Logic-enabled textiles.

Textiles hold great promise as a soft yet durable material for building comfortable robotic wearables and assistive devices at low cost. Nevertheless, the development of smart wearables composed entirely of textiles has been hindered by the lack of a viable sheet-based logic architecture that can be implemented using conventional fabric materials and textile manufacturing processes. Here, we develop a fully textile platform for embedding pneumatic digital logic in wearable devices. Our logic-enabled textiles support combinational and sequential logic functions, onboard memory storage, user interaction, and direct interfacing with pneumatic actuators. In addition, they are designed to be lightweight, easily integrable into regular clothing, made using scalable fabrication techniques, and durable enough to withstand everyday use. We demonstrate a textile computer capable of input-driven digital logic for controlling untethered wearable robots that assist users with functional limitations. Our logic platform will facilitate the emergence of future wearables powered by embedded fluidic logic that fully leverage the innate advantages of their textile construction.

Programmable soft valves for digital and analog control.

In soft devices, complex actuation sequences and precise force control typically require hard electronic valves and microcontrollers. Existing designs for entirely soft pneumatic control systems are capable of either digital or analog operation, but not both, and are limited by speed of actuation, range of pressure, time required for fabrication, or loss of power through pull-down resistors. Using the nonlinear mechanics intrinsic to structures composed of soft materials-in this case, by leveraging membrane inversion and tube kinking-two modular soft components are developed: a piston actuator and a bistable pneumatic switch. These two components combine to create valves capable of analog pressure regulation, simplified digital logic, controlled oscillation, nonvolatile memory storage, linear actuation, and interfacing with human users in both digital and analog formats. Three demonstrations showcase the capabilities of systems constructed from these valves: 1) a wearable glove capable of analog control of a soft artificial robotic hand based on input from a human user's fingers, 2) a human-controlled cushion matrix designed for use in medical care, and 3) an untethered robot which travels a distance dynamically programmed at the time of operation to retrieve an object. This work illustrates pathways for complementary digital and analog control of soft robots using a unified valve design.

Elastic-instability-enabled locomotion.

Locomotion of an organism interacting with an environment is the consequence of a symmetry-breaking action in space-time. Here we show a minimal instantiation of this principle using a thin circular sheet, actuated symmetrically by a pneumatic source, using pressure to change shape nonlinearly via a spontaneous buckling instability. This leads to a polarized, bilaterally symmetric cone that can walk on land and swim in water. In either mode of locomotion, the emergence of shape asymmetry in the sheet leads to an asymmetric interaction with the environment that generates movement--via anisotropic friction on land, and via directed inertial forces in water. Scaling laws for the speed of the sheet of the actuator as a function of its size, shape, and the frequency of actuation are consistent with our observations. The presence of easily controllable reversible modes of buckling deformation further allows for a change in the direction of locomotion in open arenas and the ability to squeeze through confined environments--both of which we demonstrate using simple experiments. Our simple approach of harnessing elastic instabilities in soft structures to drive locomotion enables the design of novel shape-changing robots and other bioinspired machines at multiple scales.

Mitigating Contamination with Nanostructure-Enabled Ultraclean Storage.

Airborne hydrocarbon contamination hinders nanomanufacturing, limits characterization techniques, and generates controversies regarding fundamental studies of advanced materials; consequently, we urgently need effective and scalable clean storage techniques. In this work, we propose an approach to clean storage using an ultraclean nanotextured storage medium as a getter. Experiments show that our proposed approach can maintain surface cleanliness for more than 1 week and can even passively clean initially contaminated samples during storage. We theoretically analyzed the contaminant adsorption-desorption process with different values of storage medium surface roughness, and our model predictions showed good agreement with experiments for smooth, nanotextured, and hierarchically textured surfaces, providing guidelines for the design of future clean storage systems. The proposed strategy offers a promising approach for portable and cost-effective storage systems that minimize hydrocarbon contamination in applications requiring clean surfaces, including nanofabrication, device storage and transportation, and advanced metrology.

Ultraefficient Electrocatalytic Hydrogen Evolution from Strain-Engineered, Multilayer MoS2.

This paper reports an approach to repurpose low-cost, bulk multilayer MoS2 for development of ultraefficient hydrogen evolution reaction (HER) catalysts over large areas (>cm2). We create working electrodes for use in HER by dry transfer of MoS2 nano- and microflakes to gold thin films deposited on prestrained thermoplastic substrates. By relieving the prestrain at a macroscopic scale, a tunable level of tensile strain is developed in the MoS2 and consequently results in a local phase transition as a result of spontaneously formed surface wrinkles. Using electrochemical impedance spectroscopy, we verified that electrochemical activation of the strained MoS2 lowered the charge transfer resistance within the materials system, achieving HER activity comparable to platinum (Pt). Raman and X-ray photoelectron spectroscopy show that desulfurization in the multilayer MoS2 was promoted by the phase transition; the combined effect of desulfurization and the lower charge resistance induced superior HER performance.

Hydrogel-Based, Dynamically Tunable Plasmonic Metasurfaces with Nanoscale Resolution.

Flat metasurfaces with subwavelength meta-atoms can be designed to manipulate the electromagnetic parameters of incident light and enable unusual light-matter interactions. Although hydrogel-based metasurfaces have the potential to control optical properties dynamically in response to environmental conditions, the pattern resolution of these surfaces has been limited to microscale features or larger, limiting capabilities at the nanoscale, and precluding effective use in metamaterials. This paper reports a general approach to developing tunable plasmonic metasurfaces with hydrogel meta-atoms at the subwavelength scale. Periodic arrays of hydrogel nanodots with continuously tunable diameters are fabricated on silver substrates, resulting in humidity-responsive surface plasmon polaritons (SPPs) at the nanostructure-metal interfaces. The peaks of the SPPs are controlled reversibly by absorbing or releasing water within the hydrogel matrix, the matrix-generated plasmonic color rendering in the visible spectrum. This work demonstrates that metasurfaces designed with these spatially patterned nanodots of varying sizes benefit applications in anti-counterfeiting and generate multicolored displays with single-nanodot resolution. Furthermore, this work shows system versatility exhibited by broadband beam-steering on a phase modulator consisting of hydrogel supercell units in which the size variations of constituent hydrogel nanostructures engineer the wavefront of reflected light from the metasurface.

Temporal Evolution of Surface Contamination under Ultra-high Vacuum.

Ultra-high vacuum (UHV) is essential to many surface characterization techniques and is often applied with the intention of reducing exposure to airborne contaminants. Surface contamination under UHV is not well-understood, however, and introduces uncertainty in surface elemental characterization or hinders surface-sensitive manufacturing approaches. In this work, we investigated the time-dependent surface composition of gold samples with different initial levels of contamination under UHV over a period of 24 h with both experiments and physical modeling. Our results show that surface hydrocarbon concentration under UHV can be explained by molecular adsorption-desorption competition theory. Gold surfaces that were initially pristine adsorbed hydrocarbons over time under UHV; conversely, surfaces that were initially heavily contaminated desorbed hydrocarbons over time. During both adsorption and desorption, the concentration of contaminants tended toward the same equilibrium value. This study provides a comprehensive evaluation of the temporal evolution of surface contamination under UHV and highlights routes to mitigate surface contamination effects.

Digital logic for soft devices.

Although soft devices (grippers, actuators, and elementary robots) are rapidly becoming an integral part of the broad field of robotics, autonomy for completely soft devices has only begun to be developed. Adaptation of conventional systems of control to soft devices requires hard valves and electronic controls. This paper describes completely soft pneumatic digital logic gates having a physical scale appropriate for use with current (macroscopic) soft actuators. Each digital logic gate utilizes a single bistable valve-the pneumatic equivalent of a Schmitt trigger-which relies on the snap-through instability of a hemispherical membrane to kink internal tubes and operates with binary high/low input and output pressures. Soft, pneumatic NOT, AND, and OR digital logic gates-which generate known pneumatic outputs as a function of one, or multiple, pneumatic inputs-allow fabrication of digital logic circuits for a set-reset latch, two-bit shift register, leading-edge detector, digital-to-analog converter (DAC), and toggle switch. The DAC and toggle switch, in turn, can control and power a soft actuator (demonstrated using a pneu-net gripper). These macroscale soft digital logic gates are scalable to high volumes of airflow, do not consume power at steady state, and can be reconfigured to achieve multiple functionalities from a single design (including configurations that receive inputs from the environment and from human users). This work represents a step toward a strategy to develop autonomous control-one not involving an electronic interface or hard components-for soft devices.

Analysis of Powders Containing Illicit Drugs Using Magnetic Levitation.

Magneto-Archimedes levitation (MagLev) enables the separation of powdered mixtures of illicit drugs (cocaine, methamphetamine, heroin, fentanyl, and its analogues), adulterants, and diluents based on density, and allows the presumptive identification of individual components. Small samples (mass <50 mg), with low concentrations of illicit drugs, present a particular challenge to analysis for forensic chemists. The MagLev device, a cuvette containing a solution of paramagnetic gadolinium(III) chelate in a non-polar solvent, placed between two like-poles-facing NdFeB magnets, allowed separation of seven relevant compounds simultaneously. In particular, initial separation with MagLev, followed by characterization by FTIR-ATR, enabled identification of fentanyl in a sample of fentanyl-laced heroin (1.3 wt % fentanyl, 2.6 wt % heroin, and 96.1 wt % lactose). MagLev allows identification of unknown powders in mixtures and enables confirmatory identification based on structure-specific techniques.

High-Throughput Density Measurement Using Magnetic Levitation.

This work describes the development of an integrated analytical system that enables high-throughput density measurements of diamagnetic particles (including cells) using magnetic levitation (MagLev), 96-well plates, and a flatbed scanner. MagLev is a simple and useful technique with which to carry out density-based analysis and separation of a broad range of diamagnetic materials with different physical forms (e.g., liquids, solids, gels, pastes, gums, etc.); one major limitation, however, is the capacity to perform high-throughput density measurements. This work addresses this limitation by (i) re-engineering the shape of the magnetic fields so that the MagLev system is compatible with 96-well plates, and (ii) integrating a flatbed scanner (and simple optical components) to carry out imaging of the samples that levitate in the system. The resulting system is compatible with both biological samples (human erythrocytes) and nonbiological samples (simple liquids and solids, such as 3-chlorotoluene, cholesterol crystals, glass beads, copper powder, and polymer beads). The high-throughput capacity of this integrated MagLev system will enable new applications in chemistry (e.g., analysis and separation of materials) and biochemistry (e.g., cellular responses under environmental stresses) in a simple and label-free format on the basis of a universal property of all matter, i.e., density.

Gravitationally Driven Wicking for Enhanced Condensation Heat Transfer.

Vapor condensation is routinely used as an effective means of transferring heat or separating fluids. Filmwise condensation is prevalent in typical industrial-scale systems, where the condensed fluid forms a thin liquid film due to the high surface energy associated with many industrial materials. Conversely, dropwise condensation, where the condensate forms discrete liquid droplets which grow, coalesce, and shed, results in an improvement in heat transfer performance of an order of magnitude compared to filmwise condensation. However, current state-of-the-art dropwise technology relies on functional hydrophobic coatings, for example, long chain fatty acids or polymers, which are often not robust and therefore undesirable in industrial conditions. In addition, low surface tension fluid condensates, such as hydrocarbons, pose a unique challenge because common hydrophobic condenser coatings used to shed water (with a surface tension of 73 mN/m) often do not repel fluids with lower surface tensions (<25 mN/m). We demonstrate a method to enhance condensation heat transfer using gravitationally driven flow through a porous metal wick, which takes advantage of the condensate's affinity to wet the surface and also eliminates the need for condensate-phobic coatings. The condensate-filled wick has a lower thermal resistance than the fluid film observed during filmwise condensation, resulting in an improved heat transfer coefficient of up to an order of magnitude and comparable to that observed during dropwise condensation. The improved heat transfer realized by this design presents the opportunity for significant energy savings in natural gas processing, thermal management, heating and cooling, and power generation.

An Ultrathin Nanoporous Membrane Evaporator.

Evaporation is a ubiquitous phenomenon found in nature and widely used in industry. Yet a fundamental understanding of interfacial transport during evaporation remains limited to date owing to the difficulty of characterizing the heat and mass transfer at the interface, especially at high heat fluxes (>100 W/cm2). In this work, we elucidated evaporation into an air ambient with an ultrathin (≈200 nm thick) nanoporous (≈130 nm pore diameter) membrane. With our evaporator design, we accurately monitored the temperature of the liquid-vapor interface, reduced the thermal-fluidic transport resistance, and mitigated the clogging risk associated with contamination. At a steady state, we demonstrated heat fluxes of ≈500 W/cm2 across the interface over a total evaporation area of 0.20 mm2. In the high flux regime, we showed the importance of convective transport caused by evaporation itself and that Fick's first law of diffusion no longer applies. This work improves our fundamental understanding of evaporation and paves the way for high flux phase-change devices.

Coexistence of Pinning and Moving on a Contact Line.

Textured surfaces are instrumental in water repellency or fluid wicking applications, where the pinning and depinning of the liquid-gas interface plays an important role. Previous work showed that a contact line can exhibit nonuniform behavior due to heterogeneities in surface chemistry or roughness. We demonstrate that such nonuniformities can be achieved even without varying the local energy barrier. Around a cylindrical pillar, an interface can reside in an intermediate state where segments of the contact line are pinned to the pillar top while the rest of the contact line moves along the sidewall. This partially pinned mode is due to the global nonaxisymmetric pattern of the surface features and exists for all textured surfaces, especially when superhydrophobic surfaces are about to be flooded or when capillary wicks are close to dryout.

Scalable graphene coatings for enhanced condensation heat transfer.

Water vapor condensation is commonly observed in nature and routinely used as an effective means of transferring heat with dropwise condensation on nonwetting surfaces exhibiting heat transfer improvement compared to filmwise condensation on wetting surfaces. However, state-of-the-art techniques to promote dropwise condensation rely on functional hydrophobic coatings that either have challenges with chemical stability or are so thick that any potential heat transfer improvement is negated due to the added thermal resistance of the coating. In this work, we show the effectiveness of ultrathin scalable chemical vapor deposited (CVD) graphene coatings to promote dropwise condensation while offering robust chemical stability and maintaining low thermal resistance. Heat transfer enhancements of 4× were demonstrated compared to filmwise condensation, and the robustness of these CVD coatings was superior to typical hydrophobic monolayer coatings. Our results indicate that graphene is a promising surface coating to promote dropwise condensation of water in industrial conditions with the potential for scalable application via CVD.

Ambient-mediated wetting on smooth surfaces.

A consensus was built in the first half of the 20th century, which was further debated more than 3 decades ago, that the wettability and condensation mechanisms on smooth solid surfaces are modified by the adsorption of organic contaminants present in the environment. Recently, disagreement has formed about this topic once again, as many researchers have overlooked contamination due to its difficulty to eliminate. For example, the intrinsic wettability of rare earth oxides has been reported to be hydrophobic and non-wetting to water. These materials were subsequently shown to display dropwise condensation with steam. Nonetheless, follow on research has demonstrated that the intrinsic wettability of rare earth oxides is hydrophilic and wetting to water, and that a transition to hydrophobicity occurs in a matter of hours-to-days as a consequence of the adsorption of volatile organic compounds from the ambient environment. The adsorption mechanisms, kinetics, and selectivity, of these volatile organic compounds are empirically known to be functions of the substrate material and structure. However, these mechanisms, which govern the surface wettability, remain poorly understood. In this contribution, we introduce current research demonstrating the different intrinsic wettability of metals, rare earth oxides, and other smooth materials, showing that they are intrinsically hydrophilic. Then we provide details on research focusing on the transition from wetting (hydrophilicity) to non-wetting (hydrophobicity) on somooth surfaces due to adsorption of volatile organic compounds. A state-of-the-art figure of merit mapping the wettability of different smooth solid surfaces to ambient exposure as a function of the surface carbon content has also been developed. In addition, we analyse recent works that address these wetting transitions so to shed light on how such processes affect droplet pinning and lateral adhesion. We then conclude with objective perspectives about research on wetting to non-wetting transitions on smooth solid surfaces in an attempt to raise awareness regarding this surface contamination phenomenon within the engineering, interfacial science, and physical chemistry domains.

Conversion of Layered WS2 Crystals into Mixed-Domain Electrochemical Catalysts by Plasma-Assisted Surface Reconstruction.

Electrocatalytic water splitting is crucial to generate clean hydrogen fuel, but implementation at an industrial scale remains limited due to dependence on expensive platinum (Pt)-based electrocatalysts. Here, an all-dry process to transform electrochemically inert bulk WS2 into a multidomain electrochemical catalyst that enables scalable and cost-effective implementation of the hydrogen evolution reaction (HER) in water electrolysis is reported. Direct dry transfer of WS2 flakes to a gold thin film deposited on a silicon substrate provides a general platform to produce the working electrodes for HER with tunable charge transfer resistance. By treating the mechanically exfoliated WS2 with sequential Ar-O2 plasma, mixed domains of WS2, WO3, and tungsten oxysulfide form on the surfaces of the flakes, which gives rise to a superior HER with much greater long-term stability and steady-state activity compared to Pt. Using density functional theory, ultraefficient atomic sites formed on the constituent nanodomains are identified, and the quantification of atomic-scale reactivities and resulting HER activities fully support the experimental observations.

Mechanofluidic Instability-Driven Wearable Textile Vibrotactor.

Vibration is a widely used mode of haptic communication, as vibrotactile cues provide salient haptic notifications to users and are easily integrated into wearable or handheld devices. Fluidic textile-based devices offer an appealing platform for the incorporation of vibrotactile haptic feedback, as they can be integrated into clothing and other conforming and compliant wearables. Fluidically driven vibrotactile feedback has primarily relied on valves to regulate actuating frequencies in wearable devices. The mechanical bandwidth of such valves limits the range of frequencies that can be achieved, particularly in attempting to reach the higher frequencies realized with electromechanical vibration actuators ( 100 Hz). In this paper, we introduce a soft vibrotactile wearable device constructed entirely of textiles and capable of rendering vibration frequencies between 183 and 233 Hz with amplitudes ranging from 23 to 114 g. We describe our methods of design and fabrication and the mechanism of vibration, which is realized by controlling inlet pressure and harnessing a mechanofluidic instability. Our design allows for controllable vibrotactile feedback that is comparable in frequency and greater in amplitude relative to state-of-the-art electromechanical actuators while offering the compliance and conformity of fully soft wearable devices.

Rapid In Situ Thermal Decontamination of Wearable Composite Textile Materials.

Pandemics stress supply lines and generate shortages of personal protective equipment (PPE), in part because most PPE is single-use and disposable, resulting in a need for constant replenishment to cope with high-volume usage. To better prepare for the next pandemic and to reduce waste associated with disposable PPE, we present a composite textile material capable of thermally decontaminating its surface via Joule heating. This material can achieve high surface temperatures (>100 °C) and inactivate viruses quickly (<5 s of heating), as evidenced experimentally with the surrogate virus HCoV-OC43 and in agreement with analytical modeling for both HCoV-OC43 and SARS-CoV-2. Furthermore, it does not require doffing because it remains relatively cool near the skin (<40 °C). The material can be easily integrated into clothing and provides a rapid, reusable, in situ decontamination method capable of reducing PPE waste and mitigating the risk of supply line disruptions in times of need.

A low-cost wearable device for portable sequential compression therapy.

In 2020, cardiovascular diseases resulted in 25% of unnatural deaths in the United States. Treatment with long-term administration of medication can adversely affect other organs, and surgeries such as coronary artery grafts are risky. Meanwhile, sequential compression therapy (SCT) offers a low-risk alternative, but is currently expensive and unwieldy, and often requires the patient to be immobilized during administration. Here, we present a low-cost wearable device to administer SCT, constructed using a stacked lamination fabrication approach. Expanding on concepts from the field of soft robotics, textile sheets are thermally bonded to form pneumatic actuators, which are controlled by an inconspicuous and tetherless electronic onboard supply of pressurized air. Our open-source, low-profile, and lightweight (140 g) device costs $62, less than one-third the cost the least expensive alternative and one-half the weight of lightest alternative approved by the US Food and Drug Administration (FDA), presenting the opportunity to more effectively provide SCT to socioeconomically disadvantaged individuals. Furthermore, our textile-stacking method, inspired by conventional fabrication methods from the apparel industry, along with the lightweight fabrics used, allows the device to be worn more comfortably than other SCT devices. By reducing physical and financial encumbrances, the device presented in this work may better enable patients to treat cardiovascular diseases and aid in recovery from cardiac surgeries.

Necrobotics: Biotic Materials as Ready-to-Use Actuators.

Designs perfected through evolution have informed bioinspired animal-like robots that mimic the locomotion of cheetahs and the compliance of jellyfish; biohybrid robots go a step further by incorporating living materials directly into engineered systems. Bioinspiration and biohybridization have led to new, exciting research, but humans have relied on biotic materials-non-living materials derived from living organisms-since their early ancestors wore animal hides as clothing and used bones for tools. In this work, an inanimate spider is repurposed as a ready-to-use actuator requiring only a single facile fabrication step, initiating the area of "necrobotics" in which biotic materials are used as robotic components. The unique walking mechanism of spiders-relying on hydraulic pressure rather than antagonistic muscle pairs to extend their legs-results in a necrobotic gripper that naturally resides in its closed state and can be opened by applying pressure. The necrobotic gripper is capable of grasping objects with irregular geometries and up to 130% of its own mass. Furthermore, the gripper can serve as a handheld device and innately camouflages in outdoor environments. Necrobotics can be further extended to incorporate biotic materials derived from other creatures with similar hydraulic mechanisms for locomotion and articulation.