Relation between blood pressure and pulse wave velocity for human arteries.

Continuous monitoring of blood pressure, an essential measure of health status, typically requires complex, costly, and invasive techniques that can expose patients to risks of complications. Continuous, cuffless, and noninvasive blood pressure monitoring methods that correlate measured pulse wave velocity (PWV) to the blood pressure via the Moens-Korteweg (MK) and Hughes Equations, offer promising alternatives. The MK Equation, however, involves two assumptions that do not hold for human arteries, and the Hughes Equation is empirical, without any theoretical basis. The results presented here establish a relation between the blood pressure P and PWV that does not rely on the Hughes Equation nor on the assumptions used in the MK Equation. This relation degenerates to the MK Equation under extremely low blood pressures, and it accurately captures the results of in vitro experiments using artificial blood vessels at comparatively high pressures. For human arteries, which are well characterized by the Fung hyperelastic model, a simple formula between P and PWV is established within the range of human blood pressures. This formula is validated by literature data as well as by experiments on human subjects, with applicability in the determination of blood pressure from PWV in continuous, cuffless, and noninvasive blood pressure monitoring systems.

Design of a Sensitive Balloon Sensor for Safe Human-Robot Interaction.

As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human-robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting their surroundings. However, unexpected collisions caused by malfunctions or sudden external collisions can still cause injuries to rigid robots with thin tactile sensors. In this study, we present a sensitive balloon sensor for contact sensing and alleviating physical collisions over a large area of rigid robots. The balloon sensor is a pressure sensor composed of an inflatable body of low-density polyethylene (LDPE), and a highly sensitive and flexible strain sensor laminated onto it. The mechanical crack-based strain sensor with high sensitivity enables the detection of extremely small changes in the strain of the balloon. Adjusting the geometric parameters of the balloon allows for a large and easily customizable sensing area. The weight of the balloon sensor was approximately 2 g. The sensor is employed with a servo motor and detects a finger or a sheet of rolled paper gently touching it, without being damaged.

Ultrasensitive mechanical crack-based sensor inspired by the spider sensory system.

Recently developed flexible mechanosensors based on inorganic silicon, organic semiconductors, carbon nanotubes, graphene platelets, pressure-sensitive rubber and self-powered devices are highly sensitive and can be applied to human skin. However, the development of a multifunctional sensor satisfying the requirements of ultrahigh mechanosensitivity, flexibility and durability remains a challenge. In nature, spiders sense extremely small variations in mechanical stress using crack-shaped slit organs near their leg joints. Here we demonstrate that sensors based on nanoscale crack junctions and inspired by the geometry of a spider's slit organ can attain ultrahigh sensitivity and serve multiple purposes. The sensors are sensitive to strain (with a gauge factor of over 2,000 in the 0-2 per cent strain range) and vibration (with the ability to detect amplitudes of approximately 10 nanometres). The device is reversible, reproducible, durable and mechanically flexible, and can thus be easily mounted on human skin as an electronic multipixel array. The ultrahigh mechanosensitivity is attributed to the disconnection-reconnection process undergone by the zip-like nanoscale crack junctions under strain or vibration. The proposed theoretical model is consistent with experimental data that we report here. We also demonstrate that sensors based on nanoscale crack junctions are applicable to highly selective speech pattern recognition and the detection of physiological signals. The nanoscale crack junction-based sensory system could be useful in diverse applications requiring ultrahigh displacement sensitivity.

Foot Plantar Pressure Measurement System Using Highly Sensitive Crack-Based Sensor.

Measuring the foot plantar pressure has the potential to be an important tool in many areas such as enhancing sports performance, diagnosing diseases, and rehabilitation. In general, the plantar pressure sensor should have robustness, durability, and high repeatability, as it should measure the pressure due to body weight. Here, we present a novel insole foot plantar pressure sensor using a highly sensitive crack-based strain sensor. The sensor is made of elastomer, stainless steel, a crack-based sensor, and a 3D-printed frame. Insoles are made of elastomer with Shore A 40, which is used as part of the sensor, to distribute the load to the sensor. The 3D-printed frame and stainless steel prevent breakage of the crack-based sensor and enable elastic behavior. The sensor response is highly repeatable and shows excellent durability even after 20,000 cycles. We show that the insole pressure sensor can be used as a real-time monitoring system using the pressure visualization program.

Effect of Metal Thickness on the Sensitivity of Crack-Based Sensors.

Among many attempts to make a decent human motion detector in various engineering fields, a mechanical crack-based sensor that deliberately generates and uses nano-scale cracks on a metal deposited thin film is gaining attention for its high sensitivity. While the metal layer of the sensor must be responsible for its high performance, its effects have not received much academic interest. In this paper, we studied the relationship between the thickness of the metal layer and the characteristics of the sensor by depositing a few nanometers of chromium (Cr) and gold (Au) on the PET film. We found that the sensitivity of the crack sensor improves/increases under the following conditions: (1) when Au is thin and Cr is thick; and (2) when the ratio of Au is lower than that of Cr, which also increases the transmittance of the sensor, along with its sensitivity. As we only need a small amount of Au to achieve high sensitivity of the sensor, we have suggested more efficient and economical fabrication methods. With this crack-based sensor, we were able to successfully detect finger motions and to distinguish various signs of American Sign Language (ASL).

Directional Clustering of Slanted Nanopillars by Elastocapillarity.

The unidirectional clustering induced by capillary force of drying liquids between pillars is investigated and a theoretical model to set a criterion of the unidirectional clustering of the slanted nanopillars is proposed.

Scale dependence in hydrodynamic regime for jumping on water.

Momentum transfer from the water surface is strongly related to the dynamical scale and morphology of jumping animals. Here, we investigate the scale-dependent momentum transfer of various jumping organisms and engineered systems at an air-water interface. A simplified analytical model for calculating the maximum momentum transfer identifies an intermediate dynamical scale region highly disadvantageous for jumping on water. The Weber number of the systems should be designed far from 1 to achieve high jumping performance on water. We design a relatively large water-jumping robot in the drag-dominant scale range, having a high Weber number, for maximum jumping height and distance. The jumping robot, around 10 times larger than water striders, has a take-off speed of 3.6 m/s facilitated by drag-based propulsion, which is the highest value reported thus far. The scale-dependent hydrodynamics of water jumpers provides a useful framework for understanding nature and robotic system interacting with the water surface.

Real-time counting of wheezing events from lung sounds using deep learning algorithms: Implications for disease prediction and early intervention.

This pioneering study aims to revolutionize self-symptom management and telemedicine-based remote monitoring through the development of a real-time wheeze counting algorithm. Leveraging a novel approach that includes the detailed labeling of one breathing cycle into three types: break, normal, and wheeze, this study not only identifies abnormal sounds within each breath but also captures comprehensive data on their location, duration, and relationships within entire respiratory cycles, including atypical patterns. This innovative strategy is based on a combination of a one-dimensional convolutional neural network (1D-CNN) and a long short-term memory (LSTM) network model, enabling real-time analysis of respiratory sounds. Notably, it stands out for its capacity to handle continuous data, distinguishing it from conventional lung sound classification algorithms. The study utilizes a substantial dataset consisting of 535 respiration cycles from diverse sources, including the Child Sim Lung Sound Simulator, the EMTprep Open-Source Database, Clinical Patient Records, and the ICBHI 2017 Challenge Database. Achieving a classification accuracy of 90%, the exceptional result metrics encompass the identification of each breath cycle and simultaneous detection of the abnormal sound, enabling the real-time wheeze counting of all respirations. This innovative wheeze counter holds the promise of revolutionizing research on predicting lung diseases based on long-term breathing patterns and offers applicability in clinical and non-clinical settings for on-the-go detection and remote intervention of exacerbated respiratory symptoms.

Analysis of preload-dependent reversible mechanical interlocking using beetle-inspired wing locking device.

We report an analysis of preload-dependent reversible interlocking between regularly arrayed, high aspect ratio (AR) polymer micro- and nanofibers. Such a reversible interlocking is inspired from the wing-locking device of a beetle where densely populated microhairs (termed microtrichia) on the cuticular surface form numerous hair-to-hair contacts to maximize lateral shear adhesion. To mimic this, we fabricate various high AR, vertical micro- and nanopillars on a flexible substrate and investigate the shear locking force with different preloads (0.1-10 N/cm(2)). A simple theoretical model is developed based on the competition between van der Waals (VdW) attraction and deflection forces of pillars, which can explain the preload-dependent maximum deflection, tilting angle, and total shear adhesion force.

Design of a Biologically Inspired Water-Walking Robot Powered by Artificial Muscle.

The agile and power-efficient locomotion of a water strider has inspired many water-walking devices. These bioinspired water strider robots generally adopt a DC motor to create a sculling trajectory of the driving leg. These robots are, thus, inevitably heavy with many supporting legs decreasing the velocity of the robots. There have only been a few attempts to employ smart materials despite their advantages of being lightweight and having high power densities. This paper proposes an artificial muscle-based water-walking robot capable of moving forward and turning with four degrees of freedom. A compliant amplified shape memory alloy actuator (CASA) used to amplify the strain of a shape memory alloy wire enables a wide sculling motion of the actuation leg with only four supporting legs to support the entire weight of the robot. Design parameters to increase the actuation strain of the actuator and to achieve a desired swing angle (80°) are analyzed. Finally, experiments to measure the forward speed and angular velocities of the robot are carried out to compare with other robots. The robot weighs only 0.236 g and has a maximum and average speed of 1.56, 0.31 body length per second and a maximum and average angular velocity of 145.05°/s and 14.72°/s.

High-performance electrified hydrogel actuators based on wrinkled nanomembrane electrodes for untethered insect-scale soft aquabots.

Hydrogels have diverse chemical properties and can exhibit reversibly large mechanical deformations in response to external stimuli; these characteristics suggest that hydrogels are promising materials for soft robots. However, reported actuators based on hydrogels generally suffer from slow response speed and/or poor controllability due to intrinsic material limitations and electrode fabrication technologies. Here, we report a hydrogel actuator that operates at low voltages (<3 volts) with high performance (strain > 50%, energy density > 7 × 105 joules per cubic meter, and power density > 3 × 104 watts per cubic meter), surpassing existing hydrogel actuators and other types of electroactive soft actuators. The enhanced performance of our actuator is due to the formation of wrinkled nanomembrane electrodes that exhibit high conductivity and excellent mechanical deformation through capillary-assisted assembly of metal nanoparticles and deswelling-induced wrinkled structures. By applying an electric potential through the wrinkled nanomembrane electrodes that sandwich the hydrogel, we were able to trigger a reversible and substantial electroosmotic water flow inside a hydrogel film, which drove the controlled swelling of the hydrogel. The high energy efficiency and power density of our wrinkled nanomembrane electrode-induced actuator enabled the fabrication of an untethered insect-scale aquabot integrated with an on-board control unit demonstrating maneuverability with fast locomotion speed (1.02 body length per second), which occupies only 2% of the total mass of the robot.

Actuating compact wearable augmented reality devices by multifunctional artificial muscle.

An artificial muscle actuator resolves practical engineering problems in compact wearable devices, which are limited to conventional actuators such as electromagnetic actuators. Abstracting the fundamental advantages of an artificial muscle actuator provides a small-scale, high-power actuating system with a sensing capability for developing varifocal augmented reality glasses and naturally fit haptic gloves. Here, we design a shape memory alloy-based lightweight and high-power artificial muscle actuator, the so-called compliant amplified shape memory alloy actuator. Despite its light weight (0.22 g), the actuator has a high power density of 1.7 kW/kg, an actuation strain of 300% under 80 g of external payload. We show how the actuator enables image depth control and an immersive tactile response in the form of augmented reality glasses and two-way communication haptic gloves whose thin form factor and high power density can hardly be achieved by conventional actuators.

Vital signal sensing and manipulation of a microscale organ with a multifunctional soft gripper.

Soft grippers that incorporate functional materials are important in the development of mechanically compliant and multifunctional interfaces for both sensing and stimulating soft objects and organisms. In particular, the capability for firm and delicate grasping of soft cells and organs without mechanical damage is essential to identify the condition of and monitor meaningful biosignals from objects. Here, we report a millimeter-scale soft gripper based on a shape memory polymer that enables manipulating a heavy object (payload-to-weight ratio up to 6400) and grasping organisms at the micro/milliscale. The silver nanowires and crack-based strain sensor embedded in this soft gripper enable simultaneous measurement of the temperature and pressure on grasped objects and offer temperature and mechanical stimuli for the grasped object. We validate our miniaturized soft gripper by demonstrating that it can grasp a snail egg while simultaneously applying a moderate temperature stimulation to induce hatching process and monitor the heart rate of a newborn snail. The results present the potential for widespread utility of soft grippers in the area of biomedical engineering, especially in the development of conditional or closed-loop interfacing with microscale biotissues and organisms.

Electroosmosis-Driven Hydrogel Actuators Using Hydrophobic/Hydrophilic Layer-By-Layer Assembly-Induced Crack Electrodes.

Development of soft actuators with higher performance and more versatile controllability has been strongly required for further innovative advancement of various soft applications. Among various soft actuators, electrochemical actuators have attracted much attention due to their lightweight, simple device configuration, and facile low-voltage control. However, the reported performances have not been satisfactory because their working mechanism depends on the limited electrode expansion by conventional electrochemical reactions. Herein, we report an electroosmosis-driven hydrogel actuator with a fully soft monolithic structure-based whole-body actuation mechanism using an amphiphilic interaction-induced layer-by-layer assembly. For this study, cracked electrodes with interconnected metal nanoparticles are prepared on hydrogels through layer-by-layer assembly and shape transformation of metal nanoparticles at hydrophobic/hydrophilic solvent interfaces. Electroosmotic pumping by cracked electrodes instantaneously induces hydrogel swelling through reversible and substantial hydraulic flow. The resultant actuator exhibits actuation strain of higher than 20% and energy density of 1.06 × 105 J m-3, allowing various geometries (e.g., curved-planar and square-pillared structures) and motions (e.g., slow-relaxation, spring-out, and two degree of freedom bending). In particular, the energy density of our actuators shows about 10-fold improvement than those of skeletal muscle, electrochemical actuators, and various stimuli-responsive hydrogel actuators reported to date.

Design of Polarization-Independent and Wide-Angle Broadband Absorbers for Highly Efficient Reflective Structural Color Filters.

We propose a design of angle-insensitive and polarization-independent reflective color filters with high efficiency (>80%) based on broad resonance in a Fabry⁻Pérot cavity where asymmetric metal-dielectric-metal planar structures are employed. Broadband absorption properties allow the resonance in the visible range to remain nearly constant over a broad range of incident angles of up to 40° for both s- and p-polarizations. Effects of the angles of incidence and polarization state of incident light on the purity of the resulting colors are examined on the CIE 1931 chromaticity diagram. In addition, higher-order resonances of the proposed color filters and their electric field distributions are investigated for improved color purity. Lastly, the spectral properties of the proposed structures with different metallic layers are studied. The simple strategy described in this work could be adopted in a variety of research areas, such as color decoration devices, microscopy, and colorimetric sensors.

Uniaxially crumpled graphene as a platform for guided myotube formation.

Graphene, owing to its inherent chemical inertness, biocompatibility, and mechanical flexibility, has great potential in guiding cell behaviors such as adhesion and differentiation. However, due to the two-dimensional (2D) nature of graphene, the microfabrication of graphene into micro/nanoscale patterns has been widely adopted for guiding cellular assembly. In this study, we report crumpled graphene, i.e., monolithically defined graphene with a nanoscale wavy surface texture, as a tissue engineering platform that can efficiently promote aligned C2C12 mouse myoblast cell differentiation. We imparted out-of-plane, nanoscale crumpled morphologies to flat graphene via compressive strain-induced deformation. When C2C12 mouse myoblast cells were seeded on the uniaxially crumpled graphene, not only were the alignment and elongation promoted at a single-cell level but also the differentiation and maturation of myotubes were enhanced compared to that on flat graphene. These results demonstrate the utility of the crumpled graphene platform for tissue engineering and regenerative medicine for skeletal muscle tissues.

FEP Encapsulated Crack-Based Sensor for Measurement in Moisture-Laden Environment.

Among many flexible mechanosensors, a crack-based sensor inspired by a spider's slit organ has received considerable attention due to its great sensitivity compared to previous strain sensors. The sensor's limitation, however, lies on its vulnerability to stress concentration and the metal layers' delamination. To address this issue of vulnerability, we used fluorinated ethylene propylene (FEP) as an encapsulation layer on both sides of the sensor. The excellent waterproof and chemical resistance capability of FEP may effectively protect the sensor from damage in water and chemicals while improving the durability against friction.

A semi-permanent and durable nanoscale-crack-based sensor by on-demand healing.

Although sensitivity and durability are desirable in a sensor, both of them cannot be easily achieved. Site-specific and effective signal acquisition on the limited area of a sensor inevitably allows fatigue accumulation and contamination. For example, an ultrasensitive nanoscale-crack-based sensor for detecting a mechanical stimulus with tremendous sensitivity (a gauge factor greater than 2000 under 2% strain), yet limited durability (up to a few thousand stretching cycles in tensile tests) has been presented previously. Herein, we suggest a simple yet robust nanoscale-crack-based sensor that achieves remarkable durability through the use of a self-healable polymer. The self-healable polymer helps the crack gap recover and maintain high stability for 1 million cycles under 2% strain. Moreover, site-specific recovery with infrared light irradiation was demonstrated with monolithic arrayed sensors. The proposed strategy provides a unique solution to achieving highly enhanced durability and high mechanosensitivity, which are typically incompatible.

Battery-free, wireless sensors for full-body pressure and temperature mapping.

Thin, soft, skin-like sensors capable of precise, continuous measurements of physiological health have broad potential relevance to clinical health care. Use of sensors distributed over a wide area for full-body, spatiotemporal mapping of physiological processes would be a considerable advance for this field. We introduce materials, device designs, wireless power delivery and communication strategies, and overall system architectures for skin-like, battery-free sensors of temperature and pressure that can be used across the entire body. Combined experimental and theoretical investigations of the sensor operation and the modes for wireless addressing define the key features of these systems. Studies with human subjects in clinical sleep laboratories and in adjustable hospital beds demonstrate functionality of the sensors, with potential implications for monitoring of circadian cycles and mitigating risks for pressure-induced skin ulcers.

Three-Dimensional Silicon Electronic Systems Fabricated by Compressive Buckling Process.

Recently developed approaches in deterministic assembly allow for controlled, geometric transformation of two-dimensional structures into complex, engineered three-dimensional layouts. Attractive features include applicability to wide ranging layout designs and dimensions along with the capacity to integrate planar thin film materials and device layouts. The work reported here establishes further capabilities for directly embedding high-performance electronic devices into the resultant 3D constructs based on silicon nanomembranes (Si NMs) as the active materials in custom devices or microscale components released from commercial wafer sources. Systematic experimental studies and theoretical analysis illustrate the key ideas through varied 3D architectures, from interconnected bridges and coils to extended chiral structures, each of which embed n-channel Si NM MOSFETs (nMOS), Si NM diodes, and p-channel silicon MOSFETs (pMOS). Examples in stretchable/deformable systems highlight additional features of these platforms. These strategies are immediately applicable to other wide-ranging classes of materials and device technologies that can be rendered in two-dimensional layouts, from systems for energy storage, to photovoltaics, optoelectronics, and others.