Light-driven peristaltic pumping by an actuating splay-bend strip.

Despite spectacular progress in microfluidics, small-scale liquid manipulation, with few exceptions, is still driven by external pumps and controlled by large-scale valves, increasing cost and size and limiting complexity. By contrast, optofluidics uses light to power, control and monitor liquid manipulation, potentially allowing for small, self-contained microfluidic devices. Here we demonstrate a soft light-propelled actuator made of liquid crystal gel that pumps microlitre volumes of water. The strip of actuating material serves as both a pump and a channel leading to an extremely simple microfluidic architecture that is both powered and controlled by light. The performance of the pump is well explained by a simple theoretical model in which the light-induced bending of the actuator competes with the liquid's surface tension. The theory highlights that effective pumping requires a threshold light intensity and strip width. The proposed system explores the benefits of shifting the complexity of microfluidic systems from the fabricated device to spatio-temporal control over stimulating light patterns.

From Light-Powered Motors, to Micro-Grippers, to Crawling Caterpillars, Snails and Beyond-Light-Responsive Oriented Polymers in Action.

"How would you build a robot, the size of a bacteria, powered by light, that would swim towards the light source, escape from it, or could be controlled by means of different light colors, intensities or polarizations?" This was the question that Professor Diederik Wiersma asked PW on a sunny spring day in 2012, when they first met at LENS-the European Laboratory of Nonlinear Spectroscopy-in Sesto Fiorentino, just outside Florence in northern Italy. It was not just a vague question, as Prof. Wiersma, then the LENS director and leader of one of its research groups, already had an idea (and an ERC grant) about how to actually make such micro-robots, using a class of light-responsive oriented polymers, liquid crystal elastomers (LCEs), combined with the most advanced fabrication technique-two-photon 3D laser photolithography. Indeed, over the next few years, the LCE technology, successfully married with the so-called direct laser writing at LENS, resulted in a 60 micrometer long walker developed in Prof. Wiersma's group (as, surprisingly, walking at that stage proved to be easier than swimming). After completing his post-doc at LENS, PW returned to his home Faculty of Physics at the University of Warsaw, and started experimenting with LCE, both in micrometer and millimeter scales, in his newly established Photonic Nanostructure Facility. This paper is a review of how the ideas of using light-powered soft actuators in micromechanics and micro-robotics have been evolving in Warsaw over the last decade and what the outcomes have been so far.

Automated photo-aligned liquid crystal elastomer film fabrication with a low-tech, home-built robotic workstation.

Laboratory procedures are often considered so unique that automating them is not economically justified - time and resources invested in designing, building and calibrating the machines are unlikely to pay off. This is particularly true if cheap labour force (technicians or students) is available. Yet, with increasing availability and dropping prices of many off-the-shelf components such as motorised stages, grippers, light sources (LEDs and lasers), detectors (high resolution, fast cameras), as well as user-friendly programmable microprocessors, many of the repeatable tasks may soon be within reach of either custom-built or universal lab robots. Building on our previous work on fabrication, characterization and applications of light-responsive liquid crystal elastomers (LCEs) in micro-robotics and micro-mechanics, in this paper we present a robotic workstation that can make LCE films with arbitrary molecular orientation. Based on a commercial 3D printer, the RoboLEC (Robot for LCE fabrication) performs precision component handling, structured light illumination, liquid dispensing and UV-triggered polymerization, within a four-hour-long procedure. Thus fabricated films with patterned molecular orientation are compared to the same, but handmade, structures.

Light-Driven Linear Inchworm Motor Based on Liquid Crystal Elastomer Actuators Fabricated with Rubbing Overwriting.

Linear displacement is used for positioning and scanning, e.g., in robotics at different scales or in scientific instrumentation. Most linear motors are either powered by rotary drives or are driven directly by pressure, electromagnetic forces or a shape change in a medium, such as piezoelectrics or shape-memory materials. Here, we present a centimeter-scale light-powered linear inchworm motor, driven by two liquid crystal elastomer (LCE) accordion-like actuators. The rubbing overwriting technique was used to fabricate the LCE actuators, made of elastomer film with patterned alignment. In the linear motor, a scanned green laser beam induces a sequence of travelling deformations in a pair of actuators that move a gripper, which couples to a shaft via friction moving it with an average speed in the order of millimeters per second. The prototype linear motor demonstrates how LCE light-driven actuators with a limited stroke can be used to drive more complex mechanisms, where large displacements can be achieved, defined only by the technical constrains (the shaft length in our case), and not by the limited strain of the material. Inchworm motors driven by LCE actuators may be scaled down to sub-millimeter size and can be used in applications where remote control and power supply with light, either delivered in free space beams or via fibers, is an advantage.

Photo-Mechanical Response Dynamics of Liquid Crystal Elastomer Linear Actuators.

With continuous miniaturization of many technologies, robotics seems to be lagging behind. While the semiconductor technologies operate confidently at the nanometer scale and micro-mechanics of simple structures (MEMS) in micrometers, autonomous devices are struggling to break the centimeter barrier and have hardly colonized smaller scales. One way towards miniaturization of robots involves remotely powered, light-driven soft mechanisms based on photo-responsive materials, such as liquid crystal elastomers (LCEs). While several simple devices have been demonstrated with contracting, bending, twisting, or other, more complex LCE actuators, only their simple behavior in response to light has been studied. Here we characterize the photo-mechanical response of a linear light-driven LCE actuator by measuring its response to laser beams with varying power, pulse duration, pulse energy, and the energy spatial distribution. Light absorption decrease in the actuator over time is also measured. These results are at the foundation of further development of soft, light-driven miniature mechanisms and micro-robots.

Optical Pliers: Micrometer-Scale, Light-Driven Tools Grown on Optical Fibers.

The ability to grip and handle small objects, from sub-millimeter electronic components to single-micrometer living cells, is vital for numerous ever-shrinking technologies. Mechanical grippers, powered by electric, pneumatic, hydraulic or piezoelectric servos, are well suited for the job at larger scales, but their complexity and need for force transmission prevent their miniaturization and remote control in tight spaces. Using liquid crystal elastomer microstructures that can change shape quickly and reversibly in response to light, a light-powered gripping tool-optical pliers-is built by growing two bending jaws on the tips of optical fibers. By delivering UV light to trigger polymerization via a micrometer-size fiber core, structures of similar size can be made without resorting to any microfabrication technology, such as laser photolithography. The tool is operated using visible light energy supplied through the fibers, with no force transmission. The elastomer growth technique readily offers micrometer-scale, remotely controlled functional structures with different modes of actuation as building blocks for the microtoolbox.

Optical vortex torque measured with optically trapped microbarbells.

Optical vortex beams carry orbital angular momentum and thus exert torque on illuminated objects. A dielectric microtool-a microbarbell-is used in two-laser optical tweezers to measure the torque of a focused optical vortex. The tool was either freely rotating due to the applied torque or set into oscillations by the counteracting force. Four different trapping configurations provided different ways of sensing the torque and gave consistent results. The value of torque was determined by confronting the experimental results with numerical and analytical models.

Ultra-long-working-distance spectroscopy of single nanostructures with aspherical solid immersion microlenses.

In light science and applications, equally important roles are played by efficient light emitters/detectors and by the optical elements responsible for light extraction and delivery. The latter should be simple, cost effective, broadband, versatile and compatible with other components of widely desired micro-optical systems. Ideally, they should also operate without high-numerical-aperture optics. Here, we demonstrate that all these requirements can be met with elliptical microlenses 3D printed on top of light emitters. Importantly, the microlenses we propose readily form the collected light into an ultra-low divergence beam (half-angle divergence below 1°) perfectly suited for ultra-long-working-distance optical measurements (600 mm with a 1-inch collection lens), which are not accessible to date with other spectroscopic techniques. Our microlenses can be fabricated on a wide variety of samples, including semiconductor quantum dots and fragile van der Waals heterostructures made of novel two-dimensional materials, such as monolayer and few-layer transition metal dichalcogenides.

Traveling Wave Rotary Micromotor Based on a Photomechanical Response in Liquid Crystal Polymer Networks.

The photomechanical response of liquid crystal polymer networks (LCNs) can be used to directly convert light energy into different forms of mechanical energy. In this study, we demonstrate how a traveling deformation, induced in a liquid crystal polymer ring by a spatially modulated laser beam, can be used to drive the ring (the rotor) to rotate around a stationary element (the stator), thus forming a light-powered micromotor. The photomechanical response of the polymer film is modeled numerically, different LCN molecular configurations are studied, and the performance of a 5.5 mm diameter motor is characterized.

3D-printed biological cell phantom for testing 3D quantitative phase imaging systems.

As the 3D quantitative phase imaging (QPI) methods mature, their further development calls for reliable tools and methods to characterize and compare their metrological parameters. We use refractive index engineering during two-photon laser photolithography to fabricate a life-scale phantom of a biological cell with internal structures that mimic optical and structural properties of mammalian cells. After verification with a number of reference techniques, the phantom is used to characterize the performance of a limited-angle holographic tomography microscope.

A Millimeter-Scale Snail Robot Based on a Light-Powered Liquid Crystal Elastomer Continuous Actuator.

Crawling by means of the traveling deformation of a soft body is a widespread mode of locomotion in nature-animals across scales, from microscopic nematodes to earthworms to gastropods, use it to move around challenging terrestrial environments. Snails, in particular, use mucus-a slippery, aqueous secretion-to enhance the interaction between their ventral foot and the contact surface. In this study, a millimeter-scale soft crawling robot is demonstrated that uses a similar mechanism to move efficiently in a variety of configurations: on horizontal, vertical, as well as upside-down surfaces; on smooth and rough surfaces; and through obstacles comparable in size to its dimensions. The traveling deformation of the robot soft body is generated via a local light-induced phase transition in a liquid crystal elastomer and resembles the pedal waves of terrestrial gastropods. This work offers a new approach to micro-engineering with smart materials as well as a tool to better understand this mode of locomotion in nature.

Bio-compatible Piezoresistive Pressure Sensing Skin Sleeve for Millimetre-Scale Flexible Robots: Design, Manufacturing and Pitfalls.

Safe interactions between humans and robots require the robotic arms and/or tools to recognize and react to the surrounding environment via pressure sensing. With small-scale surgical interventions in mind, we have developed a flexible skin with tens of pressure sensing elements, designed to cover a 5mm diameter tool. The prototype uses only biocompatible materials: soft silicones, carbon powder and metal wires. The material performance, sensing element design, manufacturing technology, and the readout electronics are described. Our prototype demonstrates the feasibility of using this technology in various intervention scenarios, from endoscopic navigation to tissue manipulation. We conclude by identifying research directions that maximise the potential of the proposed technology.

Micro-Dumbbells-A Versatile Tool for Optical Tweezers.

Manipulation of micro- and nano-sized objects with optical tweezers is a well-established, albeit still evolving technique. While many objects can be trapped directly with focused laser beam(s), for some applications indirect manipulation with tweezers-operated tools is preferred. We introduce a simple, versatile micro-tool operated with holographic optical tweezers. The 40 µm long dumbbell-shaped tool, fabricated with two-photon laser 3D photolithography has two beads for efficient optical trapping and a probing spike on one end. We demonstrate fluids viscosity measurements and vibration detection as examples of possible applications.

Optical fiber micro-connector with nanometer positioning precision for rapid prototyping of photonic devices.

Prototyping of fiber-coupled integrated photonic devices requires robust and reliable way of docking optical fibers to other structures, often with sub-micron accuracy. We have developed an optical fiber micro-connector 3D-printed with Direct Laser Writing on a planar substrate. The connector provides fiber core precision positioning better than 120 nm and sustains cryogenic cycling without any signs of degradation. It can be fabricated and used on glass and non-transparent substrates, including photonic integrated circuits, semiconductor samples, and microfluidic systems.

Light-Driven, Caterpillar-Inspired Miniature Inching Robot.

Liquid crystal elastomers are among the best candidates for artificial muscles, and the materials of choice when constructing microscale robotic systems. Recently, significant efforts are dedicated to designing stimuli-responsive actuators that can reproduce the shape-change of soft bodies of animals by means of proper external energy source. However, transferring material deformation efficiently into autonomous robotic locomotion remains a challenge. This paper reports on a miniature inching robot fabricated from a monolithic liquid crystal elastomer film, which upon visible-light excitation is capable of mimicking caterpillar locomotion on different substrates like a blazed grating and a paper surface. The motion is driven by spatially uniform visible light with relatively low intensity, rendering the robot "human-friendly," i.e., operational also on human skin. The design paves the way toward light-driven, soft, mobile microdevices capable of operating in various environments, including the close proximity of humans.

Light Robots: Bridging the Gap between Microrobotics and Photomechanics in Soft Materials.

For decades, roboticists have focused their efforts on rigid systems that enable programmable, automated action, and sophisticated control with maximal movement precision and speed. Meanwhile, material scientists have sought compounds and fabrication strategies to devise polymeric actuators that are small, soft, adaptive, and stimuli-responsive. Merging these two fields has given birth to a new class of devices-soft microrobots that, by combining concepts from microrobotics and stimuli-responsive materials research, provide several advantages in a miniature form: external, remotely controllable power supply, adaptive motion, and human-friendly interaction, with device design and action often inspired by biological systems. Herein, recent progress in soft microrobotics is highlighted based on light-responsive liquid-crystal elastomers and polymer networks, focusing on photomobile devices such as walkers, swimmers, and mechanical oscillators, which may ultimately lead to flying microrobots. Finally, self-regulated actuation is proposed as a new pathway toward fully autonomous, intelligent light robots of the future.

Self-Regulating Iris Based on Light-Actuated Liquid Crystal Elastomer.

The iris, found in many animal species, is a biological tissue that can change the aperture (pupil) size to regulate light transmission into the eye in response to varying illumination conditions. The self-regulation of the eye lies behind its autofocusing ability and large dynamic range, rendering it the ultimate "imaging device" and a continuous source of inspiration in science. In optical imaging devices, adjustable apertures play a vital role as they control the light exposure, the depth of field, and optical aberrations of the systems. Tunable irises demonstrated to date require external control through mechanical actuation, and are not capable of autonomous action in response to changing light intensity without control circuitry. A self-regulating artificial iris would offer new opportunities for device automation and stabilization. Here, this paper reports the first iris-like, liquid crystal elastomer device that can perform automatic shape-adjustment by reacting to the incident light power density. Similar to natural iris, the device closes under increasing light intensity, and upon reaching the minimum pupil size, reduces the light transmission by a factor of seven. The light-responsive materials design, together with photoalignment-based control over the molecular orientation, provides a new approach to automatic, self-regulating optical systems based on soft smart materials.

Full 3D modelling of pulse propagation enables efficient nonlinear frequency conversion with low energy laser pulses in a single-element tripler.

Although new optical materials continue to open up access to more and more wavelength bands where femtosecond laser pulses can be generated, light frequency conversion techniques are still indispensable in filling the gaps on the ultrafast spectral scale. With high repetition rate, low pulse energy laser sources (oscillators) tight focusing is necessary for a robust wave mixing and the efficiency of broadband nonlinear conversion is limited by diffraction as well as spatial and temporal walk-off. Here we demonstrate a miniature third harmonic generator (tripler) with conversion efficiency exceeding 30%, producing 246 fs UV pulses via cascaded second order processes within a single laser beam focus. Designing this highly efficient and ultra compact frequency converter was made possible by full 3-dimentional modelling of propagation of tightly focused, broadband light fields in nonlinear and birefringent media.

Free-form Light Actuators - Fabrication and Control of Actuation in Microscopic Scale.

Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted researchers' attention in many fields. Most of the studies focused on macroscopic LCE structures (films, fibers) and their miniaturization is still in its infancy. Recently developed lithography techniques, e.g., mask exposure and replica molding, only allow for creating 2D structures on LCE thin films. Direct laser writing (DLW) opens access to truly 3D fabrication in the microscopic scale. However, controlling the actuation topology and dynamics at the same length scale remains a challenge. In this paper we report on a method to control the liquid crystal (LC) molecular alignment in the LCE microstructures of arbitrary three-dimensional shape. This was made possible by a combination of direct laser writing for both the LCE structures as well as for micrograting patterns inducing local LC alignment. Several types of grating patterns were used to introduce different LC alignments, which can be subsequently patterned into the LCE structures. This protocol allows one to obtain LCE microstructures with engineered alignments able to perform multiple opto-mechanical actuation, thus being capable of multiple functionalities. Applications can be foreseen in the fields of tunable photonics, micro-robotics, lab-on-chip technology and others.