Stretchable Arduinos embedded in soft robots.

To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including SparkFun circuits), without design simplifications. As demonstrations of the method's utility, we embedded highly stretchable (>300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronic field to integrate state-of-the-art computational power into robust, stretchable systems during active use.

Self-Amputating and Interfusing Machines.

Biological organisms exhibit phenomenal adaptation through morphology-shifting mechanisms including self-amputation, regeneration, and collective behavior. For example, reptiles, crustaceans, and insects amputate their own appendages in response to threats. Temporary fusion between individuals enables collective behaviors, such as in ants that temporarily fuse to build bridges. The concept of morphological editing often involves the addition and subtraction of mass and can be linked to modular robotics, wherein synthetic body morphology may be revised by rearranging parts. This work describes a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics, and can thus be distributed throughout soft robot bodies without introducing mechanical incongruities. To demonstrate utility, the reversible joint is implemented in two embodiments: a soft quadruped robot that self-amputates a limb when stuck, and a cluster of three soft-crawling robots that fuse to cross a land gap. This work points toward future robots capable of radical shape-shifting via changes in mass through autotomy and interfusion, as well as highlights the crucial role that interfacial stiffness change plays in autotomizable biological and artificial systems.

Reinforcing Magnetorheological Fluids with Highly Anisotropic 2D Materials.

The front cover artwork is provided by the group of Professor Keith Brown at Boston University. The image shows the magnetorheological fluid in a pressure-driven flow and highlights the length scales of the magnetic particles and highly anisotropic 2D sheets. Read the full text of the Article at 10.1002/cphc.202000948.

Reinforcing Magnetorheological Fluids with Highly Anisotropic 2D Materials.

Magnetorheological fluids (MRF) are suspensions of magnetic particles that solidify in the presence of a magnetic field. While non-magnetic additives could improve MRF performance, explorations into such additives have not coalesced into an understanding of their influence, and particularly the role of additive morphology. Here, we explore α-Ni(OH)2 2D sheets, with aspect ratios of ∼25,000, as highly anisotropic MRF additives. Experiments studying pressure-driven flow of an MRF with and without these sheets show that their addition can increase the saturation pressure by as much as 46 %. However, shear-mode rheology reveals that they can also weaken the MRF by inhibiting the chaining of the iron particles at low field strengths and have no effect at higher field strengths. In order to reconcile the strikingly different results, we propose that 2D materials introduce a non-Newtonian handle to modify smart fluids in a manner that depends on the curvature of the shearing strain rate profile. Specifically, we identify a modification to the Buckingham-Reiner model of pressure-driven flow for a Bingham plastic in which the sheets widen the solidified plug. This work highlights the subtle interaction between particles in smart fluids and flows while emphasizing the opportunity for using anisotropy to tune this interaction.