Stretchable pumps for soft machines.

Machines made of soft materials bridge life sciences and engineering1. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices1-3. Flexible or stretchable counterparts of most key mechatronic components have been developed4,5, principally using fluidically driven systems6-8; other reported mechanisms include electrostatic9-12, stimuli-responsive gels13,14 and thermally responsive materials such as liquid metals15-17 and shape-memory polymers18. Despite the widespread use of fluidic actuation, there have been few soft counterparts of pumps or compressors, limiting the portability and autonomy of soft machines4,8. Here we describe a class of soft-matter bidirectional pumps based on charge-injection electrohydrodynamics19. These solid-state pumps are flexible, stretchable, modular, scalable, quiet and rapid. By integrating the pump into a glove, we demonstrate wearable active thermal management. Embedding the pump in an inflatable structure produces a self-contained fluidic 'muscle'. The stretchable pumps have potential uses in wearable laboratory-on-a-chip and microfluidic sensors, thermally active clothing and autonomous soft robots.

Enhancing general spatial skills of young visually impaired people with a programmable distance discrimination training: a case control study.

BACKGROUND: The estimation of relative distance is a perceptual task used extensively in everyday life. This important skill suffers from biases that may be more pronounced when estimation is based on haptics. This is especially true for the blind and visually impaired, for which haptic estimation of distances is paramount but not systematically trained. We investigated whether a programmable tactile display, used autonomously, can improve distance discrimination ability in blind and severely visually impaired youngsters between 7 and 22 years-old. METHODS: Training consisted of four weekly sessions in which participants were asked to haptically find, on the programmable tactile display, the pairs of squares which were separated by the shortest and longest distance in tactile images with multiple squares. A battery of haptic tests with raised-line drawings was administered before and after training, and scores were compared to those of a control group that did only the haptic battery, without doing the distance discrimination training on the tactile display. RESULTS: Both blind and severely impaired youngsters became more accurate and faster at the task during training. In haptic battery results, blind and severely impaired youngsters who used the programmable display improved in three and two tests, respectively. In contrast, in the control groups, the blind control group improved in only one test, and the severely visually impaired in no tests. CONCLUSIONS: Distance discrimination skills can be trained equally well in both blind and severely impaired participants. More importantly, autonomous training with the programmable tactile display had generalized effects beyond the trained task. Participants improved not only in the size discrimination test but also in memory span tests. Our study shows that tactile stimulation training that requires minimal human assistance can effectively improve generic spatial skills.

PopTouch: A Submillimeter Thick Dynamically Reconfigured Haptic Interface with Pressable Buttons.

The interactions with touchscreens rely heavily on vision: The virtual buttons and virtual sliders on a touchscreen provide no mechanical sense of the object they seek to represent. This work presents PopTouch: a 500 µm thick flexible haptic display that creates pressable physical buttons on demand. PopTouch can be mounted directly on touchscreens or any other smooth surface, flat, or curved. The buttons of PopTouch are independently controlled hydraulically amplified electrostatic zipping taxels (tactile pixels) that generate 1.5 mm of out of plane displacement. When pressed by the user, the buttons provide intuitive mechanical feedback thanks to a snap-through characteristic in their force-displacement profile. The snap-through threshold can be as high as 4 N, and is tuned by design and actuation parameters. This work presents two versions of PopTouch: a transparent PopTouch for integration on Touchscreens with built-in touch sensing, such as smartphones and a sensorized PopTouch, with embedded thin-film piezoelectric sensors on each taxel, for integration on substrates without built-in touch sensing, such as a steering wheel. PopTouch adds static and vibrating button-like haptics to any device thanks to its thin profile, flexibility, low power consumption (6 mW per button), rapid refresh rate (2 Hz), and freely configured array format.

Measuring electro-adhesion pressure before and after contact.

Electro-adhesion (EA) is a low-power, tunable, fast and reversible electrically-controlled adhesion method, effective on both conducting and insulating objects. Typically, only the electro-adhesive detachment force, i.e., the force required to separate an object from the EA patch, is measured. Here, we report a method that enables comparing the pre-contact EA attachment forces with post-contact EA detachment forces. We observe that pre-contact pressures are 1 to 100 times lower than post-contact detachment pressures, indicating the large role played by surface forces, charge injection, and polarization inertia. We characterize the time-dependence of pre- and post-contact EA forces as a function of the applied voltage waveform, observing that using an AC drive allowing for much faster release than DC operation. We measure both EA forces on conductive and insulating objects, using over 100 different EA patches covering a wide range of electrode dimensions. At 400 V, the EA release pressures for conductive objects range from 1 to 100 kPa, and are 1 to 10 times higher than pre-contact adhesion force. For dielectric objects, release pressures are 1 to 100 higher than pre-contact adhesion pressures. The methodology presented in this paper can enable standardized EA characterization while varying numerous parameters.

Fiber pumps for wearable fluidic systems.

Incorporating pressurized fluidic circuits into textiles can enable muscular support, thermoregulation, and haptic feedback in a convenient wearable form factor. However, conventional rigid pumps, with their associated noise and vibration, are unsuitable for most wearables. We report fluidic pumps in the form of stretchable fibers. This allows pressure sources to be integrated directly into textiles, enabling untethered wearable fluidics. Our pumps consist of continuous helical electrodes embedded within the walls of thin elastomer tubing and generate pressure silently through charge-injection electrohydrodynamics. Each meter of fiber generates 100 kilopascals of pressure, and flow rates approaching 55 milliliters per minute are possible, which is equivalent to a power density of 15 watts per kilogram. The benefits in design freedom are considerable, which we illustrate with demonstrations of wearable haptics, mechanically active fabrics, and thermoregulatory textiles.

Electrode Impact on the Electrical Breakdown of Dielectric Elastomer Thin Films.

Dielectric Elastomer Actuators (DEAs) enable the realization of energy-efficient and compact actuator systems. DEAs operate at the kilovolt range with typically microampere-level currents and hence minimize thermal losses in comparison to low voltage/high current actuators such as shape memory alloys or solenoids. The main limiting factor for reaching high energy density in high voltage applications is dielectric breakdown. In previous investigations on silicone-based thin films, we reported that not only do environmental conditions and film parameters such as pre-stretch play an important role but that electrode composition also has a significant impact on the breakdown behavior. In this paper, we present a comprehensive study of electrical breakdown on thin silicone films coated with electrodes manufactured by five different methods: screen printing, inkjet printing, pad printing, gold sputtering, and nickel sputtering. For each method, breakdown was studied under environmental conditions ranging from 1 °C to 80 °C and 10% to 90% relative humidity. The effect of different manufacturing methods was analyzed as was the influence of parameters such as solvents, silicone content, and the particle processing method. The breakdown field increases with increasing temperature and decreases with increasing humidity for all electrode types. The stiffer metal electrodes have a higher breakdown field than the carbon-based electrodes, for which particle size also plays a large role.

Dynamic control of high-voltage actuator arrays by light-pattern projection on photoconductive switches.

The ability to control high-voltage actuator arrays relies, to date, on expensive microelectronic processes or on individual wiring of each actuator to a single off-chip high-voltage switch. Here we present an alternative approach that uses on-chip photoconductive switches together with a light projection system to individually address high-voltage actuators. Each actuator is connected to one or more switches that are nominally OFF unless turned ON using direct light illumination. We selected hydrogenated amorphous silicon (a-Si:H) as our photoconductive material, and we provide a complete characterization of its light to dark conductance, breakdown field, and spectral response. The resulting switches are very robust, and we provide full details of their fabrication processes. We demonstrate that the switches can be integrated into different architectures to support both AC and DC-driven actuators and provide engineering guidelines for their functional design. To demonstrate the versatility of our approach, we demonstrate the use of the photoconductive switches in two distinctly different applications-control of µm-sized gate electrodes for patterning flow fields in a microfluidic chamber and control of cm-sized electrostatic actuators for creating mechanical deformations for haptic displays.

Multistable shape programming of variable-stiffness electromagnetic devices.

Programmable shape morphing enables soft machines to safely and effectively interact with the environment. Stimuli-responsive materials can transform 2D sheets into 3D geometries. However, most solutions cannot hold their shape at zero power, are limited to predetermined configurations, or lack sufficient mechanical stiffness to manipulate common objects. We demonstrate here segmented soft electromagnetic actuators integrated with shape memory polymer (SMP) films, capable of deforming and latching into a broad range of configurations. The device consists of liquid metal (LM) coils in an elastomer shell, laminated between two SMP films. The coils are linked by narrow joints, on which stretchable heaters are patterned. Heating the SMP greatly reduces its stiffness. Driving current through an LM coil in the presence of a magnetic field then leads to large bending or twisting. Cooling the SMP locks in the shape, leading to load-bearing capacity. Complex shapes are obtained from an initially flat device.

The Integration of Optical Stimulation in a Mechanically Dynamic Cell Culture Substrate.

A cell culture well with integrated mechanical and optical stimulation is presented. This is achieved by combining dielectric elastomer soft actuators, also known as artificial muscles, and a varifocal micro-electromechanical mirror that couples light from an optical fiber and focuses it onto the transparent cell substrate. The device enables unprecedented control of in vitro cell cultures by allowing the experimenter to tune and synchronize mechanical and optical stimuli, thereby enabling new experimental assays in optogenetics, fluorescent microscopy, or laser stimulation that include dynamic mechanical strain as a controlled input parameter.

Shielded soft force sensors.

Force and strain sensors made of soft materials enable robots to interact intelligently with their surroundings. Capacitive sensing is widely adopted thanks to its low power consumption, fast response, and facile fabrication. Capacitive sensors are, however, susceptible to electromagnetic interference and proximity effects and thus require electrical shielding. Shielding has not been previously implemented in soft capacitive sensors due to the parasitic capacitance between the shield and sensing electrodes, which changes when the sensor is deformed. We address this crucial challenge by patterning the central sensing elastomer layer to control its compressibility. One design uses an ultrasoft silicone foam, and the other includes microchannels filled with liquid metal and air. The force resolution is sub-mN both in normal and shear directions, yet the sensor withstands large forces (>20 N), demonstrating a wide dynamic range. Performance is unaffected by nearby high DC and AC electric fields and even electric sparks.

3-dimensional electrode patterning within a microfluidic channel using metal ion implantation.

The application of electrical fields within a microfluidic channel enables many forms of manipulation necessary for lab-on-a-chip devices. Patterning electrodes inside the microfluidic channel generally requires multi-step optical lithography. Here, we utilize an ion-implantation process to pattern 3D electrodes within a fluidic channel made of polydimethylsiloxane (PDMS). Electrode structuring within the channel is achieved by ion implantation at a 40 degrees angle with a metal shadow mask. The advantages of three-dimensional structuring of electrodes within a fluidic channel over traditional planar electrode designs are discussed. Two possible applications are presented: asymmetric particles can be aligned in any of the three axial dimensions with electro-orientation; colloidal focusing and concentration within a fluidic channel can be achieved through dielectrophoresis. Demonstrations are shown with E. coli, a rod shaped bacteria, and indicate the potential that ion-implanted microfluidic channels have for manipulations in the context of lab-on-a-chip devices.

Acoustophoretic synchronization of mammalian cells in microchannels.

We report the first use of ultrasonic standing waves to achieve cell cycle phase synchronization in mammalian cells in a high-throughput and reagent-free manner. The acoustophoretic cell synchronization (ACS) device utilizes volume-dependent acoustic radiation force within a microchannel to selectively purify target cells of desired phase from an asynchronous mixture based on cell cycle-dependent fluctuations in size. We show that ultrasonic separation allows for gentle, scalable, and label-free synchronization with high G(1) phase synchrony (approximately 84%) and throughput (3 x 10(6) cells/h per microchannel).

Multimode Hydraulically Amplified Electrostatic Actuators for Wearable Haptics.

The sense of touch is underused in today's virtual reality systems due to lack of wearable, soft, mm-scale transducers to generate dynamic mechanical stimulus on the skin. Extremely thin actuators combining both high force and large displacement are a long-standing challenge in soft actuators. Sub-mm thick flexible hydraulically amplified electrostatic actuators are reported here, capable of both out-of-plane and in-plane motion, providing normal and shear forces to the user's fingertip, hand, or arm. Each actuator consists of a fluid-filled cavity whose shell is made of a metalized polyester boundary and a central elastomer region. When a voltage is applied to the annular electrodes, the fluid is rapidly forced into the stretchable region, forming a raised bump. A 6 mm × 6 mm × 0.8 mm actuator weighs 90 mg, and generates forces of over 300 mN, out-of-plane displacements of 500 µm (over 60% strain), and lateral motion of 760 µm. Response time is below 5 ms, for a specific power of 100 W kg-1 . In user tests, human subjects distinguished normal and different 2-axis shear forces with over 80% accuracy. A flexible 5 × 5 array is demonstrated, integrated in a haptic sleeve.

Electrically-Driven Soft Fluidic Actuators Combining Stretchable Pumps With Thin McKibben Muscles.

Soft wearable robots could provide support for lower and upper limbs, increase weight lifting ability, decrease energy required for walking and running, and even provide haptic feedback. However, to date most of wearable robots are based on electromagnetic motors or fluidic actuators, the former being rigid and bulky, the latter requiring external pumps or compressors, greatly limiting integration and portability. Here we describe a new class of electrically-driven soft fluidic muscles combining thin, fiber-like McKibben actuators with fully Stretchable Pumps. These pumps rely on ElectroHydroDynamics, a solid-state pumping mechanism that directly accelerates liquid molecules by means of an electric field. Requiring no moving parts, these pumps are silent and can be bent and stretched while operating. Each electrically-driven fluidic muscle consists of one Stretchable Pump and one thin McKibben actuator, resulting in a slender soft device weighing 2 g. We characterized the response of these devices, obtaining a blocked force of 0.84 N and a maximum stroke of 4 mm. Future work will focus on decreasing the response time and increasing the energy efficiency. Modular and straightforward to integrate in textiles, these electrically-driven fluidic muscles will enable soft smart clothing with multi-functional capabilities for human assistance and augmentation.

Shape memory polymer resonators as highly sensitive uncooled infrared detectors.

Uncooled infrared detectors have enabled the rapid growth of thermal imaging applications. These detectors are predominantly bolometers, reading out a pixel's temperature change due to infrared radiation as a resistance change. Another uncooled sensing method is to transduce the infrared radiation into the frequency shift of a mechanical resonator. We present here highly sensitive resonant infrared sensors, based on thermo-responsive shape memory polymers. By exploiting the phase-change polymer as transduction mechanism, our approach provides 2 orders of magnitude improvement of the temperature coefficient of frequency. Noise equivalent temperature difference of 22 mK in vacuum and 112 mK in air are obtained using f/2 optics. The noise equivalent temperature difference is further improved to 6 mK in vacuum by using high-Q silicon nitride membranes as substrates for the shape memory polymers. This high performance in air eliminates the need for vacuum packaging, paving a path towards flexible non-hermetically sealed infrared sensors.

Integrated elastomer-based device for measuring the mechanics of adherent cell monolayers.

Cells in the body collectively sustain mechanical deformations in almost all physiological functions. From the morphogenesis stage, cells' ability to sustain stress is essential for the body's well-being. Several pathologies have been associated with abnormal mechanical properties, thus suggesting the Young's modulus as a biomarker to diagnose diseases and determine their progression. Advancements in the field are quite slow because current techniques for measuring cell and tissue mechanics rely on complex and bulky measurement platforms that have low repeatability rates and limited measurement time-scales. We present the first miniaturized system that allows accurate quantification of the Young's modulus of adherent cell monolayers over a longer time (1-2 days). Our approach is based on tensile testing and optical read-out. Thanks to a thoughtful design and material choice, we are able to miniaturize tensile testing platforms into a 1 cm × 2 cm device. We provide highly repeatable Young's modulus measurements in the relevant range between 3 kPa and 300 kPa, over time and under physiological conditions, thus representing an interesting alternative to existing measurement platforms. Furthermore, the compatibility with standard biological equipment, continuous optical imaging and measurements on all types of adherent cells make this device highly versatile. Measurements on human sarcoma osteogenic (SaOS2) and Madin-Darby canine kidney cells (MDCK) are reported. The demonstrated capability to measure real-time changes in mechanical properties, such as after chemical treatment, opens the door for investigating the effects of drugs on cell mechanics.

Latchable microfluidic valve arrays based on shape memory polymer actuators.

We report arrays of latching microfluidic valves based on shape memory polymers (SMPs), and show their applications as reagent mixers and as peristaltic pumps. The valve design takes advantage of the SMP's multiple stable shapes and over a hundred-fold stiffness change with temperature to enable a) permanent zero-power latching in either open or closed positions (>15 h), as well as b) extended cyclic operation (>3000 cycles). The moving element in the valves consists of a tri-layer with a 50 µm thick central SMP layer, 25 µm thick patterned carbon-silicone (CB/PDMS) heaters underneath, and a 38 µm thick styrene ethylene butylene styrene (SEBS) impermeable film on top. Each valve of the array is individually addressable by synchronizing its integrated local Joule heating with a single external pressure supply. This architecture significantly reduces the device footprint and eliminates the need for multiplexing in microfluidic large scale integration (mLSI) systems.

An autonomous untethered fast soft robotic insect driven by low-voltage dielectric elastomer actuators.

Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making subgram autonomous soft robots untethered and capable of responding intelligently to the environment is a long-standing challenge. One obstacle is the low power density of soft actuators, leading to small robots unable to carry their sense and control electronics and a power supply. Dielectric elastomer actuators (DEAs), a class of electrostatic electroactive polymers, allow for kilohertz operation with high power density but require typically several kilovolts to reach full strain. The mass of kilovolt supplies has limited DEA robot speed and performance. In this work, we report low-voltage stacked DEAs (LVSDEAs) with an operating voltage below 450 volts and used them to propel an insect-sized (40 millimeters long) soft untethered and autonomous legged robot. The DEAnsect body, with three LVSDEAs to drive its three legs, weighs 190 milligrams and can carry a 950-milligram payload (five times its body weight). The unloaded DEAnsect moves at 30 millimeters/second and is very robust by virtue of its compliance. The sub-500-volt operation voltage enabled us to develop 780-milligram drive electronics, including optical sensors, a microcontroller, and a battery, for two channels to output 450 volts with frequencies up to 1 kilohertz. By integrating this flexible printed circuit board with the DEAnsect, we developed a subgram robot capable of autonomous navigation, independently following printed paths. This work paves the way for new generations of resilient soft and fast untethered robots.

High-speed mechano-active multielectrode array for investigating rapid stretch effects on cardiac tissue.

Systematic investigations of the effects of mechano-electric coupling (MEC) on cellular cardiac electrophysiology lack experimental systems suitable to subject tissues to in-vivo like strain patterns while simultaneously reporting changes in electrical activation. Here, we describe a self-contained motor-less device (mechano-active multielectrode-array, MaMEA) that permits the assessment of impulse conduction along bioengineered strands of cardiac tissue in response to dynamic strain cycles. The device is based on polydimethylsiloxane (PDMS) cell culture substrates patterned with dielectric actuators (DEAs) and compliant gold ion-implanted extracellular electrodes. The DEAs induce uniaxial stretch and compression in defined regions of the PDMS substrate at selectable amplitudes and with rates up to 18 s-1. Conduction along cardiomyocyte strands was found to depend linearly on static strain according to cable theory while, unexpectedly, being completely independent on strain rates. Parallel operation of multiple MaMEAs provides for systematic high-throughput investigations of MEC during spatially patterned mechanical perturbations mimicking in-vivo conditions.

Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators.

This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potentially offers swimming at higher speeds and acceleration rates, and efficient locomotion. The robot consists of laminated silicone layers wherein two DEAs are used in an antagonistic configuration, generating undulating fish-like motion. The design of the robot is guided by a mathematical model based on the Euler-Bernoulli beam theory and takes account of the nonuniform geometry of the robot and of the hydrodynamic effect of water. The modeling results were compared with the experimental results obtained from the fish robot with a total length of 150 mm, a thickness of 0.75 mm, and weight of 4.4 g. We observed that the frequency peaks in the measured thrust force produced by the robot are similar to the natural frequencies computed by the model. The peak swimming speed of the robot was 37.2 mm/s (0.25 body length/s) at 0.75 Hz. We also observed that the modal shape of the robot at this frequency corresponds to the first natural mode. The swimming of the robot resembles real fish and displays a Strouhal number very close to those of living fish. These results suggest the high potential of DEA-based underwater robots relying on BCF propulsion, and applicability of our design and fabrication methods.