Shell buckling for programmable metafluids.

The pursuit of materials with enhanced functionality has led to the emergence of metamaterials-artificially engineered materials whose properties are determined by their structure rather than composition. Traditionally, the building blocks of metamaterials are arranged in fixed positions within a lattice structure1-19. However, recent research has revealed the potential of mixing disconnected building blocks in a fluidic medium20-27. Inspired by these recent advances, here we show that by mixing highly deformable spherical capsules into an incompressible fluid, we can realize a 'metafluid' with programmable compressibility, optical behaviour and viscosity. First, we experimentally and numerically demonstrate that the buckling of the shells endows the fluid with a highly nonlinear behaviour. Subsequently, we harness this behaviour to develop smart robotic systems, highly tunable logic gates and optical elements with switchable characteristics. Finally, we demonstrate that the collapse of the shells upon buckling leads to a large increase in the suspension viscosity in the laminar regime. As such, the proposed metafluid provides a promising platform for enhancing the functionality of existing fluidic devices by expanding the capabilities of the fluid itself.

Self-regulated non-reciprocal motions in single-material microstructures.

Living cilia stir, sweep and steer via swirling strokes of complex bending and twisting, paired with distinct reverse arcs1,2. Efforts to mimic such dynamics synthetically rely on multimaterial designs but face limits to programming arbitrary motions or diverse behaviours in one structure3-8. Here we show how diverse, complex, non-reciprocal, stroke-like trajectories emerge in a single-material system through self-regulation. When a micropost composed of photoresponsive liquid crystal elastomer with mesogens aligned oblique to the structure axis is exposed to a static light source, dynamic dances evolve as light initiates a travelling order-to-disorder transition front, transiently turning the structure into a complex evolving bimorph that twists and bends via multilevel opto-chemo-mechanical feedback. As captured by our theoretical model, the travelling front continuously reorients the molecular, geometric and illumination axes relative to each other, yielding pathways composed from series of twisting, bending, photophobic and phototropic motions. Guided by the model, here we choreograph a wide range of trajectories by tailoring parameters, including illumination angle, light intensity, molecular anisotropy, microstructure geometry, temperature and irradiation intervals and duration. We further show how this opto-chemo-mechanical self-regulation serves as a foundation for creating self-organizing deformation patterns in closely spaced microstructure arrays via light-mediated interpost communication, as well as complex motions of jointed microstructures, with broad implications for autonomous multimodal actuators in areas such as soft robotics7,9,10, biomedical devices11,12 and energy transduction materials13, and for fundamental understanding of self-regulated systems14,15.

Multistable inflatable origami structures at the metre scale.

From stadium covers to solar sails, we rely on deployability for the design of large-scale structures that can quickly compress to a fraction of their size1-4. Historically, two main strategies have been used to design deployable systems. The first and most frequently used approach involves mechanisms comprising interconnected bar elements, which can synchronously expand and retract5-7, occasionally locking in place through bistable elements8,9. The second strategy makes use of inflatable membranes that morph into target shapes by means of a single pressure input10-12. Neither strategy, however, can be readily used to provide an enclosed domain that is able to lock in place after deployment: the integration of a protective covering in linkage-based constructions is challenging and pneumatic systems require a constant applied pressure to keep their expanded shape13-15. Here we draw inspiration from origami-the Japanese art of paper folding-to design rigid-walled deployable structures that are multistable and inflatable. Guided by geometric analyses and experiments, we create a library of bistable origami shapes that can be deployed through a single fluidic pressure input. We then combine these units to build functional structures at the metre scale, such as arches and emergency shelters, providing a direct route for building large-scale inflatable systems that lock in place after deployment and offer a robust enclosure through their stiff faces.

Liquid-induced topological transformations of cellular microstructures.

The fundamental topology of cellular structures-the location, number and connectivity of nodes and compartments-can profoundly affect their acoustic1-4, electrical5, chemical6,7, mechanical8-10 and optical11 properties, as well as heat1,12, fluid13,14 and particle transport15. Approaches that harness swelling16-18, electromagnetic actuation19,20 and mechanical instabilities21-23 in cellular materials have enabled a variety of interesting wall deformations and compartment shape alterations, but the resulting structures generally preserve the defining connectivity features of the initial topology. Achieving topological transformation presents a distinct challenge for existing strategies: it requires complex reorganization, repacking, and coordinated bending, stretching and folding, particularly around each node, where elastic resistance is highest owing to connectivity. Here we introduce a two-tiered dynamic strategy that achieves systematic reversible transformations of the fundamental topology of cellular microstructures, which can be applied to a wide range of materials and geometries. Our approach requires only exposing the structure to a selected liquid that is able to first infiltrate and plasticize the material at the molecular scale, and then, upon evaporation, form a network of localized capillary forces at the architectural scale that 'zip' the edges of the softened lattice into a new topological structure, which subsequently restiffens and remains kinetically trapped. Reversibility is induced by applying a mixture of liquids that act separately at the molecular and architectural scales (thus offering modular temporal control over the softening-evaporation-stiffening sequence) to restore the original topology or provide access to intermediate modes. Guided by a generalized theoretical model that connects cellular geometries, material stiffness and capillary forces, we demonstrate programmed reversible topological transformations of various lattice geometries and responsive materials that undergo fast global or localized deformations. We then harness dynamic topologies to develop active surfaces with information encryption, selective particle trapping and bubble release, as well as tunable mechanical, chemical and acoustic properties.

Microstructural design for mechanical-optical multifunctionality in the exoskeleton of the flower beetle Torynorrhina flammea.

Biological systems have a remarkable capability of synthesizing multifunctional materials that are adapted for specific physiological and ecological needs. When exploring structure-function relationships related to multifunctionality in nature, it can be a challenging task to address performance synergies, trade-offs, and the relative importance of different functions in biological materials, which, in turn, can hinder our ability to successfully develop their synthetic bioinspired counterparts. Here, we investigate such relationships between the mechanical and optical properties in a multifunctional biological material found in the highly protective yet conspicuously colored exoskeleton of the flower beetle, Torynorrhina flammea Combining experimental, computational, and theoretical approaches, we demonstrate that a micropillar-reinforced photonic multilayer in the beetle's exoskeleton simultaneously enhances mechanical robustness and optical appearance, giving rise to optical damage tolerance. Compared with plain multilayer structures, stiffer vertical micropillars increase stiffness and elastic recovery, restrain the formation of shear bands, and enhance delamination resistance. The micropillars also scatter the reflected light at larger polar angles, enhancing the first optical diffraction order, which makes the reflected color visible from a wider range of viewing angles. The synergistic effect of the improved angular reflectivity and damage localization capability contributes to the optical damage tolerance. Our systematic structural analysis of T. flammea's different color polymorphs and parametric optical and mechanical modeling further suggest that the beetle's microarchitecture is optimized toward maximizing the first-order optical diffraction rather than its mechanical stiffness. These findings shed light on material-level design strategies utilized in biological systems for achieving multifunctionality and could thus inform bioinspired material innovations.

Rational design of reconfigurable prismatic architected materials.

Advances in fabrication technologies are enabling the production of architected materials with unprecedented properties. Most such materials are characterized by a fixed geometry, but in the design of some materials it is possible to incorporate internal mechanisms capable of reconfiguring their spatial architecture, and in this way to enable tunable functionality. Inspired by the structural diversity and foldability of the prismatic geometries that can be constructed using the snapology origami technique, here we introduce a robust design strategy based on space-filling tessellations of polyhedra to create three-dimensional reconfigurable materials comprising a periodic assembly of rigid plates and elastic hinges. Guided by numerical analysis and physical prototypes, we systematically explore the mobility of the designed structures and identify a wide range of qualitatively different deformations and internal rearrangements. Given that the underlying principles are scale-independent, our strategy can be applied to the design of the next generation of reconfigurable structures and materials, ranging from metre-scale transformable architectures to nanometre-scale tunable photonic systems.

Harnessing transition waves to realize deployable structures.

Transition waves that sequentially switch bistable elements from one stable configuration to another have received significant interest in recent years not only because of their rich physics but also, for their potential applications, including unidirectional propagation, energy harvesting, and mechanical computation. Here, we exploit the propagation of transition waves in a bistable one-dimensional (1D) linkage as a robust mechanism to realize structures that can be quickly deployed. We first use a combination of experiments and analyses to show that, if the bistable joints are properly designed, transition waves can propagate throughout the entire structure and transform the initial straight configuration into a curved one. We then demonstrate that such bistable linkages can be used as building blocks to realize deployable three-dimensional (3D) structures of arbitrary shape.

Characterization, stability, and application of domain walls in flexible mechanical metamaterials.

Domain walls, commonly occurring at the interface of different phases in solid-state materials, have recently been harnessed at the structural scale to enable additional modes of functionality. Here, we combine experimental, numerical, and theoretical tools to investigate the domain walls emerging upon uniaxial compression in a mechanical metamaterial based on the rotating-squares mechanism. We first show that these interfaces can be generated and controlled by carefully arranging a few phase-inducing defects. We establish an analytical model to capture the evolution of the domain walls as a function of the applied deformation. We then employ this model as a guideline to realize interfaces of complex shape. Finally, we show that the engineered domain walls modify the global response of the metamaterial and can be effectively exploited to tune its stiffness as well as to guide the propagation of elastic waves.

Geometric charges and nonlinear elasticity of two-dimensional elastic metamaterials.

Problems of flexible mechanical metamaterials, and highly deformable porous solids in general, are rich and complex due to their nonlinear mechanics and the presence of nontrivial geometrical effects. While numeric approaches are successful, analytic tools and conceptual frameworks are largely lacking. Using an analogy with electrostatics, and building on recent developments in a nonlinear geometric formulation of elasticity, we develop a formalism that maps the two-dimensional (2D) elastic problem into that of nonlinear interaction of elastic charges. This approach offers an intuitive conceptual framework, qualitatively explaining the linear response, the onset of mechanical instability, and aspects of the postinstability state. Apart from intuition, the formalism also quantitatively reproduces full numeric simulations of several prototypical 2D structures. Possible applications of the tools developed in this work for the study of ordered and disordered 2D porous elastic metamaterials are discussed.

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.

Mechanically robust lattices inspired by deep-sea glass sponges.

The predominantly deep-sea hexactinellid sponges are known for their ability to construct remarkably complex skeletons from amorphous hydrated silica. The skeletal system of one such species of sponge, Euplectella aspergillum, consists of a square-grid-like architecture overlaid with a double set of diagonal bracings, creating a chequerboard-like pattern of open and closed cells. Here, using a combination of finite element simulations and mechanical tests on 3D-printed specimens of different lattice geometries, we show that the sponge's diagonal reinforcement strategy achieves the highest buckling resistance for a given amount of material. Furthermore, using an evolutionary optimization algorithm, we show that our sponge-inspired lattice geometry approaches the optimum material distribution for the design space considered. Our results demonstrate that lessons learned from the study of sponge skeletal systems can be exploited for the realization of square lattice geometries that are geometrically optimized to avoid global structural buckling, with implications for improved material use in modern infrastructural applications.

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.

Harnessing Mechanical Deformation to Reduce Spherical Aberration in Soft Lenses.

Mechanical deformation has recently emerged as a promising platform to realize optical devices with tunable response. While most studies to date have focused on the tuning of the focal length, here we use a combination of experiments and analyses to show that an applied tensile strain can also largely reduce spherical aberration. We first demonstrate the concept for a cylindrical elastomeric lens and then show that it is robust and valid over a range of geometries and material properties. As such, our study suggests that large mechanical deformations may provide a simple route to achieve the complex profiles required to minimize aberration and realize lenses capable of producing images of superior quality.

Automatic design of fiber-reinforced soft actuators for trajectory matching.

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.

Motion microscopy for visualizing and quantifying small motions.

Although the human visual system is remarkable at perceiving and interpreting motions, it has limited sensitivity, and we cannot see motions that are smaller than some threshold. Although difficult to visualize, tiny motions below this threshold are important and can reveal physical mechanisms, or be precursors to large motions in the case of mechanical failure. Here, we present a "motion microscope," a computational tool that quantifies tiny motions in videos and then visualizes them by producing a new video in which the motions are made large enough to see. Three scientific visualizations are shown, spanning macroscopic to nanoscopic length scales. They are the resonant vibrations of a bridge demonstrating simultaneous spatial and temporal modal analysis, micrometer vibrations of a metamaterial demonstrating wave propagation through an elastic matrix with embedded resonating units, and nanometer motions of an extracellular tissue found in the inner ear demonstrating a mechanism of frequency separation in hearing. In these instances, the motion microscope uncovers hidden dynamics over a variety of length scales, leading to the discovery of previously unknown phenomena.

Additive Manufacturing of Nanostructures That Are Delicate, Complex, and Smaller than Ever.

Additive manufacturing with two-photon polymerization (TPP) has opened new opportunities for the rapid fabrication of 3D structures with sub-micrometer resolution, but there are still many fabrication constraints associated with this technique. This study details a postprocessing method utilizing oxygen-plasma etching to increase the capabilities of TPP. Underutilized precision in the typical fabrication process allows this subtractive technique to dramatically reduce the minimum achievable feature size. Moreover, since the postprocessing occurs in a dry environment, high aspect ratio features that cannot survive the typical fabrication route can also be achieved. Finally, it is shown that the technique also provides a pathway to realize structures that otherwise are too delicate to be fabricated with TPP, as it enables to introduce temporary support material that can be removed with the plasma. As such, the proposed approach grants access to a massively expanded design domain, providing new capabilities that are long sought in many fields, including optics, biology, robotics, and solid mechanics.

Focusing and Mode Separation of Elastic Vector Solitons in a 2D Soft Mechanical Metamaterial.

Soft mechanical metamaterials can support a rich set of dynamic responses, which, to date, have received relatively little attention. Here, we report experimental, numerical, and analytical results describing the behavior of an anisotropic two-dimensional flexible mechanical metamaterial when subjected to impact loading. We not only observe the propagation of elastic vector solitons with three components-two translational and one rotational-that are coupled together, but also very rich direction-dependent behaviors such as the formation of sound bullets and the separation of pulses into different solitary modes.

Anomalous Collisions of Elastic Vector Solitons in Mechanical Metamaterials.

We investigate via a combination of experiments and numerical analyses the collision of elastic vector solitons in a chain of rigid units connected by flexible hinges. Because of the vectorial nature of these solitons, very unusual behaviors are observed: while, as expected, the solitons emerge unaltered from the collision if they excite rotations of the same direction, they do not penetrate each other and instead repel one another if they induce rotations of the opposite direction. Our analysis reveals that such anomalous collisions are a consequence of the large-amplitude characteristics of the solitons, which locally modify the properties of the underlying media. Specifically, their large rotations create a significant barrier for pulses that excite rotations of the opposite direction and this may block their propagation. Our findings provide new insights into the collision dynamics of elastic solitary waves. Furthermore, the observed anomalous collisions pave new ways towards the advanced control of large amplitude mechanical pulses, as they provide opportunities to remotely detect, change, or destruct high-amplitude signals and impacts.

Stable propagation of mechanical signals in soft media using stored elastic energy.

Soft structures with rationally designed architectures capable of large, nonlinear deformation present opportunities for unprecedented, highly tunable devices and machines. However, the highly dissipative nature of soft materials intrinsically limits or prevents certain functions, such as the propagation of mechanical signals. Here we present an architected soft system composed of elastomeric bistable beam elements connected by elastomeric linear springs. The dissipative nature of the polymer readily damps linear waves, preventing propagation of any mechanical signal beyond a short distance, as expected. However, the unique architecture of the system enables propagation of stable, nonlinear solitary transition waves with constant, controllable velocity and pulse geometry over arbitrary distances. Because the high damping of the material removes all other linear, small-amplitude excitations, the desired pulse propagates with high fidelity and controllability. This phenomenon can be used to control signals, as demonstrated by the design of soft mechanical diodes and logic gates.

Amplifying the response of soft actuators by harnessing snap-through instabilities.

Soft, inflatable segments are the active elements responsible for the actuation of soft machines and robots. Although current designs of fluidic actuators achieve motion with large amplitudes, they require large amounts of supplied volume, limiting their speed and compactness. To circumvent these limitations, here we embrace instabilities and show that they can be exploited to amplify the response of the system. By combining experimental and numerical tools we design and construct fluidic actuators in which snap-through instabilities are harnessed to generate large motion, high forces, and fast actuation at constant volume. Our study opens avenues for the design of the next generation of soft actuators and robots in which small amounts of volume are sufficient to achieve significant ranges of motion.