25th Anniversary Article: A Soft Future: From Robots and Sensor Skin to Energy Harvesters

Scientists are exploring elastic and soft forms of robots, electronic skin and energy harvesters, dreaming to mimic nature and to enable novel applications in wide fields, from consumer and mobile appliances to biomedical systems, sports and healthcare. All conceivable classes of materials with a wide range of mechanical, physical and chemical properties are employed, from liquids and gels to organic and inorganic solids. Functionalities never seen before are achieved. In this review we discuss soft robots which allow actuation with several degrees of freedom. We show that different actuation mechanisms lead to similar actuators, capable of complex and smooth movements in 3d space. We introduce latest research examples in sensor skin development and discuss ultraflexible electronic circuits, light emitting diodes and solar cells as examples. Additional functionalities of sensor skin, such as visual sensors inspired by animal eyes, camouflage, self‐cleaning and healing and on‐skin energy storage and generation are briefly reviewed. Finally, we discuss a paradigm change in energy harvesting, away from hard energy generators to soft ones based on dielectric elastomers. Such systems are shown to work with high energy of conversion, making them potentially interesting for harvesting mechanical energy from human gait, winds and ocean waves.     

Methane steam reforming in a Pd-Ag membrane reformer: An experimental study on reaction pressure influence at middle temperature

In this experimental work, methane steam reforming (MSR) reaction is performed in a dense Pd-Ag membrane reactor and the influence of pressure on methane conversion, CO_x-free hydrogen recovery and CO_x-free hydrogen production is investigated. The reaction is conducted at 450 °C by supplying nitrogen as a sweep gas in co-current flow configuration with respect to the reactants. Three experimental campaigns are realized in the MR packed with Ni-ZrO catalyst, which showed better performances than Ni-Al₂O₃ used in a previous paper dealing with the same MR system. The first one is directed to keep constant the total pressure in both retentate and permeate sides of the membrane reactor. In the second case study, the total retentate pressure is kept constant at 9.0 bar, while the total permeate pressure is varied between 5.0 and 9.0 bar. As the best result of this work, at 450 °C and 4.0 bar of total pressure difference between retentate and permeate sides, around 65% methane conversion and 1.2 l/h of CO_x-free hydrogen are reached, further recovering 80% CO_x-free hydrogen over the total hydrogen produced during the reaction. Moreover, a study on the influence of hydrogen-rich gas mixtures on the hydrogen permeation through the Pd-Ag membrane is also performed and discussed.     

Effects of LP-MOCVD prepared TiO2 thin films on the in vitro behavior of gingival fibroblasts

We report on the in vitro response of human gingival fibroblasts (HGF-1 cell line) to various thin films of titanium dioxide (TiO₂) deposited on titanium (Ti) substrates by low pressure metal-organic chemical vapor deposition (LP-MOCVD). The aim was to study the influence of film structural parameters on the cell behavior comparatively with a native-oxide covered titanium specimen, this objective being topical and interesting for materials applications in implantology. HGF-1 cells were cultured on three LP-MOCVD prepared thin films of TiO₂ differentiated by their thickness, roughness, transversal morphology, allotropic composition and wettability, and on a native-oxide covered Ti substrate. Besides traditional tests of cell viability and morphology, the biocompatibility of these materials was evaluated by fibronectin immunostaining, assessment of cell proliferation status and the zymographic evaluation of gelatinolytic activities specific to matrix metalloproteinases secreted by cells grown in contact with studied specimens. The analyzed surfaces proved to influence fibronectin fibril assembly, cell proliferation and capacity to degrade extracellular matrix without considerably affecting cell viability and morphology. The MOCVD of TiO₂ proved effective in positively modifying titanium surface for medical applications. Surface properties playing a crucial role for cell behavior were the wettability and, secondarily, the roughness, HGF-1 cells preferring a moderately rough and wettable TiO₂ coating.     

A restoration framework for ultrasonic tissue characterization

Ultrasonic tissue characterization has become an area of intensive research. This procedure generally relies on the analysis of the unprocessed echo signal. Because the ultrasound echo is degraded by the non-ideal system point spread function, a deconvolution step could be employed to provide an estimate of the tissue response that could then be exploited for a more accurate characterization. In medical ultrasound, deconvolution is commonly used to increase diagnostic reliability of ultrasound images by improving their contrast and resolution. Most successful algorithms address deconvolution in a maximum a posteriori estimation framework; this typically leads to the solution of l(2)-norm or (1)-norm constrained optimization problems, depending on the choice of the prior distribution. Although these techniques are sufficient to obtain relevant image visual quality improvements, the obtained reflectivity estimates are, however, not appropriate for classification purposes. In this context, we introduce in this paper a maximum a posteriori deconvolution framework expressly derived to improve tissue characterization. The algorithm overcomes limitations associated with standard techniques by using a nonstandard prior model for the tissue response. We present an evaluation of the algorithm performance using both computer simulations and tissue-mimicking phantoms. These studies reveal increased accuracy in the characterization of media with different properties. A comparison with state-of-the-art Wiener and l(1)-norm deconvolution techniques attests to the superiority of the proposed algorithm.     

Water molecular dynamics during bread staling by Nuclear Magnetic Resonance

Bread staling is a complex phenomenon that originates from multiple physico-chemical events (amylopectin retrogradation, water loss and redistribution) that are not yet completely elucidated. Molecular properties of white bread loaves were characterized by multiple proton Nuclear Magnetic Resonance (NMR) techniques (proton FID, T₂ and T₁ relaxation time) over 14 days of storage. Changes at a molecular level (faster decay of proton FIDs and shifting of proton T₂ relaxation times distributions towards shorter times), indicating a proton mobility reduction of the bread matrix, were observed during storage. Multiple ¹H T₂ populations were observed and tentatively associated to water-gluten and water-starch domains. Proton T₁ of bread was for the first time measured at variable frequencies (Fast Field Cycling NMR) and found to be strongly dependent upon frequency and to decrease in bread during storage, especially at frequencies ≤ 0.2 MHz. An additional proton T₁ population, relaxing at 2 ms, was detected at 0.52 MHz only at early storage times and tentatively attributed to a water-gluten domain that lost mobility during storage.     

Enhanced antibacterial effect of silver nanoparticles obtained by electrochemical synthesis in poly(amide-hydroxyurethane) media

In the present study, we report enhanced antimicrobial properties of 29 and 23 nm silver nanoparticles (Ag NPs) obtained by electrochemical synthesis in poly(amide-hydroxyurethane) media. Antibacterial activity assessed by disk diffusion method indicates that silver nanoparticles produced inhibition zones for both Escherichia coli and Staphylococcus aureus depending on silver concentration. The bacterial growth curve performed in the presence of silver nanoparticles showed a stronger antibacterial effect at lower concentrations than those described in the earlier reports. The effect was both dose and size dependent and was more pronounced against Gram negative bacteria than Gram positive one. The smallest Ag NPs used had a bactericidal effect resulting in killing E. coli cells. Scanning electron microscopy analysis indicated major damage and morphology changes of the silver nanoparticles treated bacterial cells. The major mechanism responsible for the antibacterial effect probably consists in clusters formation and nanoparticles anchorage to the bacterial cell surface.     

Explaining the failure of the Dutch innovation system for biomass digestion—A functional analysis

Since the 1970s research on energy conversion technologies, such as biomass digestion, has been carried out in the Netherlands. However, after 30 years biomass digestion has not been implemented on large scale. The aim of this paper is to create insight into the underlying factors of this troublesome trajectory by applying the ‘Functions of Innovation Systems’ framework. This results in clear understanding of the (lack of) activities that took place in the innovation system of biomass digestion and the role of government policy in both inducing and blocking this development. The analysis provides several lessons to take into account when developing policies for the acceleration of the development and diffusion of biomass energy.