Multifunctional flexible magnetic drive gripper for target manipulation in complex constrained environments.

Soft actuators capable of remote-controlled guidance and manipulation within complex constrained spaces hold great promise in various fields, especially in medical fields such as minimally invasive surgery. However, most current magnetic drive soft actuators only have the functions of position control and guidance, and it is still challenging to achieve more flexible operations on different targets within constrained spaces. Herein, we propose a multifunctional flexible magnetic drive gripper that can be steered within complex constrained spaces and operate on targets of various shapes. On the one hand, changing the internal pressure of the magnetic gripper can achieve functions such as suction or injection of liquid and transportation of targets with smooth surfaces. On the other hand, with the help of slit structures in the constrained environment, by simply changing the position and orientation of the permanent magnet in the external environment, the magnetic gripper can be controlled to clamp and release targets of linear, flaked, and polyhedral shapes. The full flexibility and multifunctionality of the magnetic gripper suggest new possibilities for precise remote control and object transportation in constrained spaces, so it could serve as a direct contact operation tool for hazardous drugs in enclosed spaces or a surgical tool in human body cavities.

Wireless and Closed-Loop Smart Dressing for Exudate Management and On-Demand Treatment of Chronic Wounds.

Chronic wounds have become a significant threat to people's physical and mental health and have increased the burden of social medical care. Intelligent wound dressing (IWD) with wound condition monitoring and closed-loop on-demand drug therapy can shorten the healing process and alleviate patient suffering. However, single-function wound dressings cannot meet the current needs of chronic wound treatment. Here, a wearable IWD consisting of wound exudate management, sensor monitoring, closed-loop therapy, and flexible circuit modules is reported, which can achieve effective synergy between wound exudate management and on-demand wound therapy. The dressing is attached to the wound site, and the wound exudate is spontaneously pumped into the microfluidic channel for storage. Meanwhile, the IWD can detect the state of the wound through the temperature and humidity sensor, and use this as feedback to control the liquid metal (LM) heater through a smartphone, thereby realizing the on-demand drug release from the hydrogel. In a mouse model of infected wounds, IWD accelerates wound healing by reducing inflammatory responses, promoting angiogenesis and collagen deposition.

Portable general microfluidic device with complex electric field regulation functions for electrokinetic experiments.

Electrokinetic sample manipulation is a key step for many kinds of microfluidic chips to achieve various functions, such as particle focusing and separation, fluid pumping and material synthesis. But these microfluidic experiments usually rely on large-scale signal generators for power supply, microscopes for imaging and other instruments for analysis, which hampers the portable process of microfluidic technology. Inspired by this situation, we herein designed a portable general microfluidic device (PGMD) with complex electric field regulation functions, which can accurately regulate static or continuous fluid samples. Through the graphical user interface (GUI) and modular design, the PGMD can generate multiple different electrical signals, and the micro-flow of fluid can be pumped through the built-in micropump, which can meet the requirements of most microfluidic experiments. Photos or videos of the microfluidic chip captured by the built-in microscope are received and displayed by a smartphone. We carried out a variety of microfluidic experiments such as induced-charge electroosmosis (ICEO), particle beam exit switching, thermal buoyancy flow and dielectrophoresis (DEP) on the PGMD. In addition, the PGMD can perform rapid microalgae concentration estimation in an outdoor environment, which can be used to guide microalgae cultivation, further demonstrating the development potential of this device in the field of microbial applications. Numerous results show that the PGMD has a high degree of integration and strong reliability, which expands the application of microfluidic electrokinetic experiments and provides technical support for the integration and portability of microfluidic experimental devices.

Liquid metal droplet motion transferred from an alkaline solution by a robot arm.

The excellent motion performance of gallium-based liquid metals (LMs) upon the application of a modest electric field has provided a new opportunity for the development of autonomous soft robots. However, the locomotion of LMs often appears in an alkaline solution, which hampers the application under other different conditions. In this work, a novel robot arm is designed to transfer the motion of the LM from an alkaline solution in a synchronous drive mode. The liquid metal droplet (LMD) at the bottom of the robot arm is actuated using a DC voltage to provide the driving force for the system. By introducing an end effector at the center of the robot arm, the synchronous motion of the system is replicated and can be applied to different situations. The theoretical understanding of continuous electrowetting (CEW) at the LM interface is explained, and then the motion performance of the robot arm against the function of the applied voltage and driving direction is investigated. Moreover, several applications using this robot arm, such as pattern drawing, cargo transportation, and drug concentration detection, are demonstrated. The presented robot arm has the potential to observably expand the application fields of the LM.

A tripodal wheeled mobile robot driven by a liquid metal motor.

As a novel driving concept, the liquid metal motor (LMM) has been regarded as a promising actuator due to its unique traits, such as infinitely variable speed, lack of transmission chain, convenient maintenance, and silence. However, at present, driving devices based on this material are still in the preliminary and rudimentary stage, and representative application examples are scarce. Therefore, an 8-shaped tripodal wheeled mobile robot (WMR) completely driven by a LMM is designed in this study to further prove the practicability of this material. Through combining the Marangoni surface flow on a liquid metal droplet (LMD) caused by an electrochemical reaction and the eccentric torque generated by the change in droplet shape and position, the two independently driven wheels of the mobile robot are actuated at differential moving speeds. Additionally, a matching control module, a cell phone application, and a battery have been developed and added for wireless control of three types of driving functions (moving forward, steering, and stopping). It is expected that this work could further advance the development and application of LMMs and bring new ideas to the design of WMRs.

A visual portable microfluidic experimental device with multiple electric field regulation functions.

High portability and miniaturization are two of the most important objectives pursued by microfluidic methods. However, there remain many challenges for the design of portable and visual microfluidic devices (e.g., electrokinetic experiments) due to the use of a microscope and power supply. To this end, we report a visual portable microfluidic experimental device (PMED) with multiple electric field regulation functions, which can realize the electric field regulation functions of various basic microfluidic experiments through modular design. The internal reaction process of the microfluidic chip is displayed by a smartphone, and the experimental results are analyzed using a mobile phone application (APP). Taking the induced-charge electroosmosis (ICEO) particle focusing phenomenon as an example, we carried out detailed experiments on PMED and obtained conclusions consistent with numerical simulations. In addition to ICEO experiments, other functions such as alternating electroosmosis (ACEO), thermal buoyancy convection, and dielectrophoresis (DEP) can be realized by replacing module-specific covers. The device expands the application of microfluidic experiments and provides a certain reference for the further integration and portability of subsequent microfluidic experiment devices.

Desktop-level small automatic guided vehicle driven by a liquid metal droplet.

Gallium-based liquid metals (LMs) are a new type of intelligent material, and their ability to move under the action of an electric field provides new opportunities for the design of small flexible vehicles. However, due to the extremely high fluidity of LMs and the poor automatic control ability of LM vehicles, it's still a huge challenge to control the movement of LMs flexibly and accurately. Therefore, in this paper, a small traction vehicle is designed by putting the flexible LM in rigid armor to make the movement more controllable. Moreover, a desktop-level small automatic guided vehicle (sAGV) system is built by using an external control circuit to follow a predetermined trajectory. Firstly, the basic characteristics of the vehicles driven by a LM droplet are simulated and analyzed. Then the effects of different factors on the movement velocity of the vehicles are measured by experiment. Finally, as a preliminary application test, the sAGV system is used to control the vehicles following a specific trajectory and realize the targeted transportation of cargos. The sAGV system designed in this paper can realize the automatic and precise control of the movement of the small vehicle. The current findings will inspire the further construction of complex small operating systems and the realization of accurate control.