Microfabrication Using Shape‐Transforming Soft Materials

The fabrication of hollow and multicomponent micro‐objects with complex inner structures using state‐of‐the‐art subtractive, formative, and additive manufacturing technologies is challenging. Controlled shape transformation offers a very elegant solution to this challenge. While shape transformations on macroscale can be achieved using either manual or automatic manipulation, shape transformations on microscale can better be realized using shape‐changing polymers such as hydrogels, shape‐memory polymers, liquid crystalline elastomers, and others. This review discusses the properties of different classes of shape‐changing materials, the principle of shape transformation, possibilities to achieve complex shape transformation, as well as applications of shape‐changing materials in microfabrication and other fields.     

Microparticle‐Based Soft Electronic Devices: Toward One‐Particle/One‐Pixel

While microparticle (MP) assemblies have long attracted academic interest, few practical applications of assembled MPs have been achieved because of technological difficulties related to MP synthesis, MP position registration, and the absence of device concepts. The precise positioning of functional MPs in a proper stencil can produce flexible/stretchable electronic devices, even when the MPs themselves are rigid. In recent years, remarkable progress has been made in the programmable position registration of MPs, production of functional MPs, and concepts for MP‐based, pixel‐type electronic devices. This progress report reviews the recent technological advances in MP assembly and discusses the technological challenges preventing the realization of the one‐particle/one‐pixel concept.     

An Autonomous Soft Actuator with Light‐Driven Self‐Sustained Wavelike Oscillation for Phototactic Self‐Locomotion and Power Generation

Mimicking the intelligence of biological organisms in artificial systems to design smart actuators that act autonomously in response to constant environmental stimuli is crucial to the construction of intelligent biomimetic robots and devices, but remains a great challenge. Here, a light‐driven autonomous carbon‐nanotube‐based bimorph actuator is developed through an elaborate structural design. This curled droplet‐shaped actuator can be simply driven by constant white light irradiation, self‐propelled by a light‐mechanical negative feedback loop created by light‐driven actuation, time delay in the photothermal response along the actuator, and good elasticity from the curled structure, performing a continuously self‐oscillating motion in a wavelike fashion, which mimics the human sit‐up motion. Moreover, this autonomous self‐oscillating motion can be further tuned by controlling the intensity and direction of the incident light. The autonomous actuator with continuous wavelike oscillating motion shows immense potential in light‐driven biomimetic soft robots and optical‐energy‐harvesting devices. Furthermore, a self‐locomotive artificial snake with phototaxis is constructed, which autonomously and continuously crawls toward the light source in a wave‐propagating manner under constant light irradiation. This snake can be placed on a substrate made of triboelectric materials to realize continuous electric output when exposed to constant light illumination.     

Fast‐Response,Stiffness‐Tunable Soft Actuator by Hybrid Multimaterial 3D Printing

Soft robots have the appealing advantages of being highly flexible and adaptive to complex environments. However, the low‐stiffness nature of the constituent materials makes soft robotic systems incompetent in tasks requiring relatively high load capacity. Despite recent attempts to develop stiffness‐tunable soft actuators by employing variable stiffness materials and structures, the reported stiffness‐tunable actuators generally suffer from limitations including slow responses, small deformations, and difficulties in fabrication with microfeatures. This work presents a paradigm to design and manufacture fast‐response, stiffness‐tunable (FRST) soft actuators via hybrid multimaterial 3D printing. The integration of a shape memory polymer layer into the fully printed actuator body enhances its stiffness by up to 120 times without sacrificing flexibility and adaptivity. The printed Joule‐heating circuit and fluidic cooling microchannel enable fast heating and cooling rates and allow the FRST actuator to complete a softening–stiffening cycle within 32 s. Numerical simulations are used to optimize the load capacity and thermal rates. The high load capacity and shape adaptivity of the FRST actuator are finally demonstrated by a robotic gripper with three FRST actuators that can grasp and lift objects with arbitrary shapes and various weights spanning from less than 10 g to up to 1.5 kg.     

A Microfluidic Tool for Fine‐Tuning Motion of Soft Micromotors

Microfluidics is an ideal tool for the design of self‐assembled micromotors. It allows for easy change of solutions, catalysts, and flow rates, which affect shape, structure, and motion of the resulting micromotors. A microfluidic tool generating aqueous‐two‐phase‐separating droplets of UV‐polymerizable poly(ethylene glycol)diacrylate (PEGDA) and an inert phase, salt, or polysaccharide, is utilized to fabricate asymmetric microbeads. Different molecular weights and branching of polysaccharides are used to study the effect on shape, surface roughness, and motion of the particles. The molecular weight of the polysaccharide determines the roughness of the motors inner surface. Smooth openings are obtained by low molecular weight dextran, while high surface roughness is obtained with a high molecular weight branched polysaccharide. Since roughness plays an important role in bubble pinning, it influences both speed and trajectory. Increasing speeds are obtained with increasing roughness and trajectories ranging from linear, circular to tumble‐and‐run depending on the nature of bubble pinning. This microfluidic tool allows for fine‐tuning shape, structure, and motion by easy change of solutions, catalysts, and flow rates.     

Soft IP Compiler for a Reed‐Solomon Decoder

In this paper, we present a soft IP compiler for the Reed‐Solomon decoder that generates a fully synthesizable VHDL core exploiting characteristic parameters and design constraints that we newly classify for the soft IP. It produces a structural design with an estimable regular architecture based on a finite state machine with a datapath (FSMD). Since characteristic parameters provide different design points on the design space, using one of two simple procedures called the constructive search with area increment (CSAI) and constructive search with speed decrement (CSSD) for design space exploration, the core compiler makes it possible for an IP user to create the Reed‐Solomon decoder with appropriate sub‐architectures without synthesizing many models. Experimental results show that the IP compiler can apply to several industry standards.     

Soft Nanostructured Films for Actuated Surface‐Based siRNA Delivery

Substrate‐mediated gene delivery is an emerging technology that enables spatial control of gene expression and localized delivery. This is of particular interest for siRNA where surface‐based release can greatly impact the fields of stem‐cell reprograming, wound healing, and medical device coatings in general. However, reports on the use of siRNA for substrate‐mediated delivery are scarce and have suffered from low efficiency. Here, an alternative strategy is reported by designing self‐assembled substrates that experience stimuli‐responsive topological transformations. Specifically, a methodology is established to promote the molecular organization of lipid films having 3D‐bicontinuous cubic, 2D‐inverted hexagonal, or 1D‐lamellar nanostructures encapsulating siRNA. In response to a compositional, temperature, or humidity stimulus, the nanostructures evolve from 1D‐lamellar or 2D‐hexagonal to 3D‐cubic resulting in efficient siRNA release to human cell cultures. Grazing incidence X‐ray diffraction reveals that film nanostructures are highly ordered and preferentially aligned. The results indicate that film structure substantially affects siRNA delivery, with the supported 3D‐bicontinuous cubic phase yielding the most effective reduction of gene expression. Subsequent studies suggest this enhanced performance arises due to the ability of this phase to cross cell membranes, particularly those of endocytic compartments. This work underpins that nanostructure tuning is decisive to the performance of therapeutic films.     

Light‐Driven Liquid Crystalline Networks and Soft Actuators with Degree‐of‐Freedom‐Controlled Molecular Motors

Design and fabrication of photomechanical soft actuators has attracted intense scientific interest because of their potential in the manufacture of untethered intelligent soft robots and advanced functional devices. Trifunctional and monofunctional polymerizable molecular motors are judiciously designed and synthesized. Novel light‐driven liquid crystalline networks (LCN) are prepared by crosslinking overcrowded‐alkene‐based molecular motors with different degrees of freedom into the anisotropic LCN. The photoisomerization and thermal helix inversion of light‐driven molecular motors are reversible when only the upper part of the molecular motor is linked to the network, endowing the LCN film with remarkable photoactive performance. However, photochemical geometric change of the light‐driven molecular motor does not work after crosslinking both the upper and lower part of the motor by polymer chains. Interestingly, it is found that the fastened motor can transfer the light energy into localized heat instead of performing photoisomerization. The light‐driven molecular‐motor‐based LCN soft actuators are demonstrated to function as a grasping hand, where the continuous motions of grasping, moving, lifting, and releasing an object are successfully achieved. This work may provide inspiration to the preparation of next‐generation photoactive advanced functional materials toward their wide applications in the areas of photonics, optoelectronics, soft robotics, and beyond.     

Soft real‐time communications over Bluetooth under interferences from ISM devices

Bluetooth is a suitable technology to support soft real‐time applications like multimedia streams at the personal area network level. In this paper, we analytically evaluate the worst‐case deadline failure probability of Bluetooth packets under co‐channel interference as a way to provide statistical guarantees when transmitting soft real‐time traffic using ACL links. We consider the interference from independent Bluetooth devices, as well as from other devices operating in the ISM band like 802.11b/g and Zigbee. Finally, we show as an example how to use our model to obtain some results for the transmission of a voice stream. Copyright © 2006 John Wiley & Sons, Ltd.     

Contrast Agent Incorporation into Silicone Enables Real‐Time Flow‐Structure Analysis of Mammalian Vein‐Inspired Soft Pumps

The construction of machines consisting essentially of soft parts is a nascent and multidisciplinary research field between material science, machine engineering, and robotics. Soft silicones represent a promising class of materials for the creation of a vast multitude of biologically inspired entities. In the present work, a new type of mammalian vein‐inspired soft silicone pump is introduced and characterized, which is fabricated by virtual lost‐wax casting of 3D‐printed injection molds. These pumps can be actuated pneumatically or by internal gas combustion and preserve their functionality even after a freezing/unfreezing cycle. The possibility of using medical examination methods such as ultrasonic imaging to directly access flow information inside soft pumps is shown. Based on soda lime glass microspheres, a method is demonstrated to enhance contrast properties during such color online Doppler imaging for a detailed understanding of the inner fluid‐structure interactions.     

Hydrogel‐Enabled Transfer‐Printing of Conducting Polymer Films for Soft Organic Bioelectronics

The use of conducting polymers such as poly(3,4‐ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) for the development of soft organic bioelectronic devices, such as organic electrochemical transistors (OECTs), is rapidly increasing. However, directly manipulating conducting polymer thin films on soft substrates remains challenging, which hinders the development of conformable organic bioelectronic devices. A facile transfer‐printing of conducting polymer thin films from conventional rigid substrates to flexible substrates offers an alternative solution. In this work, it is reported that PEDOT:PSS thin films on glass substrates, once mixed with surfactants, can be delaminated with hydrogels and thereafter be transferred to soft substrates without any further treatments. The proposed method allows easy, fast, and reliable transferring of patterned PEDOT:PSS thin films from glass substrates onto various soft substrates, facilitating their application in soft organic bioelectronics. By taking advantage of this method, skin‐attachable tattoo‐OECTs are demonstrated, relevant for conformable, imperceptible, and wearable organic biosensing.     

Soft Nanopatterning on Light‐Emitting Inorganic–Organic Composites

In this work we demonstrate the nanopatterning of nanocomposites made by luminescent zinc oxide nanoparticles and light‐emitting conjugated polymers by means of soft molding lithography. Vertical nanofluidics is exploited to overcome the polymer transport difficulties intrinsic in materials incorporating nanocrystals, and the rheology, fluorescence, absolute quantum yield, and emission directionality of the nanostructured composites are investigated. We study the effect of patterned gratings on the directionality of light emitted from the nanocomposites, finding evidence of the enhancement of forward emitted light, due to the printed wavelength‐scale periodicity. These results open new possibilities for the realization of nanopatterned devices based on hybrid organic‐inorganic systems.     

Highly Bendable Ionic Soft Actuator Based on Nitrogen‐Enriched 3D Hetero‐Nanostructure Electrode

Electrically responsive ionic soft actuators that can exhibit large bending strain under low electrical input power are promising candidates for future soft electronics and wearable devices. However, some drawbacks such as low blocking force, slow response time, and poor durability should be overcome for practical engineering applications. Herein, this study reports defect‐engineered 3D graphitic carbon nitride (GCN) and nitrogen‐doped graphene (NG) hetero‐nanostructure that were developed by one‐pot hydrothermal method in order to design functionally antagonistic hybrid electrodes for superior ionic soft actuators. While NG facilitates rapid electron transfer in 3D networked nanoarchitectures, the enriched‐nitrogen content in GCN provides good wettability and mechanical resiliency with poly(3,4 ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS). The 3D hybrid nanostructures generate unimpeded ion channels and sufficient contact area with the electrolyte membrane to provide higher capacitance and mechanical integrity, which are critical prerequisites for high‐performance actuation. The developed soft actuator based on the nitrogen‐enriched 3D hetero‐nanostructure is found to exhibit large bending strain (0.52%), wide frequency response, 5 h durability (93% retention), 2.4 times higher bending displacement, and twofold higher electromechanical efficiency compared to PEDOT:PSS under ±0.5 V input voltage. Such 3D functionally antagonistic hybrid electrodes offer hitherto unavailable opportunities in developing ultralow voltage‐driven ionic actuators for the next‐generation soft electronics.