Impact of a microfluidic jet on a pendant droplet.

High speed microfluidic jets can be generated by a thermocavitation process: from the evaporation of the liquid inside a microfluidic channel, a rapidly expanding bubble is formed and generates a jet through a flow focusing effect. Here, we study the impact and traversing of such jets on a pendant liquid droplet. Upon impact, an expanding cavity is created, and, above a critical impact velocity, the jet traverses the entire droplet. We predict the critical traversing velocity (i) from a simple energy balance and (ii) by comparing the Young-Laplace and dynamic pressures in the cavity that is created during the impact. We contrast the model predictions against experiments, in which we vary the liquid properties of the pendant droplet and find good agreement. In addition, we assess how surfactants and viscoelastic effects influence the critical impact velocity. Our results increase the knowledge of the jet interaction with materials of well-known physical properties.

Actuation of untethered pneumatic artificial muscles and soft robots using magnetically induced liquid-to-gas phase transitions.

Pneumatic artificial muscles have been widely used in industry because of their simple and relatively high-performance design. The emerging field of soft robotics has also been using pneumatic actuation mechanisms since its formation. However, these actuators/soft robots often require bulky peripheral components to operate. Here, we report a simple mechanism and design for actuating pneumatic artificial muscles and soft robotic grippers without the use of compressors, valves, or pressurized gas tanks. The actuation mechanism involves a magnetically induced liquid-to-gas phase transition of a liquid that assists the formation of pressure inside the artificial muscle. The volumetric expansion in the liquid-to-gas phase transition develops sufficient pressure inside the muscle for mechanical operations. We integrated this actuation mechanism into a McKibben-type artificial muscle and soft robotic arms. The untethered McKibben artificial muscle generated actuation strains of up to 20% (in 10 seconds) with associated work density of 40 kilojoules/meter3, which favorably compares with the peak strain and peak energy density of skeletal muscle. The untethered soft robotic arms demonstrated lifting objects with an input energy supply from only two Li-ion batteries.

Dynamic Fluid-Like Graphene with Ultralow Frictional Molecular Bearing.

Fluid-like sliding graphenes but with solid-like out-of-plane compressive rigidity offer unique opportunities for achieving unusual physical and chemical properties for next-generation interfacial technologies. Of particular interest in the present study are graphenes with specific chemical functionalization that can predictably promote adhesion and wetting to substrate and ultralow frictional sliding structures. Lubricity between stainless steel (SS) and diamond-like carbon (DLC) is experimentally demonstrated with densely functionalized graphenes displaying dynamic intersheet bonds that mechanically transform into stable tribolayers. The macroscopic lubricity evolves through the formation of a thin film of an interconnected graphene matrix that provides a coefficient of friction (COF) of 0.01. Mechanical sliding generates complex folded graphene structures wherein equilibrated covalent chemical linkages impart rigidity and stability to the films examined in macroscopic friction tests. This new approach to frictional reduction has broad implications for manufacturing, transportation, and aerospace.

Artificial Muscles: Mechanisms, Applications, and Challenges.

The area of artificial muscle is a highly interdisciplinary field of research that has evolved rapidly in the last 30 years. Recent advances in nanomaterial fabrication and characterization, specifically carbon nanotubes and nanowires, have had major contributions in the development of artificial muscles. However, what can artificial muscles really do for humans? This question is considered here by first examining nature's solutions to this design problem and then discussing the structure, actuation mechanism, applications, and limitations of recently developed artificial muscles, including highly oriented semicrystalline polymer fibers; nanocomposite actuators; twisted nanofiber yarns; thermally activated shape-memory alloys; ionic-polymer/metal composites; dielectric-elastomer actuators; conducting polymers; stimuli-responsive gels; piezoelectric, electrostrictive, magnetostrictive, and photostrictive actuators; photoexcited actuators; electrostatic actuators; and pneumatic actuators.

Needle-free small-volume liquid injection system powered by a rotary actuator.

Controllable jet injection could provide a fast, repeatable method for delivery of small volume, high viscosity drugs to the dermis. We have developed a compact, lightweight jet injector that uses a small commercial rotary motor and differential screw to create a jet of fluid with sufficient force to deliver drug into tissue. Clear tissue analogue and ex vivo tissue were used to demonstrate repeatable delivery of <;10 µL of fluid using the device. The fluid when forced through a narrow orifice (108 µm) reaches a velocity of >250 m/s with an injection time of <;3 ms.

High-speed X-ray analysis of liquid delivery during jet injection.

The effect of varying velocity during jet injection on the dispersion of fluid into tissue is investigated using a custom-built X-ray imaging system. Injections are performed into ex-vivo porcine abdominal tissue using a voice coil actuated injection device. Single velocity and two-phase velocity injections reveal the complex nature of the dispersion of the fluid jet in layered tissue and highlight the effects of changing the jet velocity following the initial penetration of the liquid into the tissue.

Delivery of immunoreactive antigen using a controllable needle-free jet injector.

Intradermal immunization of mice against hepatitis B surface antigen (HBsAg) using a novel real-time controlled jet injector was assessed by comparison with intradermal and subcutaneous injection of antigen using a 27G needle and syringe. Three doses of aluminium-absorbed HBsAg were delivered at 0, 14, and 28days. Antibodies to HBsAg were detected only in mice injected with antigen with antibody levels increasing with secondary injections. Mice vaccinated by intradermal injection using the jet injector or subcutaneous needle injection exhibited comparable immune responses at day 47. Differences in titer observed between intradermal jet injected and needle injected animals reflect differences in the volume of antigen delivered. With the exception of minor bleeding at the injection site in a few animals injected either by jet injection or needle, no adverse events were observed in any of the mice used in the study.

Vertically Aligned Niobium Nanowire Arrays for Fast-Charging Micro-Supercapacitors.

Planar micro-supercapacitors are attractive for system on chip technologies and surface mount devices due to their large areal capacitance and energy/power density compared to the traditional oxide-based capacitors. In the present work, a novel material, niobium nanowires, in form of vertically aligned electrodes for application in high performance planar micro-supercapacitors is introduced. Specific capacitance of up to 1 kF m-2 (100 mF cm-2 ) with peak energy and power density of 2 kJ m-2 (6.2 MJ m-3 or 1.7 mWh cm-3 ) and 150 kW m-2 (480 MW m-3 or 480 W cm-3 ), respectively, is achieved. This remarkable power density, originating from the extremely low equivalent series resistance value of 0.27 Ω (2.49 µΩ m2 or 24.9 mΩ cm2 ) and large specific capacitance, is among the highest for planar micro-supercapacitors electrodes made of nanomaterials.

Fast Torsional Artificial Muscles from NiTi Twisted Yarns.

Torsional artificial muscles made of multiwalled carbon nanotube/niobium nanowire yarns have shown remarkable torsional speed and gravimetric torque. The muscle structure consists of a twisted yarn with half of its length infiltrated with a stimuli-responsive guest material such as paraffin wax. The volumetric expansion of the guest material creates the torsional actuation in the yarn. In the present work, we show that this type of actuation is not unique to wax-infiltrated carbon multiwalled nanotube (MWCNT) or niobium nanowire yarns and that twisted yarn of NiTi alloy fibers also produces fast torsional actuation. By gold-plating half the length of a NiTi twisted yarn and Joule heating it, we achieved a fully reversible torsional actuation of up to 16°/mm with peak torsional speed of 10 500 rpm and gravimetric torque of 8 N·m/kg. These results favorably compare to those of MWCNTs and niobium nanowire yarns.

Multidirectional In Vivo Characterization of Skin Using Wiener Nonlinear Stochastic System Identification Techniques.

A triaxial force-sensitive microrobot was developed to dynamically perturb skin in multiple deformation modes, in vivo. Wiener static nonlinear identification was used to extract the linear dynamics and static nonlinearity of the force-displacement behavior of skin. Stochastic input forces were applied to the volar forearm and thenar eminence of the hand, producing probe tip perturbations in indentation and tangential extension. Wiener static nonlinear approaches reproduced the resulting displacements with variances accounted for (VAF) ranging 94-97%, indicating a good fit to the data. These approaches provided VAF improvements of 0.1-3.4% over linear models. Thenar eminence stiffness measures were approximately twice those measured on the forearm. Damping was shown to be significantly higher on the palm, whereas the perturbed mass typically was lower. Coefficients of variation (CVs) for nonlinear parameters were assessed within and across individuals. Individual CVs ranged from 2% to 11% for indentation and from 2% to 19% for extension. Stochastic perturbations with incrementally increasing mean amplitudes were applied to the same test areas. Differences between full-scale and incremental reduced-scale perturbations were investigated. Different incremental preloading schemes were investigated. However, no significant difference in parameters was found between different incremental preloading schemes. Incremental schemes provided depth-dependent estimates of stiffness and damping, ranging from 300 N/m and 2 Ns/m, respectively, at the surface to 5 kN/m and 50 Ns/m at greater depths. The device and techniques used in this research have potential applications in areas, such as evaluating skincare products, assessing skin hydration, or analyzing wound healing.

Multidirectional Artificial Muscles from Nylon.

Multidirectional artificial muscles are made from highly oriented nylon filaments. Thanks to the low thermal conductivity of nylon and its anisotropic thermal expansion, bending occurs when a nylon beam is differentially heated. This heat can be generated via a Joule heating mechanism or high power laser pulses.

Analysis of Moving-Coil Actuator Jet Injectors for Viscous Fluids.

OBJECTIVE: A jet injector is a device that can be used to deliver liquid drugs through the skin using a fluid jet, without the use of a needle. Most jet injectors are designed and used for the delivery of inviscid liquids, and are not optimized for the delivery of viscous drug compounds. To better understand the requirements for delivering viscous drugs, we have developed a mathematical model of the electromechanics of a moving-coil actuated jet injector as it delivers viscous fluids. METHODS: The model builds upon previous work by incorporating the nonlinear electrical properties of the motor, compliant elements of the mechanical piston and ampoule system, and the effect of viscosity on injector characteristics. The model has been validated by monitoring the movement of the piston tip and measurements of the jet force. RESULTS: The results of the model indicate that the jet speed is diminished with increasing fluid viscosity, but overshoot and ringing in the jet speed is unaffected. However, a stiffer ampoule and piston will allow for a better control of the jet speed profile during an injection, and reduce ringing. CONCLUSION: We identified that the piston friction coefficient, the compliance of the injector components, and the viscous properties of the fluid are important determinants of performance when jet-injecting viscous fluids. SIGNIFICANCE: By expanding upon previous jet injector models, this study has provided informative simulations of jet injector characteristics and performance. The model can be used to guide the design of future jet injectors for viscous fluids.

High-Performance Supercapacitors from Niobium Nanowire Yarns.

The large-ion-accessible surface area of carbon nanotubes (CNTs) and graphene sheets formed as yarns, forests, and films enables miniature high-performance supercapacitors with power densities exceeding those of electrolytics while achieving energy densities equaling those of batteries. Capacitance and energy density can be enhanced by depositing highly pseudocapacitive materials such as conductive polymers on them. Yarns formed from carbon nanotubes are proposed for use in wearable supercapacitors. In this work, we show that high power, energy density, and capacitance in yarn form are not unique to carbon materials, and we introduce niobium nanowires as an alternative. These yarns show higher capacitance and energy per volume and are stronger and 100 times more conductive than similarly spun carbon multiwalled nanotube (MWNT) and graphene yarns. The long niobium nanowires, formed by repeated extrusion and drawing, achieve device volumetric peak power and energy densities of 55 MW·m(-3) (55 W·cm(-3)) and 25 MJ·m(-3) (7 mWh·cm(-3)), 2 and 5 times higher than that for state-of-the-art CNT yarns, respectively. The capacitance per volume of Nb nanowire yarn is lower than the 158 MF·m(-3) (158 F·cm(-3)) reported for carbon-based materials such as reduced graphene oxide (RGO) and CNT wet-spun yarns, but the peak power and energy densities are 200 and 2 times higher, respectively. Achieving high power in long yarns is made possible by the high conductivity of the metal, and achievement of high energy density is possible thanks to the high internal surface area. No additional metal backing is needed, unlike for CNT yarns and supercapacitors in general, saving substantial space. As the yarn is infiltrated with pseudocapacitive materials such as poly(3,4-ethylenedioxythiophene) (PEDOT), the energy density is further increased to 10 MJ·m(-3) (2.8 mWh·cm(-3)). Similar to CNT yarns, niobium nanowire yarns are highly flexible and show potential for weaving into textiles and use in wearable devices.

A needle-free technique for interstitial fluid sample acquisition using a lorentz-force actuated jet injector.

We present a novel method of quickly acquiring dermal interstitial fluid (ISF) samples using a Lorentz-force actuated needle-free jet injector. The feasibility of the method is first demonstrated on post-mortem porcine tissue. The jet injector is used to first inject a small volume of physiological saline to breach the skin, and the back-drivability of the actuator is utilized to create negative pressure in the ampoule and collect ISF. The effect of the injection and extraction parameters on sample dilution and extracted volumes is investigated. A simple finite element model is developed to demonstrate why this acquisition method results in faster extractions than conventional sampling methods. Using this method, we are able to collect a sample that contains up to 3.5% ISF in 3.1s from post-mortem skin. The trends revealed from experimentation on post-mortem skin are then used to identify the parameters for a live animal study. The feasibility of the acquisition process is successfully demonstrated using live rats; the process is revealed to extract samples that have been diluted by a factor of 111-125.

Needle-free delivery of macromolecules through the skin using controllable jet injectors.

INTRODUCTION: Transdermal delivery of drugs has a number of advantages in comparison to other routes of administration. The mechanical properties of skin, however, impose a barrier to administration and so most compounds are administered using hypodermic needles and syringes. In order to overcome some of the issues associated with the use of needles, a variety of non-needle devices based on jet injection technology has been developed. AREAS COVERED: Jet injection has been used primarily for vaccine administration but has also been used to deliver macromolecules such as hormones, monoclonal antibodies and nucleic acids. A critical component in the more recent success of jet injection technology has been the active control of pressure applied to the drug during the time course of injection. EXPERT OPINION: Jet injection systems that are electronically controllable and reversible offer significant advantages over conventional injection systems. These devices can consistently create the high pressures and jet speeds necessary to penetrate tissue and then transition smoothly to a lower jet speed for delivery of the remainder of the desired dose. It seems likely that in the future this work will result in smart drug delivery systems incorporated into personal medical devices and medical robots for in-home disease management and healthcare.

Adaptive controller for a needle free jet-injector system.

A nonlinear, sliding mode adaptive controller was created for a needle-free jet injection system. The controller was based on a simplified lumped-sum parameter model of the jet-injection mechanics. The adaptive control scheme was compared to a currently-used Feed-forward+PID controller in both ejection of water into air, and injection of dye into ex-vivo porcine tissue. The adaptive controller was more successful in trajectory tracking and was more robust to the biological variations caused by a tissue load.

The effect of jet shape on jet injection.

The effects of the dispersion pattern of a needle-free jet injector are explored. The shape of the jets were compared using a high-speed video camera and jet injections of collimated and dispersed fluid jets with a Lorentz-force actuated jet injector were made into acrylamide gel and post-mortem porcine tissue. A custom-built high-speed X-ray imaging system was used in order to observe the dynamics of the dispersion mechanism for each injection in real time. We show that a collimated jet stream results in greater tissue penetration than a dispersed jet stream.

Optimal voice coil actuators for needle-free jet injection.

We present a scaling model for electrically-actuated needle free jet injectors, establishing the relationship between injection volume and motor size. Using an analytical electromagnetic model for the motor, we derive an optimal motor design, and show that this design is approximately scale-invariant. To illustrate the utility of this model, we then describe the design of a motor for use with 300 µL disposable injection ampoules with a mass of just 300 g, including a light-weight support structure. Experimental verification of the motor performance shows close agreement to model predictions, with a peak force of 1000 N/kg and a 150 m/s water jet delivered.

Needle-free interstitial fluid acquisition using a Lorentz-force actuated jet injector.

The feasibility of a new method of quickly acquiring interstitial fluid (ISF) samples using a Lorentz-force actuated needle-free jet injector is demonstrated on ex vivo porcine tissue. The jet injector is used to first inject a small volume of physiological saline to breach the skin, and the back-drivability of the actuator is utilized to create a vacuum in the ampoule and collect ISF. Injection and extraction parameters are tested and optimized for minimal acquired sample dilution and extracted volume consistency. Using this method, we are able to collect a sample that contains up to 3.5% ISF in 3.1 s.

Nonlinear stochastic system identification of skin using volterra kernels.

Volterra kernel stochastic system identification is a technique that can be used to capture and model nonlinear dynamics in biological systems, including the nonlinear properties of skin during indentation. A high bandwidth and high stroke Lorentz force linear actuator system was developed and used to test the mechanical properties of bulk skin and underlying tissue in vivo using a non-white input force and measuring an output position. These short tests (5 s) were conducted in an indentation configuration normal to the skin surface and in an extension configuration tangent to the skin surface. Volterra kernel solution methods were used including a fast least squares procedure and an orthogonalization solution method. The practical modifications, such as frequency domain filtering, necessary for working with low-pass filtered inputs are also described. A simple linear stochastic system identification technique had a variance accounted for (VAF) of less than 75%. Representations using the first and second Volterra kernels had a much higher VAF (90-97%) as well as a lower Akaike information criteria (AICc) indicating that the Volterra kernel models were more efficient. The experimental second Volterra kernel matches well with results from a dynamic-parameter nonlinearity model with fixed mass as a function of depth as well as stiffness and damping that increase with depth into the skin. A study with 16 subjects showed that the kernel peak values have mean coefficients of variation (CV) that ranged from 3 to 8% and showed that the kernel principal components were correlated with location on the body, subject mass, body mass index (BMI), and gender. These fast and robust methods for Volterra kernel stochastic system identification can be applied to the characterization of biological tissues, diagnosis of skin diseases, and determination of consumer product efficacy.