Multifunctional ferrofluid-infused surfaces with reconfigurable multiscale topography.

Developing adaptive materials with geometries that change in response to external stimuli provides fundamental insights into the links between the physical forces involved and the resultant morphologies and creates a foundation for technologically relevant dynamic systems1,2. In particular, reconfigurable surface topography as a means to control interfacial properties3 has recently been explored using responsive gels4, shape-memory polymers5, liquid crystals6-8 and hybrid composites9-14, including magnetically active slippery surfaces12-14. However, these designs exhibit a limited range of topographical changes and thus a restricted scope of function. Here we introduce a hierarchical magneto-responsive composite surface, made by infiltrating a ferrofluid into a microstructured matrix (termed ferrofluid-containing liquid-infused porous surfaces, or FLIPS). We demonstrate various topographical reconfigurations at multiple length scales and a broad range of associated emergent behaviours. An applied magnetic-field gradient induces the movement of magnetic nanoparticles suspended in the ferrofluid, which leads to microscale flow of the ferrofluid first above and then within the microstructured surface. This redistribution changes the initially smooth surface of the ferrofluid (which is immobilized by the porous matrix through capillary forces) into various multiscale hierarchical topographies shaped by the size, arrangement and orientation of the confining microstructures in the magnetic field. We analyse the spatial and temporal dynamics of these reconfigurations theoretically and experimentally as a function of the balance between capillary and magnetic pressures15-19 and of the geometric anisotropy of the FLIPS system. Several interesting functions at three different length scales are demonstrated: self-assembly of colloidal particles at the micrometre scale; regulated flow of liquid droplets at the millimetre scale; and switchable adhesion and friction, liquid pumping and removal of biofilms at the centimetre scale. We envision that FLIPS could be used as part of integrated control systems for the manipulation and transport of matter, thermal management, microfluidics and fouling-release materials.

Controllable load sharing for soft adhesive interfaces on three-dimensional surfaces.

For adhering to three-dimensional (3D) surfaces or objects, current adhesion systems are limited by a fundamental trade-off between 3D surface conformability and high adhesion strength. This limitation arises from the need for a soft, mechanically compliant interface, which enables conformability to nonflat and irregularly shaped surfaces but significantly reduces the interfacial fracture strength. In this work, we overcome this trade-off with an adhesion-based soft-gripping system that exhibits enhanced fracture strength without sacrificing conformability to nonplanar 3D surfaces. Composed of a gecko-inspired elastomeric microfibrillar adhesive membrane supported by a pressure-controlled deformable gripper body, the proposed soft-gripping system controls the bonding strength by changing its internal pressure and exploiting the mechanics of interfacial equal load sharing. The soft adhesion system can use up to ∼26% of the maximum adhesion of the fibrillar membrane, which is 14× higher than the adhering membrane without load sharing. Our proposed load-sharing method suggests a paradigm for soft adhesion-based gripping and transfer-printing systems that achieves area scaling similar to that of a natural gecko footpad.

Wetting on the microscale: shape of a liquid drop on a microstructured surface at different length scales.

Describing wetting of a liquid on a rough or structured surface is a challenge because of the wide range of involved length scales. Nano- and micrometer-sized textures cause pinning of the contact line, reflected in a hysteresis of the contact angle. To investigate contact angles at different length scales, we imaged water drops on arrays of 5 µm high poly(dimethylsiloxane) micropillars. The drops were imaged by laser scanning confocal microscopy (LSCM), which allowed us to quantitatively analyze the local and large-scale drop profile simultaneously. Deviations of the shape of drops from a sphere decay at two different length scales. Close to the pillars, the amplitude of deviations decays exponentially within 1-2 µm. The drop profile approached a sphere at a length scale 1 order of magnitude larger than the pillars' height. The height and position dependence of the contact angles can be understood from the interplay of pinning of the contact line, the principal curvatures set by the topography of the substrate, and the minimization of the air-water interfaces.

Adaptive Self-Sealing Suction-Based Soft Robotic Gripper.

While suction cups prevail as common gripping tools for a wide range of real-world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction-based soft robotic gripper where suction is created inside a self-sealing, highly conformable and thin flat elastic membrane contacting a given part surface. Such soft gripper can self-adapt the size of its effective suction area with respect to the applied load. The elastomeric membrane covering edge of the soft gripper can develop an air-tight self-sealing with parts even smaller than the gripper diameter. Such gripper shows 4 times higher adhesion than the one without the membrane on various textured surfaces. The two major advantages, underactuated self-adaptability and enhanced suction performance, allow the membrane-based suction mechanism to grip various three-dimensional (3D) geometries and delicate parts, such as egg, lime, apple, and even hydrogels without noticeable damage, which can have not been gripped with the previous adhesive microstructures-based and active suction-based soft grippers. The structural and material simplicity of the proposed soft gripper design can have a broad use in diverse fields, such as digital manufacturing, robotic manipulation, transfer printing, and medical gripping.

Magnetically switchable soft suction grippers.

Grasping is one of the key tasks for robots. Gripping fragile and complex three-dimensional (3D) objects without applying excessive contact forces has been a challenge for traditional rigid robot grippers. To solve this challenge, soft robotic grippers have been recently proposed for applying small forces and for conforming to complex 3D object shapes passively and easily. However, rigid grippers are still able to exert larger forces, necessary for picking heavy objects. Therefore, in this study, we propose a magnetically switchable soft suction gripper (diameter: 20 mm) to be able to apply both small and large forces. The suction gripper is in its soft state during approach and attachment while it is switched to its rigid state during picking. Such stiffness switching is enabled by filling the soft suction cup with a magnetorheological fluid (MR fluid), which is switched between low-viscosity (soft) and high-viscosity (rigid) states using a strong magnetic field. We characterized the gripper by measuring the force required to pull the gripper from a smooth glass surface. The force was up to 90% larger when the magnetic field was applied (7.1 N vs. 3.8 N). We also demonstrated picking of curved, rough, and wet 3D objects, and thin and delicate films. The proposed stiffness-switchable gripper can also carry heavy objects and still be delicate while handling fragile objects, which is very beneficial for future potential industrial part pick-and-place applications.

3D Printing of Elastomeric Bioinspired Complex Adhesive Microstructures.

Bioinspired elastomeric structural adhesives can provide reversible and controllable adhesion on dry/wet and synthetic/biological surfaces for a broad range of commercial applications. Shape complexity and performance of the existing structural adhesives are limited by the used specific fabrication technique, such as molding. To overcome these limitations by proposing complex 3D microstructured adhesive designs, a 3D elastomeric microstructure fabrication approach is implemented using two-photon-polymerization-based 3D printing. A custom aliphatic urethane-acrylate-based elastomer is used as the 3D printing material. Two designs are demonstrated with two combined biological inspirations to show the advanced capabilities enabled by the proposed fabrication approach and custom elastomer. The first design focuses on springtail- and gecko-inspired hybrid microfiber adhesive, which has the multifunctionalities of side-surface liquid super-repellency, top-surface liquid super-repellency, and strong reversible adhesion features in a single fiber array. The second design primarily centers on octopus- and gecko-inspired hybrid adhesive, which exhibits the benefits of both octopus- and gecko-inspired microstructured adhesives for strong reversible adhesion on both wet and dry surfaces, such as skin. This fabrication approach could be used to produce many other 3D complex elastomeric structural adhesives for future real-world applications.

Liquid-Superrepellent Bioinspired Fibrillar Adhesives.

Bioinspired elastomeric fibrillar surfaces have significant potential as reversible dry adhesives, but their adhesion performance is sensitive to the presence of liquids at the contact interface. Like their models in nature, many artificial mimics can effectively repel water, but fail when low-surface-tension liquids are introduced at the contact interface. A bioinspired fibrillar adhesive surface that is liquid-superrepellent even toward ultralow-surface-tension liquids while retaining its adhesive properties is proposed herein. This surface combines the effective adhesion principle of mushroom-shaped fibrillar arrays with liquid repellency based on double re-entrant fibril tip geometry. The adhesion performance of the proposed microfibril structures is retained even when low-surface-tension liquids are added to the contact interface. The extreme liquid repellency enables real-world applications of fibrillar adhesives for surfaces covered with water, oil, and other liquids. Moreover, fully elastomeric liquid-superrepellent surfaces are mechanically not brittle, highly robust against physical contact, and highly deformable and stretchable, which can increase the real-world uses of such antiwetting surfaces.

Magnetically actuated patterns for bioinspired reversible adhesion (dry and wet).

A facile strategy to obtain magnetically actuated arrays of micropillars able to undergo reversible, homogeneous, drastic, and tunable geometrical changes upon application of a magnetic field with variable strength is demonstrated. A magnetically tunable gecko-inspired adhesive that works under dry and wet conditions is realized using elastomeric micropatterns containing magnetic microparticles.

Bioinspired actuated adhesive patterns of liquid crystalline elastomers.

Gecko-inspired arrays of micropillars made of a liquid crystalline elastomer display thermoswitchable adhesive behavior as a consequence of elongation changes caused by reorientation of the mesogens at the nematic-isotropic (N-I) phase transition.