Numerical model of pressure generated by elastic compression garments on a compressible human limb analogue.

OBJECTIVE: This study aimed to formulate a numerical approach (finite element modelling (FEM)) to calculate pressure values generated by compression garments on a compressible limb analogue, and to validate the numerical approach using experimental measurements. Existing models were also compared. METHOD: Experimentally measured pressure values and deformation caused by compression bands on a compressible human limb analogue were compared with values predicted using the Young-Laplace equation, a previously formulated analytical model and the FEM. RESULTS: The FEM provided greater accuracy in predicting the pressure generated by compression bands compared to existing models. The FEM also predicted deformation of the limb analogue with good agreement relative to experimental values. CONCLUSION: It was concluded that modelling the non-uniform manner in which the way a limb analogue is compressed should be incorporated into future modelling of the pressures generated by compression garments on a compressible limb analogue. DECLARATION OF INTEREST: The authors have no conflicts of interest to declare.

New twist on artificial muscles.

Lightweight artificial muscle fibers that can match the large tensile stroke of natural muscles have been elusive. In particular, low stroke, limited cycle life, and inefficient energy conversion have combined with high cost and hysteretic performance to restrict practical use. In recent years, a new class of artificial muscles, based on highly twisted fibers, has emerged that can deliver more than 2,000 J/kg of specific work during muscle contraction, compared with just 40 J/kg for natural muscle. Thermally actuated muscles made from ordinary polymer fibers can deliver long-life, hysteresis-free tensile strokes of more than 30% and torsional actuation capable of spinning a paddle at speeds of more than 100,000 rpm. In this perspective, we explore the mechanisms and potential applications of present twisted fiber muscles and the future opportunities and challenges for developing twisted muscles having improved cycle rates, efficiencies, and functionality. We also demonstrate artificial muscle sewing threads and textiles and coiled structures that exhibit nearly unlimited actuation strokes. In addition to robotics and prosthetics, future applications include smart textiles that change breathability in response to temperature and moisture and window shutters that automatically open and close to conserve energy.

In vivo biocompatibility of porous and non-porous polypyrrole based trilayered actuators.

Trilayered polypyrrole (PPy) actuators have high stress density, low modulus and have wide potential biological applications including use in artificial muscles and in limb prosthesis after limb amputation. This article examines the in vivo biocompatibility of actuators in muscle using rabbit models. The actuators were specially designed with pores to encourage tissue in growth; this study also assessed the effect of such pores on the stability of the actuators in vivo. Trilayered PPy actuators were either laser cut with 150 µm pores or left pore-less and implanted into rabbit muscle for 3 days, 2 weeks, 4 weeks and 8 weeks and retrieved subsequently for histological analysis. In a second set of experiments, the cut edges of pores in porous actuator strips were further sealed by PPy after laser cutting to further improve its stability in vivo. Porous actuators with and without PPy sealing of pore edges were implanted intramuscularly for 4 and 8 weeks and assessed with histology. Pore-less actuators incited a mild inflammatory response, becoming progressively walled off by a thin layer of fibrous tissue. Porous actuators showed increased PPy fragmentation and delamination with associated greater foreign body response compared to pore-less actuators. The PPy fragmentation was minimized when the pore edges were sealed off by PPy after laser cutting showing less PPy debris. Laser cutting of the actuators with pores destabilizes the PPy. This can be overcome by sealing the cut edges of the pores with PPy after laser. The findings in this article have implications in future design and manufacturing of PPy actuator for use in vivo.

Efficient, Absorption-Powered Artificial Muscles Based on Carbon Nanotube Hybrid Yarns.

A new type of absorption-powered artificial muscle provides high performance without needing a temperature change. These muscles, comprising coiled carbon nanotube fibers infiltrated with silicone rubber, can contract up to 50% to generate up to 1.2 kJ kg(-1) . The drive mechanism for actuation is the rubber swelling during exposure to a nonpolar solvent. Theoretical energy efficiency conversion can be as high as 16%.

4D Printing with Mechanically Robust, Thermally Actuating Hydrogels.

A smart valve is created by 4D printing of hydrogels that are both mechanically robust and thermally actuating. The printed hydrogels are made up of an interpenetrating network of alginate and poly(N-isopropylacrylamide). 4D structures are created by printing the "dynamic" hydrogel ink alongside other static materials.

All-solid-state carbon nanotube torsional and tensile artificial muscles.

We report electrochemically powered, all-solid-state torsional and tensile artificial yarn muscles using a spinnable carbon nanotube (CNT) sheet that provides attractive performance. Large torsional muscle stroke (53°/mm) with minor hysteresis loop was obtained for a low applied voltage (5 V) without the use of a relatively complex three-electrode electromechanical setup, liquid electrolyte, or packaging. Useful tensile muscle strokes were obtained (1.3% at 2.5 V and 0.52% at 1 V) when lifting loads that are ∼25 times heavier than can be lifted by the same diameter human skeletal muscle. Also, the tensile actuator maintained its contraction following charging and subsequent disconnection from the power supply because of its own supercapacitor property at the same time. Possible eventual applications for the individual tensile and torsional muscles are in micromechanical devices, such as for controlling valves and stirring liquids in microfluidic circuits, and in medical catheters.

Electrically contractile polymers augment right ventricular output in the heart.

Research into the development of artificial heart muscle has been limited to assembly of stem cell-derived cardiomyocytes seeded around a matrix, while nonbiological approaches to tissue engineering have rarely been explored. The aim of the study was to apply electrically contractile polymer-based actuators as cardiomyoplasty for positive inotropic support of the right ventricle. Complex trilayer polypyrrole (PPy) bending polymers for high-speed applications were generated. Bending motion occurred directly as a result of electrochemically driven charging and discharging of the PPy layers. In a rat model (n = 5), strips of polymers (3 × 20 mm) were attached and wrapped around the right ventricle (RV). RV pressure was continuously monitored invasively by direct RV cannulation. Electrical activation occurred simultaneously with either diastole (in order to evaluate the polymer's stand-alone contraction capacity; group 1) or systole (group 2). In group 1, the pressure generation capacity of the polymers was measured by determining the area under the pressure curve (area under curve, AUC). In group 2, the RV pressure AUC was measured in complexes directly preceding those with polymer contraction and compared to RV pressure complexes with simultaneous polymer contraction. In group 1, the AUC generated by polymer contraction was 2768 ± 875 U. In group 2, concomitant polymer contraction significantly increased AUC compared with complexes without polymer support (5987 ± 1334 U vs. 4318 ± 691 U, P ≤ 0.01). Electrically contractile polymers are able to significantly augment right ventricular contraction. This approach may open new perspectives for myocardial tissue engineering, possibly in combination with fetal or embryonic stem cell-derived cardiomyocytes.

Crack-Resistant and Tissue-Like Artificial Muscles with Low Temperature Activation and High Power Density.

Constructing soft robotics with safe human-machine interactions requires low-modulus, high-power-density artificial muscles that are sensitive to gentle stimuli. In addition, the ability to resist crack propagation during long-term actuation cycles is essential for a long service life. Herein, a material design is proposed to combine all these desirable attributes in a single artificial muscle platform. The design involves the molecular engineering of a liquid crystalline network with crystallizable segments and an ethylene glycol flexible spacer. A high degree of crystallinity can be afforded by utilizing aza-Michael chemistry to produce a low covalent crosslinking density, resulting in crack-insensitivity with a high fracture energy of 33 720 J m-2 and a high fatigue threshold of 2250 J m-2. Such crack-resistant artificial muscle with tissue-matched modulus of 0.7 MPa can generate a high power density of 450 W kg-1 at a low temperature of 40 °C. Notably, because of the presence of crystalline domains in the actuated state, no crack propagation is observed after 500 heating-cooling actuation cycles under a static load of 220 kPa. This study points to a pathway for the creation of artificial muscles merging seemingly disparate, but desirable properties, broadening their application potential in smart devices.

Free-standing nanocomposites with high conductivity and extensibility.

The prospect of electronic circuits that are stretchable and bendable promises tantalizing applications such as skin-like electronics, roll-up displays, conformable sensors and actuators, and lightweight solar cells. The preparation of highly conductive and highly extensible materials remains a challenge for mass production applications, such as free-standing films or printable composite inks. Here we present a nanocomposite material consisting of carbon nanotubes, ionic liquid, silver nanoparticles, and polystyrene-polyisoprene-polystyrene having a high electrical conductivity of 3700 S cm(-1) that can be stretched to 288% without permanent damage. The material is prepared as a concentrated dispersion suitable for simple processing into free-standing films. For the unstrained state, the measured thermal conductivity for the electronically conducting elastomeric nanoparticle film is relatively high and shows a non-metallic temperature dependence consistent with phonon transport, while the temperature dependence of electrical resistivity is metallic. We connect an electric fan to a DC power supply using the films to demonstrate their utility as an elastomeric electronic interconnect. The huge strain sensitivity and the very low temperature coefficient of resistivity suggest their applicability as strain sensors, including those that operate directly to control motors and other devices.

Designing strong, fast, high-performance hydrogel actuators.

Hydrogel actuators displaying programmable shape transformations are particularly attractive for integration into future soft robotics with safe human-machine interactions. However, these materials are still in their infancy, and many significant challenges remain presenting impediments to their practical implementation, including poor mechanical properties, slow actuation speed and limited actuation performance. In this review, we discuss the recent advances in hydrogel designs to address these critical limitations. First, the material design concepts to improve mechanical properties of hydrogel actuators will be introduced. Examples are also included to highlight strategies to realize fast actuation speed. In addition, recent progress about creating strong and fast hydrogel actuators are sumarized. Finally, a discussion of different methods to realize high values in several aspects of actuation performance metrics for this class of materials is provided. The advances and challenges discussed in this highlight could provide useful guidelines for rational design to manipulate the properties of hydrogel actuators toward widespread real-world applications.

Ultra-Soft Organogel Artificial Muscles Exhibiting High Power Density, Large Stroke, Fast Response and Long-Term Durability in Air.

Polymeric gel-based artificial muscles exhibiting tissue-matched Young's modulus (10 Pa-1 MPa) promise to be core components in future soft machines with inherently safe human-machine interactions. However, the ability to simultaneously generate fast, large, high-power, and long-lasting actuation in the open-air environment, has yet been demonstrated in this class of ultra-soft materials. Herein, to overcome this hurdle, the design and synthesis of a twisted and coiled liquid crystalline glycerol-organogel (TCLCG) is reported. Such material with a low Young's modulus of 133 kPa can surpass the actuation performance of skeletal muscles in a variety of aspects, including actuation strain (66%), actuation rate (275% s-1 ), power density (438 kW m-3 ), and work capacity (105 kJ m-3 ). Notably, its power density is 14 times higher than the record of state-of-the-art polymeric gels. No actuation performance degradation is detected in the TCLCG even after air exposure for 7 days, owing to the excellent water retention ability enabled by glycerol as co-solvent with water. Using TCLCG, mobile soft robots with extraordinary maneuverability in unstructured environments are successfully demonstrated, including a crawler showing fast bidirectional locomotion (0.50 mm s-1 ) in a small-confined space, and a roller that can escape after deep burying in sand.

Artificial Muscles and Soft Robotic Devices for Treatment of End-Stage Heart Failure.

Medical soft robotics constitutes a rapidly developing field in the treatment of cardiovascular diseases, with a promising future for millions of patients suffering from heart failure worldwide. Herein, the present state and future direction of artificial muscle-based soft robotic biomedical devices in supporting the inotropic function of the heart are reviewed, focusing on the emerging electrothermally artificial heart muscles (AHMs). Artificial muscle powered soft robotic devices can mimic the action of complex biological systems such as heart compression and twisting. These artificial muscles possess the ability to undergo complex deformations, aiding cardiac function while maintaining a limited weight and use of space. Two very promising candidates for artificial muscles are electrothermally actuated AHMs and biohybrid actuators using living cells or tissue embedded with artificial structures. Electrothermally actuated AHMs have demonstrated superior force generation while creating the prospect for fully soft robotic actuated ventricular assist devices. This review will critically analyze the limitations of currently available devices and discuss opportunities and directions for future research. Last, the properties of the cardiac muscle are reviewed and compared with those of different materials suitable for mechanical cardiac compression.

Edge-Functionalized Graphene/Polydimethylsiloxane Composite Films for Flexible Neural Cuff Electrodes.

The design of neural electrodes has changed in the past decade, driven mainly by the development of new materials that open the possibility of manufacturing electrodes with adaptable mechanical properties and promising electrical properties. In this paper, we report on the mechanical and electrochemical properties of a polydimethylsiloxane (PDMS) composite with edge-functionalized graphene (EFG) and demonstrate its potential for use in neural implants with the fabrication of a novel neural cuff electrode. We have shown that a 200 µm thick 1:1 EFG/PDMS composite film has a stretchability of up to 20%, a Young's modulus of 2.52 MPa, and a lifetime of more than 10000 mechanical cycles, making it highly suitable for interfacing with soft tissue. Electrochemical characterization of the EFG/PDMS composite film showed that the capacitance of the composite increased up to 35 times after electrochemical reduction, widening the electrochemical water window and remaining stable after soaking for 5 weeks in phosphate buffered saline. The electrochemically activated EFG/PDMS electrode had a 3 times increase in the charge injection capacity, which is more than double that of a commercial platinum-based neural cuff. Electrochemical and spectrochemical investigations supported the conclusion that this effect originated from the stable chemisorption of hydrogen on the graphene surface. The biocompatibility of the composite was confirmed with an in vitro cell culture study using mouse spinal cord cells. Finally, the potential of the EFG/PDMS composite was demonstrated with the fabrication of a novel neural cuff electrode, whose double-layered and open structured design increased the cuff stretchability up to 140%, well beyond that required for an operational neural cuff. In addition, the cuff design offers better integration with neural tissue and simpler nerve fiber installation and locking.

The role of unbound oligomers in the nucleation and growth of electrodeposited polypyrrole and method for preparing high strength, high conductivity films.

Polypyrrole is a material with immensely useful properties suitable for a wide range of electrochemical applications, but its development has been hindered by cumbersome manufacturing processes. Here we show that a simple modification to the standard electrochemical polymerization method produces polypyrrole films of equivalently high conductivity and superior mechanical properties in one-tenth of the polymerization time. Preparing the film as a series of electrodeposited layers with thorough solvent washing between layering was found to produce excellent quality films even when layer deposition was accelerated by high current. The washing step between the sequentially polymerized layers altered the deposition mechanism, eliminating the typical dendritic growth and generating nonporous deposits. Solvent washing was shown to reduce the concentration of oligomeric species in the near-electrode region and hinder the three-dimensional growth mechanism that occurs by deposition of secondary particles from solution. As artificial muscles, the high density sequentially polymerized films produced the highest mechanical work output yet reported for polypyrrole actuators.

Direct sub-micrometer patterning of nanostructured conducting polymer films via a low-energy infrared laser.

Despite the many attractive properties of conjugated polymers, their practical applications are often limited by the lack of a simple, scalable, and nondisruptive patterning method. Here, a direct, scalable, high-resolution patterning technique for conducting polymers is demonstrated that does not involve photoresists, masks, or postprocessing treatment. Complex, well-defined patterns down to sub-micrometer scales can be created from nanofibrous films of a wide variety of conducting polymers by photothermally welding the nanofibers using a low-energy infrared laser. The welding depth, structural robustness, and optical properties of the films are readily controlled. In addition, the electrical properties such as conductivity can be precisely tuned over a 7-order of magnitude range, while maintaining the characteristic tunable electronic properties in the nonwelded polyaniline regions.

A Coiled Carbon Nanotube Yarn-Integrated Surface Electromyography System To Monitor Isotonic and Isometric Movements.

A surface electromyogram (sEMG) electrode collects electrical currents generated by neuromuscular activity by a noninvasive technique on the skin. It is particularly attractive for wearable systems for various human activities and health care monitoring. However, it remains challenging to discriminate EMG signals from isotonic (concentric/eccentric) and isometric movements. By applying nanotechnology, we provide a coiled carbon nanotube (CNT) yarn-integrated sEMG device to overcome sEMG-based motion recognition. When the arm was contracted at different angles, the sEMG-derived root mean square amplitude signals were constant regardless of the angle of the moving arm. However, the coiled CNT yarn-derived open circuit voltage (OCV) signals proportionally increased when the arm's angle increased, and presented negative and positive values depending on the moving direction of the arm. Moreover, isometric contraction is characterized by the onset of EMG signals without an OCV signal, and isotonic contraction is determined by both EMG signals and OCV signals. Taken together, the integration of EMG and coiled CNT yarn electrodes provides complementary information, including the strength, direction, and degree of muscle movement. Therefore, we suggest that our system has high potential as a wearable system to monitor human motions in industrial and human system applications.

3D Printing Microactuators for Soft Microrobots.

Current additive manufacturing, including three-dimensional (3D) and so-called four-dimensional printing, of soft robotic devices is limited to millimeter sizes. In this study, we present additive manufacturing of soft microactuators and microrobots to fabricate even smaller structures in the micrometer domain. Using a custom-built extrusion 3D printer, microactuators are scaled down to a size of 300 × 1000 µm2, with minimum thickness of 20 µm. Microactuators combined with printed body and electroactive polymers to drive the actuators are fabricated from computer-aided design model of the device structure. To demonstrate the ease and versatility of 3D printing process, microactuators with varying lengths ranging from 1000 to 5000 µm are fabricated and operated. Likewise, microrobotic devices consisting of a rigid body and individually controlled free-moving arms or legs are 3D printed to explore the microfabrication of soft grippers, manipulators, or microrobots through simple additive manufacturing technique.

Dynamic Mechanical and Creep Behaviour of Meltspun PVDF Nanocomposite Fibers.

Piezoelectric fibers have an important role in wearable technology as energy generators and sensors. A series of hybrid nanocomposite piezoelectric fibers of polyinylidene fluoride (PVDF) loaded with barium-titanium oxide (BT) and reduced graphene oxide (rGO) were prepared via the melt spinning method. Our previous studies show that high-performance fibers with 84% of the electroactive ß-phase in the PVDF generated a peak output voltage up to 1.3 V and a power density of 3 W kg-1. Herein, the dynamic mechanical and creep behavior of these fibers were investigated to evaluate their durability and piezoelectric performance. Dynamic mechanical analysis (DMA) was used to provide phenomenological information regarding the viscoelastic properties of the fibers in the longitudinal direction. DSC and SEM were employed to characterize the crystalline structure of the samples. The storage modulus and the loss tangent increased by increasing the frequency over the temperature range (-50 to 150 °C) for all of the fibers. The storage modulus of the PVDF/rGO nanocomposite fibers had a higher value (7.5 GPa) in comparison with other fibers. The creep and creep recovery behavior of the PVDF/nanofillers in the nanocomposite fibers have been explored in the linear viscoelastic region at three different temperatures (10-130 °C). In the PVDF/rGO nanocomposite fibers, strong sheet/matrix interfacial interaction restricted the mobility of the polymer chains, which led to a higher modulus at temperatures 60 and 130 °C.

Dual high-stroke and high-work capacity artificial muscles inspired by DNA supercoiling.

Powering miniature robots using actuating materials that mimic skeletal muscle is attractive because conventional mechanical drive systems cannot be readily downsized. However, muscle is not the only mechanically active system in nature, and the thousandfold contraction of eukaryotic DNA into the cell nucleus suggests an alternative mechanism for high-stroke artificial muscles. Our analysis reveals that the compaction of DNA generates a mass-normalized mechanical work output exceeding that of skeletal muscle, and this result inspired the development of composite double-helix fibers that reversibly convert twist to DNA-like plectonemic or solenoidal supercoils by simple swelling and deswelling. Our modeling-optimized twisted fibers give contraction strokes as high as 90% with a maximum gravimetric work 36 times higher than skeletal muscle. We found that our supercoiling coiled fibers simultaneously provide high stroke and high work capacity, which is rare in other artificial muscles.

Unipolar stroke, electroosmotic pump carbon nanotube yarn muscles.

Success in making artificial muscles that are faster and more powerful and that provide larger strokes would expand their applications. Electrochemical carbon nanotube yarn muscles are of special interest because of their relatively high energy conversion efficiencies. However, they are bipolar, meaning that they do not monotonically expand or contract over the available potential range. This limits muscle stroke and work capacity. Here, we describe unipolar stroke carbon nanotube yarn muscles in which muscle stroke changes between extreme potentials are additive and muscle stroke substantially increases with increasing potential scan rate. The normal decrease in stroke with increasing scan rate is overwhelmed by a notable increase in effective ion size. Enhanced muscle strokes, contractile work-per-cycle, contractile power densities, and energy conversion efficiencies are obtained for unipolar muscles.