the cell wall's thickness. This ultrastructural anisotropy may be due to the concentric lamellation of the cellulose microfibrils as the role of the cellulose microfibril angle in the transverse swelling anisotropy is negligible. The volumetric swelling of the cell wall material is found to be substantially larger than the one of wood tissues within the growth ring and wood samples made of several growth rings. The hierarchical configuration in wood optimally increases its dimensional stability in response to a humid environment with higher scales of complexity.