Euglenoid-Inspired Giant Shape Change for Highly Deformable Soft Robots

Swimming is employed as a form of locomotion by many organisms in nature across a wide range of scales. Varied strategies of shape change are employed to achieve fluidic propulsion at different scales due to changes in hydrodynamics. In the case of microorganisms, the small mass, low Reynolds number and dominance of viscous forces in the medium, requires a change in shape that is non-invariant under time reversal to achieve movement. The Euglena family of unicellular flagellates evolved a characteristic type of locomotion called euglenoid movement to overcome this challenge, wherein the body undergoes a giant change in shape. It is believed that these large deformations enable the organism to move through viscous fluids and tiny spaces. The ability to drastically change the shape of the body is particularly attractive in robots designed to move through constrained spaces and cluttered environments such as through the human body for invasive medical procedures or through collapsed rubble in search of survivors. Inspired by the euglenoids, we present the design of EuMoBot, a multi-segment soft robot that replicates large body deformations to achieve locomotion. Two robots have been fabricated at different sizes operating with a constant internal volume, which exploit hyperelasticity of fluid-filled elastomeric chambers to replicate the motion of euglenoids. The smaller robot moves at a speed of body lengths per cycle (20 mm min −1 or 2.2 cycles min −1 ) while the larger one attains a speed of body lengths per cycle (4.5 mm min −1 or 0.4 cycles min −1 ). We show the potential for biomimetic soft robots employing shape change to both replicate biological motion and act as a tool for studying it. In addition, we present a quantitative method based on elliptic Fourier descriptors to characterize and compare the shape of the robot with that of its biological counterpart. Our results show a similarity in shape of 85% and indicate that this method can be applied to understand the evolution of shape in other nonlinear, dynamic soft robots where a model for the shape does not exist.

Download Full-text

An untethered isoperimetric soft robot

Science Robotics ◽

10.1126/scirobotics.aaz0492 ◽

2020 ◽

Vol 5 (40) ◽

pp. eaaz0492

Author(s):

Nathan S. Usevitch ◽

Zachary M. Hammond ◽

Mac Schwager ◽

Allison M. Okamura ◽

Elliot W. Hawkes ◽

...

Keyword(s):

Shape Change ◽

External Source ◽

Edge Length ◽

Complex Structures ◽

Soft Robot ◽

Soft Robots ◽

Form Complex ◽

Human Scale ◽

Real World Applications ◽

Rolling Locomotion

For robots to be useful for real-world applications, they must be safe around humans, be adaptable to their environment, and operate in an untethered manner. Soft robots could potentially meet these requirements; however, existing soft robotic architectures are limited by their ability to scale to human sizes and operate at these scales without a tether to transmit power or pressurized air from an external source. Here, we report an untethered, inflated robotic truss, composed of thin-walled inflatable tubes, capable of shape change by continuously relocating its joints, while its total edge length remains constant. Specifically, a set of identical roller modules each pinch the tube to create an effective joint that separates two edges, and modules can be connected to form complex structures. Driving a roller module along a tube changes the overall shape, lengthening one edge and shortening another, while the total edge length and hence fluid volume remain constant. This isoperimetric behavior allows the robot to operate without compressing air or requiring a tether. Our concept brings together advantages from three distinct types of robots—soft, collective, and truss-based—while overcoming certain limitations of each. Our robots are robust and safe, like soft robots, but not limited by a tether; are modular, like collective robots, but not limited by complex subunits; and are shape-changing, like truss robots, but not limited by rigid linear actuators. We demonstrate two-dimensional (2D) robots capable of shape change and a human-scale 3D robot capable of punctuated rolling locomotion and manipulation, all constructed with the same modular rollers and operating without a tether.

Download Full-text

Light-steered locomotion of muscle-like hydrogel by self-coordinated shape change and friction modulation

Nature Communications ◽

10.1038/s41467-020-18801-1 ◽

2020 ◽

Vol 11 (1) ◽

Author(s):

Qing Li Zhu ◽

Cong Du ◽

Yahao Dai ◽

Matthias Daab ◽

Marian Matejdes ◽

...

Keyword(s):

Gold Nanoparticle ◽

Shape Change ◽

Light Irradiation ◽

Soft Robot ◽

Nanocomposite Hydrogel ◽

Soft Robots ◽

Hydrophobic Substrate ◽

Anisotropic Structures ◽

Light Stimuli

Abstract Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated actuators to achieve similar purposes. Here we report a hydrogel-based, biomimetic soft robot capable of multimodal locomotion fueled and steered by light irradiation. A muscle-like poly(N-isopropylacrylamide) nanocomposite hydrogel is prepared by electrical orientation of nanosheets and subsequent gelation. Patterned anisotropic hydrogels are fabricated by multi-step electrical orientation and photolithographic polymerization, affording programmed deformations. Under light irradiation, the gold-nanoparticle-incorporated hydrogels undergo concurrent fast isochoric deformation and rapid increase in friction against a hydrophobic substrate. Versatile motion gaits including crawling, walking, and turning with controllable directions are realized in the soft robots by dynamic synergy of localized shape-changing and friction manipulation under spatiotemporal light stimuli. The principle and strategy should merit designing of continuum soft robots with biomimetic mechanisms.

Download Full-text

Desynchronized Liquid Crystalline Network Actuators with Deformation Reversal Capability

10.21203/rs.3.rs-82229/v1 ◽

2020 ◽

Author(s):

Yao-Yu Xiao ◽

Zhi-Chao Jiang ◽

Junbo Hou ◽

Yue Zhao

Keyword(s):

Phase Transition ◽

Liquid Crystalline ◽

Shape Change ◽

Soft Robots ◽

Disorder Phase Transition ◽

Isotropic State ◽

Multi Stage ◽

Different Temperatures ◽

Two Sides ◽

Optically Induced

Abstract Liquid crystalline network (LCN) actuator normally deforms upon thermally or optically induced order-disorder phase transition, switching once between two shapes (shape-1 in LC phase and shape-2 in isotropic state) for each stimulation on/off cycle. Herein, we report a novel type of LCN actuator that deforms from shape-1 to shape-2 and then reverses the deformation direction back to shape-1 or to a new shape-3 on heating or under light only, meaning that the actuator can complete the shape switch twice for one stimulation on/off cycle. The deformation reversal capability is obtained with a monolithic LCN actuator whose two sides are made to start deforming at different temperatures and exerting different reversible strains, which can be realized through asymmetrical crosslinking and/or asymmetrical stretching of the two sides in preparing the LCN actuator. This desynchronized actuation strategy offers new possibilities in developing light-fueled LCN soft robots. In particular, the multi-stage bidirectional shape change can be used to achieve multimodal, light-driven locomotion with different moving speeds from the same LCN actuator by simply varying the light on/off times to confine shape switch in a specific sub-stage.

Download Full-text

Desynchronized liquid crystalline network actuators with deformation reversal capability

Nature Communications ◽

10.1038/s41467-021-20938-6 ◽

2021 ◽

Vol 12 (1) ◽

Author(s):

Yao-Yu Xiao ◽

Zhi-Chao Jiang ◽

Jun-Bo Hou ◽

Yue Zhao

Keyword(s):

Phase Transition ◽

Liquid Crystalline ◽

Shape Change ◽

Soft Robots ◽

Disorder Phase Transition ◽

Isotropic State ◽

Multi Stage ◽

Different Temperatures ◽

Two Sides ◽

Optically Induced

AbstractLiquid crystalline network (LCN) actuator normally deforms upon thermally or optically induced order-disorder phase transition, switching once between two shapes (shape 1 in LC phase and shape 2 in isotropic state) for each stimulation on/off cycle. Herein, we report an LCN actuator that deforms from shape 1 to shape 2 and then reverses the deformation direction to form shape 3 on heating or under light only, thus completing the shape switch twice for one stimulation on/off cycle. The deformation reversal capability is obtained with a monolithic LCN actuator whose two sides are made to start deforming at different temperatures and exerting different reversible strains, by means of asymmetrical crosslinking and/or asymmetrical stretching. This desynchronized actuation strategy offers possibilities in developing light-fueled LCN soft robots. In particular, the multi-stage bidirectional shape change enables multimodal, light-driven locomotion from the same LCN actuator by simply varying the light on/off times.

Download Full-text

Role of spectrin in membrane fusion and in shape change of human erythrocyte ghost

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100082509 ◽

1978 ◽

Vol 36 (2) ◽

pp. 328-329

Author(s):

Hideo Hayashi ◽

Yoshikazu Hirai ◽

John T. Penniston

Keyword(s):

Conformational Changes ◽

Human Erythrocyte ◽

Shape Change ◽

Membrane Surface ◽

Slight Modification ◽

Active Role ◽

Main Role ◽

Bank Blood ◽

Human Erythrocyte Ghost

Spectrin is a membrane associated protein most of which properties have been tentatively elucidated. A main role of the protein has been assumed to give a supporting structure to inside of the membrane. As reported previously, however, the isolated spectrin molecule underwent self assemble to form such as fibrous, meshwork, dispersed or aggregated arrangements depending upon the buffer suspended and was suggested to play an active role in the membrane conformational changes. In this study, the role of spectrin and actin was examined in terms of the molecular arrangements on the erythrocyte membrane surface with correlation to the functional states of the ghosts.Human erythrocyte ghosts were prepared from either freshly drawn or stocked bank blood by the method of Dodge et al with a slight modification as described before. Anti-spectrin antibody was raised against rabbit by injection of purified spectrin and partially purified.

Download Full-text

Microstructural characterization of laser-melted/roller-quenched dicalcium silicate

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100104972 ◽

1988 ◽

Vol 46 ◽

pp. 582-583

Author(s):

C. J. Chan ◽

K. R. Venkatachari ◽

W. M. Kriven ◽

J. F. Young

Keyword(s):

Particle Size ◽

Raw Materials ◽

Shape Change ◽

Microstructural Characterization ◽

Particle Size Effect ◽

Dicalcium Silicate ◽

Laser Melting ◽

Uniform Size ◽

Cell Shape Change ◽

Wide Range

Dicalcium silicate (Ca2SiO4) is a major component of Portland cement. It has also been investigated as a potential transformation toughener alternative to zirconia. It has five polymorphs: α, α'H, α'L, β and γ. Of interest is the β-to-γ transformation on cooling at about 490°C. This transformation, accompanied by a 12% volume increase and a 4.6° unit cell shape change, is analogous to the tetragonal-to-monoclinic transformation in zirconia. Due to the processing methods used, previous studies into the particle size effect were limited by a wide range of particle size distribution. In an attempt to obtain a more uniform size, a fast quench rate involving a laser-melting/roller-quenching technique was investigated.The laser-melting/roller-quenching experiment used precompacted bars of stoichiometric γ-Ca2SiO4 powder, which were synthesized from AR grade CaCO3 and SiO2xH2O. The raw materials were mixed by conventional ceramic processing techniques, and sintered at 1450°C. The dusted γ-Ca2SiO4 powder was uniaxially pressed into 0.4 cm x 0.4 cm x 4 cm bars under 34 MPa and cold isostatically pressed under 172 MPa. The γ-Ca2SiO4 bars were melted by a 10 KW-CO2 laser.

Download Full-text

Soft Robots

Nature ◽

10.1038/d41586-019-00252-4 ◽

2016 ◽

Keyword(s):

Soft Robots

Download Full-text

Conditions Affecting the Responses of Human Platelets to Epinephrine

Thrombosis and Haemostasis ◽

10.1055/s-0038-1647031 ◽

1988 ◽

Vol 60 (02) ◽

pp. 209-216 ◽

Cited By ~ 23

Author(s):

Chantal Lalau Keraly ◽

Raelene L Kinlough-Rathbone ◽

Marian A Packham ◽

Hidenori Suzuki ◽

J Fraser Mustard

Keyword(s):

Platelet Rich Plasma ◽

Shape Change ◽

Human Platelets ◽

Dense Granule ◽

Primary Phase ◽

Lag Phase ◽

Acid Citrate Dextrose ◽

Two Phases ◽

Citrate Dextrose ◽

Thromboxane Formation

SummaryConditions affecting the responses of human platelets to epinephrine were examined. In platelet-rich plasma prepared from blood anticoagulated with hirudin or PPACK (D-pheny- lalanyl-L-prolyl-L-arginine chloromethyl ketone), epinephrine did not cause shape change or aggregation. In a Tyrode-albumin- apyrase solution containing a concentration of Ca2+ in the physiological range, and fibrinogen, epinephrine in concentrations as high as 40 μM did not induce platelet shape change, caused either no primary aggregation or very slight primary aggregation, and did not induce thromboxane formation, release of dense granule contents, or secondary aggregation. In contrast, in citrated platelet-rich plasma, epinephrine induced two phases of aggregation. This is not attributable to the generation of traces of thrombin since the same effects were evident when blood was taken into a combined citrate-hirudin anticoagulant or a combined citrate-PPACK anticoagulant. In a modified Tyrode-albu- min-apyrase solution containing approximately 20 μM Ca2+, 1 mM Mg2+, and fibrinogen, epinephrine induced extensive aggregation after a lag phase, but no primary phase was evident; thromboxane formation and release of dense granule contents accompanied the aggregation response. These responses were also observed when PPACK was included with the acid-citrate- dextrose anticoagulant, and in the washing and resuspending fluids. In the presence of aspirin or the thromboxane receptor blocker BM 13.177 a few small aggregates were detected by particle counting and by scanning electron microscopy; with the latter inhibitor, the platelets in the aggregates retained their disc shape; secondary aggregation and the responses associated with it did not occur. Thus thromboxane A2 formation is not necessary for the formation of these small aggregates, but is required for extensive aggregation and release. As with other weak agonists, the close platelet-to-platelet contact in the low Ca2+ medium appears to be necessary for full secondary aggregation. Omission of fibrinogen from the low Ca2+ medium prevented both primary and secondary aggregation in response to epinephrine. An antibody (10E5) to the glycoprotein Ilb/IIIa complex was completely inhibitory in the presence of fibrinogen. Thus the response of human platelets to epinephrine is influenced by the concentration of Ca2+ and the presence of fibrinogen in the medium in which they are suspended.

Download Full-text

Increased Aggregation and Secretion Responses of Human Platelets when Loaded with the Calcium Fluorescent Probes Quin2 and Fura-2

Thrombosis and Haemostasis ◽

10.1055/s-0038-1645981 ◽

1987 ◽

Vol 58 (02) ◽

pp. 737-743 ◽

Cited By ~ 12

Author(s):

Frarnçois Lanza ◽

Alain Beretz ◽

Martial Kubina ◽

Jean-Pierre Cazenave

Keyword(s):

Intracellular Calcium ◽

Shape Change ◽

Calcium Ionophore ◽

Human Platelets ◽

Arachidonic Acid Metabolism ◽

Free Calcium ◽

Membrane Bilayer ◽

Fluorescent Indicators ◽

Fura 2 ◽

Low Concentrations

SummaryIncorporation into human platelets of the calcium fluorescent indicators quin2 or fura-2 at low concentrations used to measure intracellular free calcium leads to the potentiation of the effects of agonists on platelets. This was shown by increased aggregatory and secretory responses of quin2 or fura-2 loaded platelets after stimulation with ADP, PAP and with low concentrations of thrombin, collagen, the endoperoxide analog U-46619 and the calcium ionophore A 23187. Quin2 and fura-2 mediated platelet sensitisation could be due to altered arachidonic acid metabolism since it was inhibited by prior treatment with the cydooxygenase inhibitor acetylsalicylate. In contrast, platelets loaded with higher concentrations of calcium chelators exhibited diminished aggregation responses to all aggregating agents. This latter effect was accompanied by increased fluidity of the platelet plasma membrane bilayer and by the exposure of a new pool of membranes to the outer surface of platelets, as monitored with trimethylammonium- diphenylhexatriene (TMA-DPH) in platelets loaded with the non-fluorescent calcium probe analog MAPT. In contrast, low concentrations of quin2 did not potentiate shape change of platelets activated with ADP. Thus, shape change and aggregation can be influenced separately by intracellular Ca2+ chelators. We conclude that platelet responses are altered by the incorporation of intracellular calcium chelators at concentrations used to monitor intracellular calcium changes.

Download Full-text