TY - GEN
T1 - Soft actuators that self-create bone for biohybrid (micro)robotics
AU - Cao, Danfeng
AU - Martinez, Jose G.
AU - Satoshi Hara, Emilio
AU - Jager, Edwin W.H.
N1 - Funding Information:
ACKNOWLEDGMENT The authors thank Prof. Hiroshi Kamioka (Department of Orthodontics, Okayama University, Japan) for his support in the project. Fundings: Japanese Society of the Promotion of Science (JSPS) Bridge Fellowship program (BR170502) and KAKENHI (JP20H04534), JSPS (JPJSBP 120 209 923) and STINT, Swedish Research Council (VR2014-3079), and China Scholarship Council (201808330454).
Funding Information:
Research supported by Linkoping university and Okayama university.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Here we present a new class of variable stiffness actuators for soft robotics based on biohybrid materials that change their state from soft-to-hard by creating their own bones. The biohybrid variable stiffness soft actuators were fabricated by combining the electromechanically active polymer polypyrrole (PPy) with a soft substrate of polydimethylsiloxane or alginate gel. These actuators were functionalized with cell-derived plasma membrane nanofragments (PMNFs), which promote rapid mineralization within 2 days. These actuators were used in robotic devices, and PMNF mineralization resulted in the robotic devices to achieve a soft to stiff state change and thereby a decreased or stopped actuation. Moreover, perpendicularly and diagonally patterned actuators were prepared. The patterned actuators showed programmed directional actuation motion and could be fixated in this programmed state. Finally, patterned actuators that combined soft and rigid parts in one actuator showed more complex actuation motion. Together, these variable stiffness actuators could expand the range of applications of morphing robotics with more complex structures and functions.
AB - Here we present a new class of variable stiffness actuators for soft robotics based on biohybrid materials that change their state from soft-to-hard by creating their own bones. The biohybrid variable stiffness soft actuators were fabricated by combining the electromechanically active polymer polypyrrole (PPy) with a soft substrate of polydimethylsiloxane or alginate gel. These actuators were functionalized with cell-derived plasma membrane nanofragments (PMNFs), which promote rapid mineralization within 2 days. These actuators were used in robotic devices, and PMNF mineralization resulted in the robotic devices to achieve a soft to stiff state change and thereby a decreased or stopped actuation. Moreover, perpendicularly and diagonally patterned actuators were prepared. The patterned actuators showed programmed directional actuation motion and could be fixated in this programmed state. Finally, patterned actuators that combined soft and rigid parts in one actuator showed more complex actuation motion. Together, these variable stiffness actuators could expand the range of applications of morphing robotics with more complex structures and functions.
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U2 - 10.1109/MARSS55884.2022.9870251
DO - 10.1109/MARSS55884.2022.9870251
M3 - Conference contribution
AN - SCOPUS:85139068845
T3 - Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
BT - Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
A2 - Haliyo, Sinan
A2 - Boudaoud, Mokrane
A2 - Diller, Eric
A2 - Liu, Xinyu
A2 - Sun, Yu
A2 - Fatikow, Sergej
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2022
Y2 - 25 July 2022 through 29 July 2022
ER -