Tunable stiffness in fish robotics: mechanisms and advantages

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency during locomotion. However, the optimal stiffness depends on variables such as swimming speed, so there is no one “best” stiffness that maximizes efficiency in all conditions. Fish are thought to solve this problem by using muscular activity to tune their body and fin stiffness in real-time. Inspired by fish, some recent robots sport polymer actuators, adjustable leaf springs, or artificial tendons that tune stiffness mechanically. Models and water channel tests are providing a theoretical framework for stiffness-tuning strategies that devices can implement. The strategies can be thought of as analogous to car transmissions, which allow users to improve efficiency by tuning gear ratio with driving speed. We provide an overview of the latest discoveries about 1) the propulsive benefits of flexibility, particularly tunable flexibility, and 2) the mechanisms and strategies that fish and fish-inspired robots use to tune stiffness while swimming.

Simple yet effective methods to probe hydrogel stiffness for mechanobiology

In spite of tremendous advances made in the comprehension of mechanotransduction, implementation of mechanobiology assays remains challenging for the broad community of cell biologists. Hydrogel substrates with tunable stiffness are essential tool in mechanobiology, allowing to investigate the effects of mechanical signals on cell behavior. A bottleneck that slows down the popularization of hydrogel formulations for mechanobiology is the assessment of their stiffness, typically requiring expensive and sophisticated methodologies in the domain of material science. Here we overcome such barriers offering the reader protocols to set-up and interpret two straightforward, low cost and high-throughput tools to measure hydrogel stiffness: static macroindentation and micropipette aspiration. We advanced on how to build up these tools and on the underlying theoretical modeling. Specifically, we validated our tools by comparing them with leading techniques used for measuring hydrogel stiffness (atomic force microscopy, uniaxial compression and rheometric analysis) with consistent results on PAA hydrogels or their modification. In so doing, we also took advantage of YAP/TAZ nuclear localization as biologically validated and sensitive readers of mechanosensing, all in all presenting a suite of biologically and theoretically proven protocols to be implemented in most biological laboratories to approach mechanobiology.

Thermally active nanoparticle clusters enslaved by engineered domain wall traps

The stable assembly of fluctuating nanoparticle clusters on a surface represents a technological challenge of widespread interest for both fundamental and applied research. Here we demonstrate a technique to stably confine in two dimensions clusters of interacting nanoparticles via size-tunable, virtual magnetic traps. We use cylindrical Bloch walls arranged to form a triangular lattice of ferromagnetic domains within an epitaxially grown ferrite garnet film. At each domain, the magnetic stray field generates an effective harmonic potential with a field tunable stiffness. The experiments are combined with theory to show that the magnetic confinement is effectively harmonic and pairwise interactions are of dipolar nature, leading to central, strictly repulsive forces. For clusters of magnetic nanoparticles, the stationary collective states arise from the competition between repulsion, confinement and the tendency to fill the central potential well. Using a numerical simulation model as a quantitative map between the experiments and theory we explore the field-induced crystallization process for larger clusters and unveil the existence of three different dynamical regimes. The present method provides a model platform for investigations of the collective phenomena emerging when strongly confined nanoparticle clusters are forced to move in an idealized, harmonic-like potential.

PDMS Substrates with tunable stiffness for cardiac mechanobiology investigation: A nanoindentation study

Micromechanical characterization by nanoindentation of PDMS substrates for cardiac mechanobiology studies.

Tunable Stiffness and Damping Study on Flexible PVC Cantilever Structure Embedded with MR Fluid

The stiffness and damping of a flexible smart cantilever structure controlled by a magnetic field is investigated in this research. The cantilever structure is fabricated by using flexible polyvinyl chloride as a host structure of rectangular cross-section embedded with magnetorheological (MR) fluid. The deflection of the cantilever structure at the free end is used to analyze the stiffness change of the cantilever structure. The stiffness of the specimen with MR fluid at magnetic flux density of 0.171T is greater than that of the specimen without subjected to magnetic field. The strength of the applied magnetic field is directly related to the structure’s stiffness. Under the influence of a magnetic field, the MR fluid embedded inside the flexible PVC cantilever structure significantly dampens the vibrations of the structure.