Super‐Soft and Super‐Elastic DNA Robot with Magnetically Driven Navigational Locomotion for Cell Delivery in Confined Space

Soft organisms such as earthworms can access confined, narrow spaces, inspiring scientists to fabricate soft robots for in vivo manipulation of cells or tissues and minimally invasive surgery. We report a super‐soft and super‐elastic magnetic DNA hydrogel‐based soft robot (DNA robot), which presents a shape‐adaptive property and enables magnetically driven navigational locomotion in confined and unstructured space. The DNA hydrogel is designed with a combinational dynamic and permanent crosslinking network through chain entanglement and DNA hybridization, resulting in shear‐thinning and cyclic strain properties. DNA robot completes a series of complex magnetically driven navigational locomotion such as passing through narrow channels and pipes, entering grooves and itinerating in a maze by adapting and recovering its shape. DNA robot successfully works as a vehicle to deliver cells in confined space by virtue of the 3D porous networked structure and great biocompatibility.     

Super-Soft and Super-Elastic DNA Robot with Magnetically Driven Navigational Locomotion for Cell Delivery in Confined Space

Soft organisms such as earthworms can access confined, narrow spaces, inspiring scientists to fabricate soft robots for in vivo manipulation of cells or tissues and minimally invasive surgery. We report a super-soft and super-elastic magnetic DNA hydrogel-based soft robot (DNA robot), which presents a shape-adaptive property and enables magnetically driven navigational locomotion in confined and unstructured space. The DNA hydrogel is designed with a combinational dynamic and permanent crosslinking network through chain entanglement and DNA hybridization, resulting in shear-thinning and cyclic strain properties. DNA robot completes a series of complex magnetically driven navigational locomotion such as passing through narrow channels and pipes, entering grooves and itinerating in a maze by adapting and recovering its shape. DNA robot successfully works as a vehicle to deliver cells in confined space by virtue of the 3D porous networked structure and great biocompatibility.     

软机器人的运动行为研究进展

软机器人的出现不仅弥补了传统机器人的缺点,并逐渐成为机器人领域的热点和前沿之一,近年来该领域研究进展十分迅速。本文总结了典型软机器人的运动行为的研究进展,介绍了软机器人按材质类型的分类(包括液晶软机器人、生物分子软机器人、PDMS软机器人、液体软机器人和自振荡凝胶软机器人)及其功能和潜在应用,讨论了当前不同类别软机器人运动的特点和存在的问题,在此基础上展望了软机器人领域面临的机遇、挑战和未来发展方向。     

Bio-inspired fluorescence color-tunable soft actuators with a self-healing and reconfigurable nature

The adaptive behaviors of organisms in response to different environments can inspire the development of smart materials. These biomimetic color-changing actuating materials (BCCAMs) with complex shape memory (SM), self-healing, shape reconfigurable and reprocessing properties may be exactly what the flexible actuators/robots/electronic skins need. Here, we prepared an ultra-high strain (～1600%) soft actuation material with fluorescence changes, self-healing, and SM performance under a single stimulus by a simple method. At the same time, we developed a simple strategy based on welding to achieve actuators that have a reconfiguring three-dimensional (3D) deformation and medium temperature reprocessing. The resulting 3D soft actuators can achieve effective coordination of these functions. Flexible actuators with multiple functions that can be triggered by a single switch are expected to have value in soft robots, flexible electronic skins, and so on.     

Bio‐inspired Design and Additive Manufacturing of Soft Materials,Machines, Robots,and Haptic Interfaces

Soft materials possess several distinctive characteristics, such as controllable deformation, infinite degrees of freedom, and self‐assembly, which make them promising candidates for building soft machines, robots, and haptic interfaces. In this Review, we give an overview of recent advances in these areas, with an emphasis on two specific topics: bio‐inspired design and additive manufacturing. Biology is an abundant source of inspiration for functional materials and systems that mimic the function or mechanism of biological tissues, agents, and behaviors. Additive manufacturing has enabled the fabrication of materials and structures prevalent in biology, thereby leading to more‐capable soft robots and machines. We believe that bio‐inspired design and additive manufacturing have been, and will continue to be, important tools for the design of soft robots.     

Springtail-inspired Light-driven Soft Jumping Robots Based on Liquid Crystal Elastomers with Monolithic Three-leaf Panel Fold Structure

Jump is an important form of motion that enables animals to escape from predators, increase their range of activities, and better adapt to the environment. Inspired by springtails, we describe a light-driven soft jumping robot based on a double-folded liquid crystal elastomer (LCE) ribbon actuator with a monolithic three-leaf panel fold structure. This robot can achieve remarkable jumping height, jumping distance, and maximum take-off velocity, of up to 87 body length (BL), 65 BL, and 930 BL s⁻¹, respectively, under near-infrared light irradiation. Further, it is possible to control the height, distance, and direction of jump by changing the size and crease angle of the double-folded LCE ribbon actuators. These robots can efficiently jump over obstacles and can jump continuously, even in complex environments. Our simple design strategy improves the performance of jumping actuators and we expect it to have a wide-ranging impact on the strength, continuity, and adaptability of future soft robots.     

In-situ polymerization for mechanical strong composite actuators based on anisotropic wood and thermoresponsive polymer

Stimuli-responsive hydrogels hold an irreplaceable statue in intelligent actuation materials because of their reversible stretchability and excellent biocompatibility. However, the poor mechanical performance and complicated fabrication process of anisotropic structures severely limit their further applications.Herein, we report a high-strength thermoresponsive wood-PNIPAM composite hydrogel actuator with complex deformations, through a simple in-situ polymerization. In this composite hydrogel a...     

Mechanically Strong Janus Poly(N-isopropylacrylamide)/Graphene Oxide Hydrogels as Thermo-responsive Soft Robots

Simple preparation of stimuli-responsive hydrogels with good mechanical properties and mild stimuliresponsiveness is essential for their applications as smart soft robots.Mechanically strong Janus poly(Nisopropylacrylamide)/graphene oxide (PNIPAM/GO) nanocomposite hydrogels with stimuli-responsive bending behaviors are prepared through a simple one-step method by using molds made of a Teflon plate and a glass plate.Residual oxygen in the air bubbles on the Teflon plate surface affects the polymerization and hence the cross-linking density,leading to the different swelling/deswelling rates of the two sides of the gels.Therefore,the hydrogels exhibit bending/unbending behaviors upon heating/cooling in water.The incorporation of GO nanosheets dramatically enhances the mechanical properties of Janus hydrogels.Meanwhile,the photo-responsive property of the GO nanosheets also imparts the hydrogels with remotecontrollable deformation under IR irradiation.The application of the Janus PNIPAM/GO hydrogels as thermo-responsive grippers is demonstrated.     

Multimodal Self-sustainable Autonomous Locomotions of Light-driven Seifert Ribbon Actuators based on Liquid Crystal Elastomers

Multimodal self-sustainable autonomous locomotions integrated into one individual system, are high-level intelligent behavioral characteristics of living organisms and are the scientific hotspot of bionic soft actuators. Here, we report a light-fueled soft actuator with multimodal self-sustainable movements based on a Seifert ribbon bounded by a Hopf link. The Seifert ribbon actuator can self-sense the illumination area adjustment, and the actuation component becomes either a discontinuous strip-like structure or a continuous toroidal structure, which can realize adaptive switches between self-sustained oscillatory and rotary motions. The two motion modes are applied to the self-oscillatory piezoelectric generation and self-rotational work multiplication of cargo transport, respectively. The unique smartness of Seifert surface topology advances the level of actuation intelligence with broad implications for the adaptability, multifunctionality, and autonomy of soft robots.     

模糊自适应PID算法在核磁共振谱仪样品旋转控制系统中的应用

在核磁共振(NMR)实验中,样品旋转能够有效消除 XY 方向磁场的部分不均匀性,从而提高信号分辨率.在商用NMR谱仪中,一般采用PID算法进行待测样品的旋转控制.由于被控对象具有一定的非线性,存在着调节时间较长,稳定后存在误差等缺点.针对该现象,在Varian 500 MHz波谱仪气路系统的基础上,设计一套新的控制电路...     

腰接型侧链液晶弹性体研究进展

液晶弹性体是交联型液晶大分子,兼具液晶取向有序性和交联聚合物熵弹性等特性,在传感器、触发器、微流体装置和仿生器件等方面具有很好的应用前景.制备液晶弹性体的微结构,探索其独特的刺激响应性,是目前液晶弹性体研究的重要方向.侧链液晶弹性体的液晶相态类型取决于其液晶基元和主链的连接方式.腰接型侧链液晶弹性体倾向于形成向列型液晶相,具有较快的响应速度和形变程度,是一类独特的液晶弹性体.本文重点介绍腰接型液晶弹性体微结构(如微米柱、微米线等)的制备;利用金纳米粒子的光热转换效应,实现液晶弹性体光响应性的新途径;以及腰接型侧链液晶弹性体仿生微结构的功能性等.同时还对该领域的发展前景进行了展望.     

Mechanically strong Janus poly(<Emphasis Type="Italic">N</Emphasis>-isopropylacrylamide)/graphene oxide hydrogels as thermo-responsive soft robots

Simple preparation of stimuli-responsive hydrogels with good mechanical properties and mild stimuliresponsiveness is essential for their applications as smart soft robots. Mechanically strong Janus poly(N-isopropylacrylamide)/graphene oxide (PNIPAM/GO) nanocomposite hydrogels with stimuli-responsive bending behaviors are prepared through a simple one-step method by using molds made of a Teflon plate and a glass plate. Residual oxygen in the air bubbles on the Teflon plate surface affects the polymerization and hence the cross-linking density, leading to the different swelling/deswelling rates of the two sides of the gels. Therefore, the hydrogels exhibit bending/unbending behaviors upon heating/cooling in water. The incorporation of GO nanosheets dramatically enhances the mechanical properties of Janus hydrogels. Meanwhile, the photo-responsive property of the GO nanosheets also imparts the hydrogels with remotecontrollable deformation under IR irradiation. The application of the Janus PNIPAM/GO hydrogels as thermo-responsive grippers is demonstrated.     

分形理论研究吸附过程的特性

本文介绍分形理论研究吸附过程的特性。着重讨论利用吸附质－分子探针－电化法实验技术，研究固－液吸附过程的分形结构，定义和求取吸附质粒子在吸附过程中运动轨道的吸附分维Ｄｗ。     

Manipulation of Biomolecule‐Modified Liquid‐Metal Blobs

Soft and deformable liquid metals (LMs) are building components in various systems related to uncertain and dynamic task environments. Herein we describe the development of a biomolecule‐triggered external‐manipulation method involving LM conjugates for the construction of future innovative soft robotics operating in physiological environments. Functional soft hybrids composed of a liquid‐metal droplet, a thiolated ligand, and proteins were synthesized for the expression of diverse macroscopic commands, such as attachment to cells, binary fusion, and self‐propelled movement through molecular recognition and enzymatic reactions. Our technology could be used to create new state‐of‐the‐art soft robots for chemical and biomedical engineering applications.     

Soft microswimmers: Material capabilities and biomedical applications

In the last decades, microrobotics has attracted much attention of researchers due to the unique characteristics of shapes, propulsion mechanisms, and potential applications in the biomedical field. Recently, the research of microrobots has shifted to soft microrobots owing to their softness, elasticity and reconfigurability benefiting to interact with the complex channels in the human body compared to their rigid counterparts. There is significant progress on soft microswimmers and that encourages us to review this field timely to promote the development. In this review, we mainly highlight the progress of the soft microswimmers in recent years. The materials with softness, deformability and shape-morphing characteristics are surveyed as well as biocompatibility, followed by standard fabrication methods. Additionally, the locomotion based on self-propelled and external-field-driven mechanisms has been compared and discussed. Finally, the biomedical applications in imaging, targeted drug delivery and therapy, and microsurgery are highlighted followed by addressing the perspectives.     

Robust and smart hydrogels based on natural polymers

This review summarizes recent progress of the robust and smart hydrogels prepared from natural polymers including polysaccharides,proteins,etc.These hydrogels exhibit outstanding mechanical properties due to their nanofibrous aggregated microstructures and special crosslinking networks.Furthermore,these hydrogels show some smart stimuliresponsive behaviors triggered by pH,temperature,light,electricity and magnetism.Hopefully,these hydrogels derived from natural polymers with inherent biodegradation and biocompatibility have great application potential in the fields of biomedicine,tissue engineering,soft robots and bio-machine.     

Microfluidic operations using deformable polymer membranes fabricated by single layer soft lithography

We show that it is possible to use single layer soft lithography to create deformable polymer membranes within microfluidic chips for performing a variety of microfluidic operations. Single layer microfluidic chips were designed, fabricated, and characterized to demonstrate pumping, sorting, and mixing. Flow rates as high as 0.39 microl min(-1) were obtained by peristaltic pumping using pneumatically-actuated membrane devices. Sorting was attained via pneumatic actuation of membrane units placed alongside the branch channels. An active mixer was also demonstrated using single-layer deformable membrane units.     

Strictly Biphasic Soft and Hard Janus Structures: Synthesis,Properties, and Applications

Janus structures, named after the ancient two‐faced Roman god Janus, comprise two hemistructures (e.g. hemispheres) with different compositions and functionalities. Much research has been carried out over the past few years on Janus structures because of the intriguing properties and promising potential applications of these unusually shaped materials. This Review discusses recent progress made in the synthesis, properties, and applications of strictly biphasic Janus structures possessing symmetrical structures but made of disparate materials. Depending on the chemical compositions, such biphasic structures can be categorized into soft, hard, and hybrid soft/hard Janus structures of different architectures, including spheres, rodlike, disclike, or any other shape. The main synthetic routes to soft, hard, and hybrid soft/hard Janus structures are summarized and their unique properties and applications are introduced. The perspectives for future research and development are also described.     

Recent progress in the shape deformation of polymeric hydrogels from memory to actuation

Shape deformation hydrogels, which are one of the most promising and essential classes of stimuli-responsive polymers, could provide large-scale and reversible deformation under external stimuli. Due to their wet and soft properties, shape deformation hydrogels are anticipated to be a candidate for the exploration of biomimetic materials, and have shown various potential applications in many fields. Here, an overview of the mechanisms of shape deformation hydrogels and methods for their preparation is presented. Some innovative and efficient strategies to fabricate programmable deformation hydrogels are then introduced. Moreover, successful explorations of their potential applications, including information encryption, soft robots and bionomic systems, are discussed. Finally, remaining great challenges including the achievement of multiple stable deformation states and the combination of shape deformation and sensing are highlighted.

Shape deformation hydrogels, which are one of the most promising and essential classes of stimuli-responsive polymers, could provide large-scale and reversible deformation under external stimuli.     

Synthesis and characterization of 1D Co/CoFe(2)O(4) composites with tunable morphologies

1D Co/CoFe(2)O(4) composites with tunable morphologies were fabricated by a facile solvothermal route in the presence of a surfactant poly(vinylpyrrolidone) (PVP); they may be very attractive for potential applications because of their outstanding soft magnetism.