Touch, press and stroke: a soft capacitive sensor skin.

Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned elastomer and containing both fixed and sliding pillars that allow the sensor to deform and buckle, much like skin itself. The sensor differentiates between simultaneously applied normal force and shear using summation and differences of signals from four deformable capacitors. Cross talk from shear to normal force is less than 2.5%, and between shear axes is less than 10%. Normal and shear stress sensitivity is 0.49 kPa and 0.31 kPa respectively, with a minimum displacement resolution of 40 µm. In addition, finger proximity is detectable at a range of up to 15 mm. The operation is demonstrated on a simple gripper holding a cup. The combination of features and the straightforward fabrication method make this sensor a candidate for implementation as a sensing skin for humanoid robotics applications.

Intrinsically Stretchable Integrated Passive Matrix Electrochromic Display Using PEDOT:PSS Ionic Liquid Composite.

The low power consumption of electrochromism makes it widely used in actively shaded windows and mirrors, while flexible versions are attractive for use in wearable devices. Initial demonstration of stretchable electrochromic elements promises good conformability to complex surfaces. Here, fully integrated intrinsically stretchable electrochromic devices are demonstrated as single elements and 3 × 3 displays. Conductive and electrochromic ionic liquid-doped poly(3,4-ethylenedioxythiophene) polystyrene sulfonate is combined with poly(vinyl alcohol)-based electrolyte to form complete cells. A transmission change of 15% is demonstrated, along with a reflectance change of 25% for opaque reflective devices, with <7 s switching time, even under 30% strain. Stability under both electrochemical and mechanical strain cycling is demonstrated. A passive matrix display exhibits addressability and low cross-talk under strain. Comparable optical performance to flexible electrochromics and higher deformability provide attractive qualities for use in wearable, biometric monitoring, and robotic skin devices.

Photomodulated Extrusion as a Localized Endovascular Hydrogel Deposition Method.

Minimally invasive endovascular embolization is used to treat a wide range of diseases in neurology, oncology, and trauma where the vascular morphologies and corresponding hemodynamics vary greatly. Current techniques based on metallic coils, flow diverters, liquid embolics, and suspended microspheres are limited in their ability to address a wide variety of vasculature and can be plagued by complications including distal migration, compaction, and inappropriate vascular remodeling. Further, these endovascular devices currently offer limited therapeutic functions beyond flow control such as drug delivery. Herein, a novel in situ microcatheter-based photomodulated extrusion approach capable of dynamically tuning the physical and morphological properties of injectable hydrogels, optimizing for local hemodynamic environment and vascular morphology, is proposed and demonstrated. A shear thinning and photoactivated poly(ethylene glycol diacrylate)-nanosilicate (PEGDA-nSi) hydrogel is used to demonstrate multiple extrusion modes which are controlled by photokinetics and device configurations. Real-time photomodulation of injected hydrogel viscosity and modulus is successfully used for embolization in various vasculatures, including high-flow large vessels and arterial-to-arterial capillary shunts. Furthermore, a generalizable therapeutic delivery platform is proposed by demonstrating a core-shell structured extrusion encapsulating doxorubicin to achieve a more sustained release compared to unencapsulated payload.

Piezoionic mechanoreceptors: Force-induced current generation in hydrogels.

The human somatosensory network relies on ionic currents to sense, transmit, and process tactile information. We investigate hydrogels that similarly transduce pressure into ionic currents, forming a piezoionic skin. As in rapid- and slow-adapting mechanoreceptors, piezoionic currents can vary widely in duration, from milliseconds to hundreds of seconds. These currents are shown to elicit direct neuromodulation and muscle excitation, suggesting a path toward bionic sensory interfaces. The signal magnitude and duration depend on cationic and anionic mobility differences. Patterned hydrogel films with gradients of fixed charge provide voltage offsets akin to cell potentials. The combined effects enable the creation of self-powered and ultrasoft piezoionic mechanoreceptors that generate a charge density four to six orders of magnitude higher than those of triboelectric and piezoelectric devices.

Unraveling DNA inspires artificial muscle.

Super-contractile artificial muscle that is inspired by DNA generates more work than skeletal muscle.

Toward Biodegradable Electronics: Ionic Diodes Based on a Cellulose Nanocrystal-Agarose Hydrogel.

Bioderived cellulose nanocrystals (CNCs) are used to create light, flexible, biocompatible, and biodegradable electronic devices. Herein, surface modification of cellulose nanocrystals was employed to fabricate cationic and anionic CNCs. Subsequently, we demonstrated rectification behavior from a fixed junction between two agarose hydrogels doped with cationic and anionic cellulose nanocrystals. The current rectification ratio reaches 70 reproducibly, which is significantly higher than that for analogous diodes generated with microfibrillated cellulose (∼15) and the first polyelectrolyte gel diode (∼40). The current-voltage characteristics of the CNC-hydrogel diode are influenced by concentration, gel thickness, scanning frequency, and applied voltage. The high surface area of CNC resulted in high charge density after surface modification, which in turn resulted in good rectification behavior from only small amounts of dopant material.

Functional conductive nanomaterials via polymerisation in nano-channels: PEDOT in a MOF.

Reactions inside the pores of metal-organic frameworks (MOFs) offer potential for controlling polymer structures with regularity to sub-nanometre scales. We report a wet-chemistry route to poly-3,4-ethylenedioxythiophene (PEDOT)-MOF composites. After a two-step removal of the MOF template we obtain unique and stable macroscale structures of this conductive polymer with some nanoscale regularity.

Electroactive polymers for sensing.

Electromechanical coupling in electroactive polymers (EAPs) has been widely applied for actuation and is also being increasingly investigated for sensing chemical and mechanical stimuli. EAPs are a unique class of materials, with low-moduli high-strain capabilities and the ability to conform to surfaces of different shapes. These features make them attractive for applications such as wearable sensors and interfacing with soft tissues. Here, we review the major types of EAPs and their sensing mechanisms. These are divided into two classes depending on the main type of charge carrier: ionic EAPs (such as conducting polymers and ionic polymer-metal composites) and electronic EAPs (such as dielectric elastomers, liquid-crystal polymers and piezoelectric polymers). This review is intended to serve as an introduction to the mechanisms of these materials and as a first step in material selection for both researchers and designers of flexible/bendable devices, biocompatible sensors or even robotic tactile sensing units.

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.

Artificial muscles from fishing line and sewing thread.

The high cost of powerful, large-stroke, high-stress artificial muscles has combined with performance limitations such as low cycle life, hysteresis, and low efficiency to restrict applications. We demonstrated that inexpensive high-strength polymer fibers used for fishing line and sewing thread can be easily transformed by twist insertion to provide fast, scalable, nonhysteretic, long-life tensile and torsional muscles. Extreme twisting produces coiled muscles that can contract by 49%, lift loads over 100 times heavier than can human muscle of the same length and weight, and generate 5.3 kilowatts of mechanical work per kilogram of muscle weight, similar to that produced by a jet engine. Woven textiles that change porosity in response to temperature and actuating window shutters that could help conserve energy were also demonstrated. Large-stroke tensile actuation was theoretically and experimentally shown to result from torsional actuation.

Electrically, chemically, and photonically powered torsional and tensile actuation of hybrid carbon nanotube yarn muscles.

Artificial muscles are of practical interest, but few types have been commercially exploited. Typical problems include slow response, low strain and force generation, short cycle life, use of electrolytes, and low energy efficiency. We have designed guest-filled, twist-spun carbon nanotube yarns as electrolyte-free muscles that provide fast, high-force, large-stroke torsional and tensile actuation. More than a million torsional and tensile actuation cycles are demonstrated, wherein a muscle spins a rotor at an average 11,500 revolutions/minute or delivers 3% tensile contraction at 1200 cycles/minute. Electrical, chemical, or photonic excitation of hybrid yarns changes guest dimensions and generates torsional rotation and contraction of the yarn host. Demonstrations include torsional motors, contractile muscles, and sensors that capture the energy of the sensing process to mechanically actuate.

Microstructuring of polypyrrole by maskless direct femtosecond laser ablation.

Ultrafast laser micromachining was optimized for microstructuring polypyrrole as a facile new approach towards tailoring electrochemical and mechanical responses desirable for microactuator, sensors, neural probing, and nerve conduit applications. Laser perforation of high-density and high aspect ratio through-holes generated greater than 5-fold increase in surface area. The flexible machining technique offers micron-size resolution and fast prototyping capability for optimizing properties and opening new directions for polypyrrole-based devices.

Torsional carbon nanotube artificial muscles.

Rotary motors of conventional design can be rather complex and are therefore difficult to miniaturize; previous carbon nanotube artificial muscles provide contraction and bending, but not rotation. We show that an electrolyte-filled twist-spun carbon nanotube yarn, much thinner than a human hair, functions as a torsional artificial muscle in a simple three-electrode electrochemical system, providing a reversible 15,000° rotation and 590 revolutions per minute. A hydrostatic actuation mechanism, as seen in muscular hydrostats in nature, explains the simultaneous occurrence of lengthwise contraction and torsional rotation during the yarn volume increase caused by electrochemical double-layer charge injection. The use of a torsional yarn muscle as a mixer for a fluidic chip is demonstrated.

Bond order effects in electromechanical actuation of armchair single-walled carbon nanotubes.

In this paper we first use ab initio simulations to study the strains induced by charging an armchair (5,5) carbon nanotube (CNT) segment. The observed behavior is far from a monotonic expansion that one might have expected from a classical point of view. Subsequently a new method is proposed to predict the nonelectrostatic part of the electromechanical actuation response of the nanotube based on the spatial distribution of its molecular orbitals. Locally bonding and locally antibonding molecular orbitals are defined for the CNT segment structure based on analogy with bonding and antibonding orbitals in diatomic molecules. The nonmonotonic overall actuation is explained based on the above proposition and the general alignment of the expanding and contracting bonds with respect to the axis or circumference of the CNT segment. Using the well-known concept of bond order, the actuation of this complex system of many atoms is predicted with close quantitative agreement with the ab initio simulations.

Electromechanical actuation of single-walled carbon nanotubes: an ab initio study.

The mechanical actuation of a (5, 5) single-walled carbon nanotube as a result of added charge is simulated using first-principles calculations. It is observed that while both positive and negative charging tend to expand the nanotube in the axial direction for most levels of charge, radial actuation is less even and symmetric with respect to charge. The spin distribution of the additional charges is investigated, and it is predicted that in some cases unpaired spin configurations are energetically favourable, significantly affecting actuation strains.