A Sea-Anemone-Inspired, Multifunctional, Bistable Gripper.

The growing need for soft robots with secure, adaptive, and autonomous functioning in unforeseen environments favors designs with multiple functionalities. This has driven soft robotic grippers to be explored to integrate perceptual capability for augmented multifunctionality. In nature, sea anemones can detect and catch preys of various shapes and sizes effectively with extremely simple bodies because of the efficient coupling of sensing and actuation capability. Inspired by their body structures, we present a bistable gripper with multifunctionality that includes sensing (proprioceptive and exteroceptive) and multimodal gripping (grasping and pinching). The gripper exploits an array of tapered pins on the external surface of a dome membrane for gripping and a set of cylindrical markers on the internal surface of the membrane for optical sensing. The membrane is bistable and can settle in either of two equilibrium states "natural" and "retracted." Gripping functionality is achieved by the centripetal enveloping movement of the pins, along with the passive snap-through process of the membrane. By analyzing the distribution of markers within the view of an embedded camera, sophisticated sensing functionality can be achieved. We first characterized each function separately and then implemented an object handling system, combining the sensing and gripping functionality, to demonstrate the potential for more advanced robotic applications. This work delivers a compact universal gripper design with an efficient and elegant integration of multifunctionality.

Facile Photolithographic Fabrication of Zwitterionic Polymer Microneedles with Protein Aggregation Inhibition for Transdermal Drug Delivery.

Microneedle technology has received considerable attention in transdermal drug delivery system research owing to its minimally invasive and convenient self-administration with enhanced transdermal transport. The pre-drug loading microneedle method has been developed for several protein and chemical medicines. However, the protein activity and efficacy are severely affected owing to protein aggregation. Herein, we aim to develop non-degradable hydrogel photocross-linkable microneedles for suppressing protein aggregation. Four-point star-shaped microneedles are fabricated via a photolithography process, and sulfobetaine (SPB) monomer is combined with dextran-glycidyl methacrylate/acrylic acid to form the hydrogel network. Incorporating zwitterionic poly-sulfobetaine (poly-SPB) in the microneedles enables the protection of proteins from denaturation even under external stress, releases the proteins in their native state (without activity loss), and exhibits sufficient mechanical strength to penetrate porcine skin. The microneedles exhibit a high drug loading capacity along with an efficient drug release rate. The rhodamine B drug loading and release model shows that the microneedles can load 8 µg of drugs on one microneedle patch of 41 needles and release nearly 80% of its load within 1 h. We anticipate that this pre-drug loading platform and the advanced features of the microneedles can provide an effective option for administering therapeutic drugs.

Anguilliform Swimming Performance of an Eel-Inspired Soft Robot.

In this article, we propose a soft eel robot design using soft pneumatic actuators that mimic eel muscles. Four pairs of soft actuators are used to construct the eel robot body. Pulse signals with suitable shifting phases are utilized to control delivery of compressed air to the actuators in sequence to create a sinusoidal wave from head to tail of the robot body. A model of hydrodynamic forces acting on an anguilliform swimmer when moving in fluid was built to estimate the thrust force generated by the robot at different tail beat frequencies. Experimental data revealed that the generated thrust force was positively correlated with the beat frequency. Measured data showed that swimming efficiency depended on both generated thrust force and body posture in situ. At the beat frequency of 1.25 Hz, and air pressure at three segments from head to tail of 65, 50, and 30 kPa, respectively, the eel robot body showed the best cost of transport (COT) of 19.21 with velocity of 10.5 cm/s (or 0.198 body length per second [BL/s]), compared to the other's values of operation frequency and air pressure. We also found that control shifting phase strongly affects the swimming speed and COT. The robot body reached the highest velocity at around 19 cm/s (0.36 BL/s) with the COT of 10.72. Obtained result in this research would contribute to development of soft elongated swimming robot and enhance the knowledge on swimming performance of both robot and natural eels.

Mechanics and Morphological Compensation Strategy for Trimmed Soft Whisker Sensor.

Recent studies have been inspired by natural whiskers for a proposal of tactile sensing system to augment the sensory ability of autonomous robots. In this study, we propose a novel artificial soft whisker sensor that is not only flexible but also adapts and compensates for being trimmed or broken during operation. In this morphological compensation designed from an analytical model of the whisker, our sensing device actively adjusts its morphology to regain sensitivity close to that of its original form (before being broken). To serve this purpose, the body of the whisker comprises a silicon-rubber truncated cone with an air chamber inside as the medulla layer, which is inflated to achieve rigidity. A small strain gauge is attached to the outer wall of the chamber for recording strain variation upon contact of the whisker. The chamber wall is reinforced by two inextensible nylon fibers wound around it to ensure that morphology change occurs only in the measuring direction of the strain gauge by compressing or releasing pressurized air contained in the chamber. We investigated an analytical model for the regulation of whisker sensitivity by changing the chamber morphology. Experimental results showed good agreement with the numerical results of performance by an intact whisker in normal mode, as well as in compensation mode. Finally, adaptive functionality was tested in two separate scenarios for thorough evaluation: (1) A short whisker (65 mm) compensating for a longer one (70 mm), combined with a special case (self-compensation), and (2) vice versa. Preliminary results showed good feasibility of the idea and efficiency of the analytical model in the compensation process, in which the compensator in the typical scenario performed with 20.385% average compensation error. Implementation of the concept in the present study fulfills the concept of morphological computation in soft robotics and paves the way toward accomplishment of an active sensing system that overcomes a critical event (broken whisker) based on optimized morphological compensation.

High hepatitis C virus infection among female sex workers in Viet Nam: strong correlation with HIV and injection drug use.

OBJECTIVE: The World Health Organization's guidelines on viral hepatitis testing and treatment recommend prioritizing high prevalence groups. Hepatitis C virus (HCV) infection disproportionately affects people who inject drugs and men who have sex with men, but data on female sex workers (FSW) are limited. The study aimed to determine active HCV infection and risk factors associated with HCV exposure among Vietnamese FSW. METHODS: We surveyed 1886 women aged ≥ 18 years from Haiphong, Hanoi and Ho Chi Minh City who had sold sex in the last month. We tested for HCV antibody and HCV core antigen as markers for exposure to HCV and active infection, respectively. RESULTS: Across these provinces, high prevalence of HCV exposure (8.8-30.4%) and active infection (3.6-22.1%) were observed. Significant associations with HCV exposure were HIV infection (aOR = 23.7; 95% CI: 14.8-37.9), injection drug use (aOR = 23.3; 95% CI: 13.1-41.4), history of compulsory detention (aOR = 2.5; 95% CI: 1.4-4.2) and having more than 10 sex clients in the last month (aOR = 1.9; 95% CI: 1.2-3.2). Among FSW who reported never injecting drugs, HIV infection (aOR = 24.2; 95% CI: 14.8-39.4), a history of non-injection drug use (aOR = 3.3, CI: 1.8-5.7), compulsory detention (aOR = 2.2; 95% CI: 1.2-4.0) and having over 10 sex clients in the last month (aOR = 2.2, 95% CI: 1.3-3.7) were independently associated with HCV exposure. DISCUSSION: FSW have elevated HCV risks through sex- and drug-related pathways. These findings highlight the need to offer FSW-targeted HCV interventions and ensure their access to HIV prevention and treatment.

Mechanics of wet adhesion in soft interaction with patterned morphology.

Locking surfaces with a wet interface can enhance interactions between a grasped object and a soft pad. This paper presents a mechanical approach to understanding the role of morphological design in achieving wet adhesion for secure grasping by a soft pad. Two conditions were compared in modeling wet interfaces between an object and a soft pad: a pad with a flat surface, and a pad with a micropatterned surface. The latter was designed and analyzed based on the wet attachment between the surface of a tree-frog's toes and its substrate. In this model, we proposed a method to estimate the contact force in both normal and tangential directions between a soft pad with a micropattern surface and a rigid flat surface substrate. A square mold containing 3600 85 µm × 85 µm cells interspaced by grooves 15 µm wide and 15 µm deep was fabricated, using e-beam technology, as the micropattern pad. The generated normal and tangential contact forces of the pad with a micropattern surface, and a pad with a flat surface were measured in both normal and tangential directions under wet conditions. Experimental results showed good agreement with theoretical results, indicating that the micropattern significantly enhanced the contact force of the pad by approximately two-fold for the normal and 1.2- to 1.4-fold for the tangential force. This theoretical approach can be potentially utilized to investigate the association of soft pad morphology with wet adhesion, and enhance efficient grasping by soft robotic hands in wet and high-moisture environments.

Multimodal flexible sensor for healthcare systems.

This paper describes potential applications of our previously developed fabric sensor into wearable healthcare or nursing systems based on its sensing modalities. This sensor is knitted from tension-sensitive electro-conductive yarns; whose structure has an elastic core, wound around by two separated tension-sensitive electro-conductive threads. This makes the sensor inherently flexible and stretchable, allowing it to conform to any complicated surface. We have equipped the sensor with three modalities, including proximity that allows the sensor to estimate a distance from the sensor to human hand and activates a light touch sensing, which could initiate comfortable and friendly interfaces in order to reduce burden of patients/disable people during interactions with healthcare devices; tactile perception that can measures contact force or applied load, especially realize slippage acting on the sensor surface, which is promising to be embedded into wearable devices or smart carpets; and tensile that can quantify a volume's contraction/expansion, which can be employed to monitoring muscles activity and so on.