Self-assembling bilayer wiring with highly conductive liquid metal and insulative ion gel layers.

Ga-based liquid metals (LMs) are expected to be suitable for wiring highly deformable devices because of their high electrical conductivity and stable resistance to extreme deformation. Injection and printed wiring, and wiring using LM-polymer composites are the most popular LM wiring approaches. However, additional processing is required to package the wiring after LM patterning, branch and interrupt wiring shape, and ensure adequate conductivity, which results in unnecessary wiring shape changes and increased complexity of the wiring methods. In this study, we propose an LM-polymer composite comprising LM particles and ion gel as a flexible matrix material with low viscosity and specific gravity before curing. Moreover, the casting method is used for wire patterning, and the material is cured at room temperature to ensure that the upper insulative layer of the ion gel self-assembles simultaneously with the formation of LM wiring in the lower layer. High conductivity and low resistance change rate of the formed wiring during deformation are achieved without an activation process. This ion gel-LM bilayer wiring can be used for three-dimensional wiring by stacking. Furthermore, circuits fabricated using ion gel-LM bilayer wiring exhibit stable operation. Therefore, the proposed method can significantly promote the development of flexible electronic devices.

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders.

In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control. To simultaneously measure the XYθ displacements, we designed an integrated two-degrees-of-freedom scale for the four encoders. We also derived a calibration equation to decrease the crosstalk errors among the XYθ axes. To investigate the feasibility of this approach, we placed the scale as a measurement target for a holonomic robot. We demonstrated closed-loop sequence control of a star-shaped trajectory for multiple-step motion in the centimeter to micrometer range. We also demonstrated simultaneous three-axis proportional-integral-derivative control for one-step motion in the micrometer to sub-micrometer range. The close-up trajectories were examined to determine the detailed behavior with sub-micrometer and sub-millidegree resolutions in the MHz measurement cycle. This study is an important step toward wide-range flexible control of precise holonomic robots for various applications in which multiple tools work precisely within the limited space of instruments and microscopes.

Vision Feedback Control for the Automation of the Pick-and-Place of a Capillary Force Gripper.

In this paper, we describe a newly developed vision feedback method for improving the placement accuracy and success rate of a single nozzle capillary force gripper. The capillary force gripper was developed for the pick-and-place of mm-sized objects. The gripper picks up an object by contacting the top surface of the object with a droplet formed on its nozzle and places the object by contacting the bottom surface of the object with a droplet previously applied to the place surface. To improve the placement accuracy, we developed a vision feedback system combined with two cameras. First, a side camera was installed to capture images of the object and nozzle from the side. Second, from the captured images, the contour of the pre-applied droplet for placement and the contour of the object picked up by the nozzle were detected. Lastly, from the detected contours, the distance between the top surface of the droplet for object release and the bottom surface of the object was measured to determine the appropriate amount of nozzle descent. Through the experiments, we verified that the size matching effect worked reasonably well; the average placement error minimizes when the size of the cross-section of the objects is closer to that of the nozzle. We attributed this result to the self-alignment effect. We also confirmed that we could control the attitude of the object when we matched the shape of the nozzle to that of the sample. These results support the feasibility of the developed vision feedback system, which uses the capillary force gripper for heterogeneous and complex-shaped micro-objects in flexible electronics, micro-electro-mechanical systems (MEMS), soft robotics, soft matter, and biomedical fields.

Direct Wiring of Liquid Metal on an Ultrasoft Substrate Using a Polyvinyl Alcohol Lift-off Method.

In recent years, wiring and system construction on ultrasoft materials such as biological tissues and hydrogels have been proposed for advanced wearable devices, implantable devices, and soft robotics. Among the soft conductive materials, Ga-based liquid metals (LMs) are both biocompatible and ultrasoft, making them a good match for electrodes on the ultrasoft substrates. However, gels and tissues are softer and less wettable to the LMs than conventional soft substrates such as Ecoflex and polydimethylsiloxane. In this study, we demonstrated the transfer of LM paste composed of Ga-based LM and Ni nanoparticles onto ultrasoft substrates such as biological tissue and gels using sacrificial polyvinyl alcohol (PVA) films. The LM paste pattern fabricated on the PVA film adhered to the ultrasoft substrate along surface irregularities and was transferred without being destroyed by the PVA film before the PVA's dissolution in water. The minimum line width that could be wired was approximately 165 µm. Three-dimensional wiring, such as the helical structure on the gel fiber surface, is also possible. Application of this transfer method to tissues using LM paste wiring allowed the successful stimulation of the vagus nerve in rats. In addition, we succeeded in transferring a temperature measurement system fabricated on a PVA film onto the gel. The connection between the solid-state electrical element and the LM paste was stable and maintained the functionality of the temperature-sensing system. This fundamental study of wiring fabrication and system integration can contribute to the development of advanced electric devices based on ultrasoft substrates.

Transformable Electrocardiograph Using Robust Liquid-Solid Heteroconnector.

In this study, a highly transformable electrocardiograph that can considerably deform the position of stretchable electrodes based on the lead method for diagnosing heart disease was developed; these electrodes exhibited high resistance stability against considerable stretching and multiple stretching. To realize the large deformable functionality of the electrodes of a system, liquid metal electrodes and a heteroconnector composed of a liquid metal paste and carbon-based conductive rubber were employed. The developed device can achieve a 200% strain with only 6% resistance change and a high stability of resistances after the 100-time stretching test. In addition, the study demonstrated electrocardiograms in different lead methods of adult and child using the same device. The proposed combination of large deformable electrodes with high electric stability and a robust heteroconnector is an important technology, and it presents a considerable advancement in the application of stretchable electronic systems.