Soft Multimaterial Magnetic Fibers and Textiles.

Magnetically responsive soft materials are promising building blocks for the next generation of soft robotics, prosthesis, surgical tools, and smart textiles. To date, however, the fabrication of highly integrated magnetic fibers with extreme aspect ratios, that can be used as steerable catheters, endoscopes, or within functional textiles remains challenging. Here, multimaterial thermal drawing is proposed as a material and processing platform to realize 10s of meters long soft, ultrastretchable, yet highly resilient magnetic fibers. Fibers with a diameter as low as 300 µm and an aspect ratio of 105 are demonstrated, integrating nanocomposite domains with ferromagnetic microparticles embedded in a soft elastomeric matrix. With the proper choice of filler content that must strike the right balance between magnetization density and mechanical stiffness, fibers withstanding strains of >1000% are shown, which can be magnetically actuated and lift up to 370 times their own weight. Magnetic fibers can also integrate other functionalities like microfluidic channels, and be weaved into conventional textiles. It is shown that the novel magnetic textiles can be washed and sustain extreme mechanical constraints, as well as be folded into arbitrary shapes when magnetically actuated, paving the way toward novel intriguing opportunities in medical textiles and soft magnetic systems.

Highly Integrated Multi-Material Fibers for Soft Robotics.

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design complexity and hence capabilities of soft robots. Multi-material thermal drawing is introduced as a material and processing platform to create soft robotic fibers imparted with multiple actuations and sensing modalities. Several thermoplastic and elastomeric material options for the fibers are presented, which all exhibit the rheological processing attributes for thermal drawing but varying mechanical properties, resulting in adaptable actuation performance. Moreover, numerous different fiber designs with intricate internal architectures, outer diameters of 700 µm, aspect ratios of 103 , and a fabrication at a scale of 10s of meters of length are demonstrated. A modular tendon-driven mechanism enables 3-dimensional (3D) motion, and embedded optical guides, electrical wires, and microfluidic channels give rise to multifunctionality. The fibers can perceive and autonomously adapt to their environments, as well as, probe electrical properties, and deliver fluids and mechanical tools to spatially distributed targets.

3D stretchable and self-encapsulated multimaterial triboelectric fibers.

A robust power device for wearable technologies and soft electronics must feature good encapsulation, high deformability, and reliable electrical outputs. Despite substantial progress in materials and architectures for two-dimensional (2D) planar power configurations, fiber-based systems remain limited to relatively simple configurations and low performance due to challenges in processing methods. Here, we extend complex 2D triboelectric nanogenerator configurations to 3D fiber formats based on scalable thermal processing of water-resistant thermoplastic elastomers and composites. We perform mechanical analysis using finite element modeling to understand the fiber's deformation and the level of control and engineering on its mechanical behavior and thus to guide its dimensional designs for enhanced electrical performance. With microtexture patterned functional surfaces, the resulting fibers can reliably produce state-of-the-art electrical outputs from various mechanical deformations, even under harsh conditions. These mechanical and electrical attributes allow their integration with large and stretchable surfaces for electricity generation of hundreds of microamperes.

Highly Stretchable Flame-Retardant Skin for Soft Robotics with Hydrogel-Montmorillonite-Based Translucent Matrix.

Flame-retardant coatings are crucial for intelligent systems operating in high-temperature (300-800°C) scenarios, which typically involve multi-joint discrete or continuous kinematic systems. These multi-segment motion generation systems call for conformable yet resilient skin for dexterous work, including firefighting, packaging inflammable substances, encapsulating energy storage devices, and preventing from burning. In fire scenes, a flame-retardant soft robot shall protect integrated electronic components safely and work for navigation and surveillance effectively. Here, we establish fire-resistant robotic mechanisms with montmorillonite (MMT)-biocompatible hydrogel skin, offering effective flame retardancy (∼78°C surface temperature after 3 min in fire) and high post-fire stretchability (∼360% uniaxial tensile strain). Fatigue test results in the MMT-hydrogel polymer matrix to portray a change in post-fire energy consumption of ∼21% (between the first cycle and the 200th cycle), further indicating robustness. MMT-hydrogel synthetic skin medium is then applied to everyday household items and electronics, offering appealing protections in fire scenes (≤10% capacitance loss after 3 min and ≤14% diode light-intensity loss after 1 min in fire). We deploy shape memory alloy (SMA) actuated inchworm-, starfish-, and snail-like locomotion (average velocity ∼12 mm·min-1) for translating inside fire applications. With the stretchable and flame-retardant translucent barriers, the MMT-hydrogel skinned soft robots demonstrate stable compression/relaxation cycles (25 cycles) within flames (4 min 10 s) while protecting the electronic components inside in fire scene. We solve the agility vs. endurance conundrum in this article with SMA actuation independently via Joule heating without a cross-talk from the surrounding high-temperature arena.

Thermo-Responsive Hydrogel-Based Soft Valves with Annular Actuation Calibration and Circumferential Gripping.

Valves are largely useful for treatment assistance devices, e.g., supporting fluid circulation movement in the human body. However, the valves presently used in biomedical applications still use materials that are rigid, non-compliant, and hard to integrate with human tissues. Here, we propose biologically-inspired, stimuli-responsive valves and evaluate N-Isopropylacrylamide hydrogels-based valve (NPHV) and PAAm-alginate hydrogels-based valve (PAHV) performances with different chemical syntheses for optimizing better valve action. Once heated at 40 ∘C, the NPHV outperforms the PAHV in annular actuation (NPHV: 1.93 mm displacement in 4 min; PAHV: 0.8 mm displacement in 30 min). In contrast, the PAHV exhibits a flow rate change of up to 20%, and a payload of 100% when the object is at 100 ∘C. The PAHV demonstrated a completely soft, stretchable circular gripper with a high load-to-weight ratio for diversified applications. These valves are fabricated with a simple one-pot method that, once further optimized, can offer transdisciplinary applications.

Stretchable and Sensitive Silver Nanowire-Hydrogel Strain Sensors for Proprioceptive Actuation.

Safer human-robot interactions mandate the adoption of proprioceptive actuation. Strain sensors can detect the deformation of tools and devices in unstructured and capricious environments. However, such sensor integration in surgical/clinical settings is challenging due to confined spaces, structural complexity, and performance losses of tools and devices. Herein, we report a highly stretchable skin-like strain sensor based on a silver nanowire (AgNW) layer and hydrogel substrate. Our facile fabrication method utilizes thermal annealing to modulate the gauge factor (GF) by forming multidimensional wrinkles and a layered conductive network. The developed AgNW-hydrogel (AGel) sensors sustain and exhibit a strain-sensitive profile (max. GF = ∼70) with high stretchability (200%). Due to its conformability, the sensor demonstrates efficacy in integration and motion monitoring with minimal mechanical constraints. We provide contextual cognizance of tooltip during a transoral procedure by incorporating AGel sensors and showing the fabrication methodology's versatility by developing a hybrid self-sensing actuator with real-time performance feedback.

The Demographic Diversity of Food Intake and Prevalence of Kidney Stone Diseases in the Indian Continent.

Food intake plays a pivotal role in human growth, constituting 45% of the global economy and wellbeing in general. The consumption of a balanced diet is essential for overall good health, and a lack of equilibrium can lead to malnutrition, prenatal death, obesity, osteoporosis and bone fractures, coronary heart diseases (CHD), idiopathic hypercalciuria, diabetes, and many other conditions. CHD, osteoporosis, malnutrition, and obesity are extensively discussed in the literature, although there are fragmented findings in the realm of kidney stone diseases (KSD) and their correlation with food intake. KSD associated with hematuria and renal failure poses an increasing threat to healthcare infrastructures and the global economy, and its emergence in the Indian population is being linked to multi-factorial urological disorder resulting from several factors. In this realm, epidemiological, biochemical, and macroeconomic situations have been the focus of research, even though food intake is also of paramount importance. Hence, in this article, we review the corollary associations with the consumption of diverse foods and the role that these play in KSD in an Indian context.

Hydrogel-matrix encapsulated Nitinol actuation with self-cooling mechanism.

Shape-memory Nitinol holds burgeoning promise as smart actuators due to its effective resilience, high energy density, and scalability for a myriad of mesoscale machines and robotic applications. However, the higher actuation temperature and prolonged cooling time for a cyclic response make Nitinol precarious and less appealing for commercial use. On the contrary, hydrogels belong to the three dimensional (3D) polymer family where the bulk of the matrix encapsulates water (≈80-90 wt%) constituting a compelling heat-trapping medium. In this paper, we demonstrate a novel self-cooling mechanism comprising a Hydrogel-matrix Encapsulated Nitinol Actuator (HENA) where the heat emitted due to the high temperature (200-400 °C) of Nitinol is trapped in the hydrogel-matrix, maintaining a surface temperature of 20-22 °C. For quantitative analysis, we performed control tests with the state-of-the-art Silicone Elastomer Nitinol Actuator (SENA) which maintained a three times or higher temperature profile (65-90 °C) than its HENA counterpart. HENA is able to entrap 85% heat for actuation of 200 cycles while SENA dissipates the same amount in the first cycle. For impending biomedical applications, HENA with a single Nitinol wire shows a bending displacement up to 45% of its length for trans-oral navigation purposes. A HENA soft robotic gripper with two Nitinol wires can carry delicate, low-melting-point food items (e.g. cheese, chocolate, tofu etc.) with different morphologies that weigh up to 450% of its own weight.

Frequency-induced morphology alterations in microconfined biological cells.

Low-intensity therapeutic ultrasound has demonstrated an impetus in bone signaling and tissue healing for decades now. Though this technology is clinically well proven, still there are breaches in studies to understand the fundamental principle of how osteoblast tissue regenerates physiologically at the cellular level with ultrasound interaction as a form of acoustic wave stimuli. Through this article, we illustrate an analysis for cytomechanical changes of cell membrane periphery as a basic first physical principle for facilitating late downstream biochemical pathways. With the help of in situ single-cell direct analysis in a microfluidic confinement, we demonstrate that alteration of low-intensity pulse ultrasound (LIPUS) frequency would physically perturb cell membrane and establish inherent cell oscillation. We experimentally demonstrate here that, at LIPUS resonance near 1.7 MHz (during 1-3 MHz alteration), cell membrane area would expand to 6.85 ± 0.7% during ultrasound exposure while it contracts 44.68 ± 0.8% in post actuation. Conversely, cell cross-sectional area change (%) from its previous morphology during and after switching off LIPUS was reversibly different before and after resonance. For instance, at 1.5 MHz, LIPUS exposure produced 1.44 ± 0.5% expansion while in contrast 2 MHz instigates 1.6 ± 0.3% contraction. We conclude that alteration of LIPUS frequency from 1-3 MHz keeping other ultrasound parameters like exposure time, pulse repetition frequency (PRF), etc., constant, if applied to a microconfined biological single living cell, would perturb physical structure reversibly based on the system resonance during and post exposure ultrasound pulsing. We envision, in the near future, our results would constitute the foundation of mechanistic effects of low-intensity therapeutic ultrasound and its allied potential in medical applications. Graphical Abstract Frequency Dependent Characterization of Area Strain in Cell Membrane by Microfluidic Based Single Cell Analysis.

Hydrogel Actuators and Sensors for Biomedical Soft Robots: Brief Overview with Impending Challenges.

There are numerous developments taking place in the field of biorobotics, and one such recent breakthrough is the implementation of soft robots-a pathway to mimic nature's organic parts for research purposes and in minimally invasive surgeries as a result of their shape-morphing and adaptable features. Hydrogels (biocompatible, biodegradable materials that are used in designing soft robots and sensor integration), have come into demand because of their beneficial properties, such as high water content, flexibility, and multi-faceted advantages particularly in targeted drug delivery, surgery and biorobotics. We illustrate in this review article the different types of biomedical sensors and actuators for which a hydrogel acts as an active primary material, and we elucidate their limitations and the future scope of this material in the nexus of similar biomedical avenues.

Optimizing Double-Network Hydrogel for Biomedical Soft Robots.

Double-network hydrogel with standardized chemical parameters demonstrates a reasonable and viable alternative to silicone in soft robotic fabrication due to its biocompatibility, comparable mechanical properties, and customizability through the alterations of key variables. The most viable hydrogel sample in our article shows tensile strain of 851% and maximum tensile strength of 0.273 MPa. The elasticity and strength range of this hydrogel can be customized according to application requirements by simple alterations in the recipe. Furthermore, we incorporated Agar/PAM hydrogel into our highly constrained soft pneumatic actuator (SPA) design and eventually produced SPAs with escalated capabilities, such as larger range of motion, higher force output, and power efficiency. Incorporating SPAs made of Agar/PAM hydrogel resulted in low viscosity, thermos-reversibility, and ultralow elasticity, which we believe can help to combine with the other functions of hydrogel, tailoring a better solution for fabricating biocompatible soft robots.