Hydrogel morphogenesis induced by force-controlled growth.

Morphogenesis is one of the most marvelous natural phenomena. The morphological characteristics of biological organs develop through growth, which is often triggered by mechanical force. In this study, we propose a bioinspired strategy for hydrogel morphogenesis through force-controlled chemical reaction and growth under isothermal conditions. We adopted a double network (DN) hydrogel with sacrificial bonds. Applying mechanical force to the gel caused deformation and sacrificial bond rupture. By supplying monomers to the gel, the radicals generated by the bond rupture triggered the formation of a new network inside the deformed gel. This new network conferred plasticity to the elastic gel, allowing it to maintain its deformed shape, along with increased volume and strength. We demonstrated that sheet-shaped DN hydrogels rapidly adopted various three-dimensional shapes at ambient temperature when subjected to forces such as drawing and blowing. This mechanism enables morphogenesis of elastic hydrogels and will promote the application of these materials in biomedical fields and soft machines.

An insect-inspired asymmetric hinge in a double-layer membrane.

Insect wings are deformable airfoils, in which deformations are mostly achieved by complicated interactions between their structural components. Due to the complexity of the wing design and technical challenges associated with testing the delicate wings, we know little about the properties of their components and how they determine wing response to flight forces. Here, we report an unusual structure from the hind-wing membrane of the beetle Pachnoda marginata. The structure, a transverse section of the claval flexion line, consists of two distinguishable layers: a bell-shaped upper layer and a straight lower layer. Our computational simulations showed that this is an effective one-way hinge, which is stiff in tension and upward bending but flexible in compression and downward bending. By systematically varying its design parameters in a computational model, we showed that the properties of the double-layer membrane hinge can be tuned over a wide range. This enabled us to develop a broad design space, which we later used for model selection. We used selected models in three distinct applications, which proved that the double-layer hinge represents a simple yet effective design strategy for controlling the mechanical response of structures using a single material and with no extra mass. The insect-inspired, one-way hinge is particularly useful for developing structures with asymmetric behavior, exhibiting different responses to the same load in two opposite directions. This multidisciplinary study not only advances our understanding of the biomechanics of complicated insect wings but also informs the design of easily tunable engineering hinges.

A soft microrobot with highly deformable 3D actuators for climbing and transitioning complex surfaces.

The climbing microrobots have attracted growing attention due to their promising applications in exploration and monitoring of complex, unstructured environments. Soft climbing microrobots based on muscle-like actuators could offer excellent flexibility, adaptability, and mechanical robustness. Despite the remarkable progress in this area, the development of soft microrobots capable of climbing on flat/curved surfaces and transitioning between two different surfaces remains elusive, especially in open spaces. In this study, we address these challenges by developing voltage-driven soft small-scale actuators with customized 3D configurations and active stiffness adjusting. Combination of programmed strain distributions in liquid crystal elastomers (LCEs) and buckling-driven 3D assembly, guided by mechanics modeling, allows for voltage-driven, complex 3D-to-3D shape morphing (bending angle > 200°) at millimeter scales (from 1 to 10 mm), which is unachievable previously. These soft actuators enable development of morphable electroadhesive footpads that can conform to different curved surfaces and stiffness-variable smart joints that allow different locomotion gaits in a single microrobot. By integrating such morphable footpads and smart joints with a deformable body, we report a multigait, soft microrobot (length from 6 to 90 mm, and mass from 0.2 to 3 g) capable of climbing on surfaces with diverse shapes (e.g., flat plane, cylinder, wavy surface, wedge-shaped groove, and sphere) and transitioning between two distinct surfaces. We demonstrate that the microrobot could navigate from one surface to another, recording two corresponding ceilings when carrying an integrated microcamera. The developed soft microrobot can also flip over a barrier, survive extreme compression, and climb bamboo and leaf.

Interfacial Dehydration Strategy for Chitosan Film Shape Morphing and Its Application.

Shape morphing of biopolymer materials, such as chitosan (CS) films, has great potential for applications in many fields. Traditionally, their responsive behavior has been induced by the differential water swelling through the preparation of multicomponent composites or cross-linking as deformation is not controllable in the absence of these processes. Here, we report an interfacial dehydration strategy to trigger the shape morphing of the monocomponent CS film without cross-linking. The release of water molecules is achieved by spraying the surface with a NaOH solution or organic solvents, which results in the interfacial shrinkage and deformation of the entire film. On the basis of this strategy, a range of CS actuators were developed, such as soft grippers, joint actuators, and a light switch. Combined with the geometry effect, edited deformation was also achieved from the planar CS film. This shape-morphing strategy is expected to enable the application of more biopolymers in a wide range of fields.

Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly.

Magnetic soft actuators and robots have attracted considerable attention in biomedical applications due to their speedy response, programmability, and biocompatibility. Despite recent advancements, the fabrication process of magnetic actuators and the reprogramming approach of their magnetization profiles continue to pose challenges. Here, a facile fabrication strategy is reported based on arrangements and distributions of reusable magnetic pixels on silicone substrates, allowing for various magnetic actuators with customizable architectures, arbitrary magnetization profiles, and integration of microfluidic technology. This approach enables intricate configurations with decent deformability and programmability, as well as biomimetic movements involving grasping, swimming, and wriggling in response to magnetic actuation. Moreover, microfluidic functional modules are integrated for various purposes, such as on/off valve control, curvature adjustment, fluid mixing, dynamic microfluidic architecture, and liquid delivery robot. The proposed method fulfills the requirements of low-cost, rapid, and simplified preparation of magnetic actuators, since it eliminates the need to sustain pre-defined deformations during the magnetization process or to employ laser heating or other stimulation for reprogramming the magnetization profile. Consequently, it is envisioned that magnetic actuators fabricated via pixel-assembly will have broad prospects in microfluidics and biomedical applications.

4D Fabrication of Two-Way Shape Memory Polymeric Composites by Electrospinning and Melt Electrowriting.

This work presents a new method for 4D fabrication of two-way shape memory materials that are capable of reversible shapeshifting right after manufacturing, upon application of proper heating and cooling cycles. The innovative solution presented here consists in the combination of highly stretched electrospun shape memory polymer (SMP) nanofibers with a melt electrowritten elastomer. More specifically, the stretched nanofibers are made of a biocompatible thermoplastic polyurethane (TPU) with crystallizable soft segments, undergoing melt-induced contraction and crystallization-induced elongation upon heating and cooling, respectively. Reversible actuation during crystallization becomes possible due to the elastic recovery of the elastomer component, obtained by melt electrowriting of a commercial TPU filament. Thanks to the design freedom offered by additive manufacturing, the elastomer structure also has the role of guiding the shape transformation. Electrospinning and melt electrowriting process parameters are set up so to obtain smart 4D objects capable of two-way shape memory effect (SME), and the possibility of reversible and repeatable actuation is demonstrated. The two components are then combined in different proportions with the aim of tailoring the two-way SME, taking into account the effect of design parameters such as the SMP content, the elastomer pattern, and the composite thickness.

Totimorphic assemblies from neutrally stable units.

Inspired by the quest for shape-shifting structures in a range of applications, we show how to create morphable structural materials using a neutrally stable unit cell as a building block. This unit cell is a self-stressed hinged structure with a one-parameter family of morphing motions that are all energetically equivalent. However, unlike kinematic mechanisms, the unit cell is not infinitely floppy and instead exhibits a tunable mechanical response akin to that of an ideal rigid-plastic material. Theory and simulations allow us to explore the properties of planar and spatial assemblies of neutrally stable elements, and solve the inverse problem of designing assemblies that can morph from one given shape into another. Simple experimental prototypes of these assemblies corroborate our theoretical results and show that the addition of switchable hinges allows us to create load-bearing structures. Altogether, totimorphs pave the way for structural materials whose geometry and deformation response can be controlled independently and at multiple scales.

MONET: The Minor Body Generator Tool at DART Lab.

Minor bodies exhibit considerable variability in shape and surface morphology, posing challenges for spacecraft operations, which are further compounded by highly non-linear dynamics and limited communication windows with Earth. Additionally, uncertainties persist in the shape and surface morphology of minor bodies due to errors in ground-based estimation techniques. The growing need for autonomy underscores the importance of robust image processing and visual-based navigation methods. To address this demand, it is essential to conduct tests on a variety of body shapes and with different surface morphological features. This work introduces the procedural Minor bOdy geNErator Tool (MONET), implemented using an open-source 3D computer graphics software. The starting point of MONET is the three-dimensional mesh of a generic minor body, which is procedurally modified by introducing craters, boulders, and surface roughness, resulting in a photorealistic model. MONET offers the flexibility to generate a diverse range of shapes and surface morphological features, aiding in the recreation of various minor bodies. Users can fine-tune relevant parameters to create the desired conditions based on the specific application requirements. The tool offers the capability to generate two default families of models: rubble-pile, characterized by numerous different-sized boulders, and comet-like, reflecting the typical morphology of comets. MONET serves as a valuable resource for researchers and engineers involved in minor body exploration missions and related projects, providing insights into the adaptability and effectiveness of guidance and navigation techniques across a wide range of morphological scenarios.

Three-Dimensional Reconstruction and Deformation Identification of Slope Models Based on Structured Light Method.

In this study, we propose a meticulous method for the three-dimensional modeling of slope models using structured light, a swift and cost-effective technique. Our approach aims to enhance the understanding of slope behavior during landslides by capturing and analyzing surface deformations. The methodology involves the initial capture of images at various stages of landslides, followed by the application of the structured light method for precise three-dimensional reconstructions at each stage. The system's low-cost nature and operational convenience make it accessible for widespread use. Subsequently, a comparative analysis is conducted to identify regions susceptible to severe landslide disasters, providing valuable insights for risk assessment. Our findings underscore the efficacy of this system in facilitating a qualitative analysis of landslide-prone areas, offering a swift and cost-efficient solution for the three-dimensional reconstruction of slope models.

Serendipitous Identification of Azine Anticancer Agents Using a Privileged Scaffold Morphing Strategy.

The use of privileged scaffolds as a starting point for the construction of libraries of bioactive compounds is a widely used strategy in drug discovery and development. Scaffold decoration, morphing and hopping are additional techniques that enable the modification of the chosen privileged framework and better explore the chemical space around it. In this study, two series of highly functionalized pyrimidine and pyridine derivatives were synthesized using a scaffold morphing approach consisting of triazine compounds obtained previously as antiviral agents. Newly synthesized azines were evaluated against lymphoma, hepatocarcinoma, and colon epithelial carcinoma cells, showing in five cases acceptable to good anticancer activity associated with low cytotoxicity on healthy fibroblasts. Finally, ADME in vitro studies were conducted on the best derivatives of the two series showing good passive permeability and resistance to metabolic degradation.

Design, Synthesis, and Biological Evaluation of Novel Coumarin Analogs Targeted against SARS-CoV-2.

SARS-CoV, an RNA virus, is contagious and displays a remarkable degree of adaptability, resulting in intricate disease presentations marked by frequent genetic mutations that can ultimately give rise to drug resistance. Targeting its viral replication cycle could be a potential therapeutic option to counter its viral growth in the human body leading to the severe infectious stage. The Mpro of SARS-CoV-2 is a promising target for therapeutic development as it is crucial for viral transcription and replication. The derivatives of ß-diketone and coumarin have already been reported for their antiviral potential and, thus, are considered as a potential scaffold in the current study for the computational design of potential analogs for targeting the viral replication of SARS-CoV-2. In our study, we used novel diketone-hinged coumarin derivatives against the SARS-CoV-2 MPro to develop a broad-spectrum antiviral agent targeting SARS-CoV-2. Through an analysis of pharmacokinetics and docking studies, we identified a list of the top 10 compounds that demonstrated effectiveness in inhibiting the SARS-CoV-2 MPro virus. On the basis of the pharmacokinetics and docking analyses, the top 5 novel coumarin analogs were synthesized and characterized. The thermodynamic stability of compounds KS82 and KS94 was confirmed by their molecular dynamics, and the stability of the simulated system indicated their inhibitory nature. Molecules KS82 and KS94 were further evaluated for their anti-viral potential using Vero E6 cells followed by RT-PCR assay against SARS-CoV-2. The test compound KS82 was the most active with the potential to inhibit SARS-CoV-2 replication in Vero E6 cells. These data indicate that KS82 prevents the attack of the virus and emerges as the primary candidate with promising antiviral properties.

A 4D-Printing Inverse Design Strategy for Micromachines with Customized Shape-Morphing.

An active heterostructure with smart-response material used as "muscle" and inactive material as "skeleton" can deform over time to respond to external stimuli. 4D printing integrated with two-photon polymerization technology and smart material allows the material or characteristic distribution of active heterostructures to be defined directly at the microscale, providing a huge programmable space. However, the high degree of design freedom and the microscale pose a challenge to the construction of micromachines with customized shape morphing. Here, a reverse design strategy based on multi-material stepwise 4D printing is proposed to guide the structural design of biomimetic micromachines. Inspired by the piecewise constant curvature model of soft robot, a reverse design algorithm based on the Timoshenko model is developed. The algorithm can approximate 2D features to a constant-curvature model and determine an acceptable material distribution within the explored printing range. Three Chinese "Long" (Chinese dragon heralds of good fortune) designed by the strategy can deform to the customized shape. In addition, a microcrawler printed using this method can imitate a real inchworm gait. These results demonstrate that this method can be an efficient tool for the action or shape design of bionic soft microrobots or micromachines with predetermined functions.

Shape-Morphing Liquid-Crystal polymers.

Liquid-crystal polymers are a type of representative material combining the order-disorder transition of liquid crystals and the superior properties of polymers. The phase transition from the liquid-crystal phase to the isotropic state of mesogens causes large, controllable, and reversible deformation of polymers; thus, liquid-crystal polymers have emerged as one of the most valuable candidates for shape-morphing materials. Therefore, this review will focus on the recent development of shape-morphing liquid-crystal polymers, including the modes of energy conversions, material design strategies and further applications. In the main, novel material design methods and a wide range of application of shape-morphing liquid-crystal polymers are discussed.

Learning emotional dialects: A British population study of cross-cultural communication.

The aim of the current research was to explore whether we can improve the recognition of cross-cultural freely-expressed emotional faces in British participants. We tested several methods for improving the recognition of freely-expressed emotional faces, such as different methods for presenting other-culture expressions of emotion from individuals from Chile, New Zealand and Singapore in two experimental stages. In the first experimental stage, in phase one, participants were asked to identify the emotion of cross-cultural freely-expressed faces. In the second phase, different cohorts were presented with interactive side-by-side, back-to-back and dynamic morphing of cross-cultural freely-expressed emotional faces, and control conditions. In the final phase, we repeated phase one using novel stimuli. We found that all non-control conditions led to recognition improvements. Morphing was the most effective condition for improving the recognition of cross-cultural emotional faces. In the second experimental stage, we presented morphing to different cohorts including own-to-other and other-to-own freely-expressed cross-cultural emotional faces and neutral-to-emotional and emotional-to-neutral other-culture freely-expressed emotional faces. All conditions led to recognition improvements and the presentation of freely-expressed own-to-other cultural-emotional faces provided the most effective learning. These findings suggest that training can improve the recognition of cross-cultural freely-expressed emotional expressions.

Clinical characteristics of transformation obsessions in obsessive-compulsive disorder: A psychopathological study.

BACKGROUND: The obsession of turning into another person (transformation obsessions [TO]), and its related compulsions have been initially conceptualised as a form of mental contamination. Nevertheless, it has remained understudied in the current obsessive-compulsive disorder (OCD) literature. In parallel, disturbances of the self have been identified as markers of prodromal psychosis in patients with schizophrenia. Based on the later association, this study aimed to investigate the sociodemographic and clinical correlates of TO. METHODS: In all, 1001 OCD outpatients from the Brazilian OCD Research Consortium were included in this study. Several semi-structured and structured instruments were used to compare 48 OCD patients with TO with 953 OCD patients without TO. A repression model investigated the relationships between the presence of current TO and statistically significant univariate test outcomes. RESULTS: Participants with TO presented an overall younger age, a longer period of time between the onset of the OCD symptoms and an OCD diagnosis, greater severity of the sexual/religious dimension and increased suicidality symptoms. CONCLUSIONS: These results indicate that TO may be better conceptualised as a form of forbidden/taboo thoughts rather than contamination. While no significant associations with psychotic features (e.g. decreased insight) were observed, TO patients displayed increased suicidality, overall younger age and a significantly larger disparity between seeking treatment and OCD diagnosis. This demonstrates that further clinical awareness and research into TO as an OCD symptom is most needed.

Perceived naturalness of emotional voice morphs.

Research into voice perception benefits from manipulation software to gain experimental control over acoustic expression of social signals such as vocal emotions. Today, parameter-specific voice morphing allows a precise control of the emotional quality expressed by single vocal parameters, such as fundamental frequency (F0) and timbre. However, potential side effects, in particular reduced naturalness, could limit ecological validity of speech stimuli. To address this for the domain of emotion perception, we collected ratings of perceived naturalness and emotionality on voice morphs expressing different emotions either through F0 or Timbre only. In two experiments, we compared two different morphing approaches, using either neutral voices or emotional averages as emotionally non-informative reference stimuli. As expected, parameter-specific voice morphing reduced perceived naturalness. However, perceived naturalness of F0 and Timbre morphs were comparable with averaged emotions as reference, potentially making this approach more suitable for future research. Crucially, there was no relationship between ratings of emotionality and naturalness, suggesting that the perception of emotion was not substantially affected by a reduction of voice naturalness. We hold that while these findings advocate parameter-specific voice morphing as a suitable tool for research on vocal emotion perception, great care should be taken in producing ecologically valid stimuli.

Self-Scheduled LPV Control of Asymmetric Variable-Span Morphing UAV.

In this study, a novel framework for the flight control of a morphing unmanned aerial vehicle (UAV) based on linear parameter-varying (LPV) methods is proposed. A high-fidelity nonlinear model and LPV model of an asymmetric variable-span morphing UAV were obtained using the NASA generic transport model. The left and right wing span variation ratios were decomposed into symmetric and asymmetric morphing parameters, which were then used as the scheduling parameter and the control input, respectively. LPV-based control augmentation systems were designed to track the normal acceleration, angle of sideslip, and roll rate commands. The span morphing strategy was investigated considering the effects of morphing on various factors to aid the intended maneuver. Autopilots were designed using LPV methods to track commands for airspeed, altitude, angle of sideslip, and roll angle. A nonlinear guidance law was coupled with the autopilots for three-dimensional trajectory tracking. A numerical simulation was performed to demonstrate the effectiveness of the proposed scheme.

Programmable Complex Shape Changing of Polysiloxane Main-Chain Liquid Crystalline Elastomers.

Liquid crystal elastomers (LCEs) are shape-morphing materials whose large and reversible shape transformations are caused by the coupling between the mobile anisotropic properties of liquid crystal (LC) units and the rubber elastic of polymer networks. Their shape-changing behaviors under certain stimuli are largely directed by the LC orientation; therefore, various strategies have been developed to spatially modulate the LC alignments. However, most of these methods are limited as they require complex fabrication technologies or have intrinsic limitations in applicability. To address this issue, programmable complex shape changes in some LCE types, such as polysiloxane side-chain LCEs, thiol-acrylate main-chain LCEs, etc., were achieved by using a mechanical alignment programming process coupled with two-step crosslinking. Here, we report a polysiloxane main-chain LCE with programmable 2- and 3D shape-changing abilities that were created by mechanically programming the polydomain LCE with two crosslinking steps. The resulting LCEs exhibited a reversible thermal-induced shape transformation between the initial and programmed shapes due to the two-way memory between the first and second network structures. Our findings expand on the applications of LCE materials in actuators, soft robotics, and smart structures where arbitrary and easily programmed shape morphing is needed.

The Jena Audiovisual Stimuli of Morphed Emotional Pseudospeech (JAVMEPS): A database for emotional auditory-only, visual-only, and congruent and incongruent audiovisual voice and dynamic face stimuli with varying voice intensities.

We describe JAVMEPS, an audiovisual (AV) database for emotional voice and dynamic face stimuli, with voices varying in emotional intensity. JAVMEPS includes 2256 stimulus files comprising (A) recordings of 12 speakers, speaking four bisyllabic pseudowords with six naturalistic induced basic emotions plus neutral, in auditory-only, visual-only, and congruent AV conditions. It furthermore comprises (B) caricatures (140%), original voices (100%), and anti-caricatures (60%) for happy, fearful, angry, sad, disgusted, and surprised voices for eight speakers and two pseudowords. Crucially, JAVMEPS contains (C) precisely time-synchronized congruent and incongruent AV (and corresponding auditory-only) stimuli with two emotions (anger, surprise), (C1) with original intensity (ten speakers, four pseudowords), (C2) and with graded AV congruence (implemented via five voice morph levels, from caricatures to anti-caricatures; eight speakers, two pseudowords). We collected classification data for Stimulus Set A from 22 normal-hearing listeners and four cochlear implant users, for two pseudowords, in auditory-only, visual-only, and AV conditions. Normal-hearing individuals showed good classification performance (McorrAV = .59 to .92), with classification rates in the auditory-only condition ≥ .38 correct (surprise: .67, anger: .51). Despite compromised vocal emotion perception, CI users performed above chance levels of .14 for auditory-only stimuli, with best rates for surprise (.31) and anger (.30). We anticipate JAVMEPS to become a useful open resource for researchers into auditory emotion perception, especially when adaptive testing or calibration of task difficulty is desirable. With its time-synchronized congruent and incongruent stimuli, JAVMEPS can also contribute to filling a gap in research regarding dynamic audiovisual integration of emotion perception via behavioral or neurophysiological recordings.

The Open Virtual Mirror Framework for enfacement illusions : Enhancing the sense of agency with avatars that imitate facial expressions.

Enfacement illusions are traditionally elicited by visuo-tactile stimulation, but more active paradigms become possible through the usage of virtual reality techniques. For instance, virtual mirrors have been recently proposed to induce enfacement by visuo-motor stimulation. In a virtual mirror experiment, participants interact with an avatar that imitates their facial movements. The active control over the avatar greatly enhances the sense of agency, which is an important ingredient for successful enfacement illusion induction. Due to technological challenges, most virtual mirrors so far were limited to the imitation of the participant's head pose, i.e., its location and rotation. However, stronger experiences of agency can be expected by an increase in the avatar's mimicking abilities. We here present a new open-source framework for virtual mirror experiments, which we call the Open Virtual Mirror Framework (OVMF). The OVMF can track and imitate a large range of facial movements, including pose and expressions. It has been designed to run on standard computer hardware and easily interfaces with existing toolboxes for psychological experimentation, while satisfying the requirement of a tightly controlled experimental setup. Further, it is designed to enable convenient extension of its core functionality such that it can be flexibly adjusted to many different experimental paradigms. We demonstrate the usage of the OVMF and experimentally validate its ability to elicit experiences of agency over an avatar, concluding that the OVMF can serve as a reference for future experiments and that it provides high potential to stimulate new directions in enfacement research and beyond.