Soft robotic patterning of liquids.

Patterning of two or more liquids, either homogeneous in each phase or mixed with particles (including biological matter, such as cells and proteins), by controlling their flow dynamics, is relevant to several applications. Examples include dynamic spatial confinement of liquids in microfluidic systems (such as lab-on-a-chip and organ-on-a-chip devices) or structuring of polymers to modulate various properties (such as strength, conductivity, transparency and surface finishing). State-of-the-art strategies use various technologies, including positioners, shakers and acoustic actuators, which often combine limited versatility of mixing with significant inefficiency, energy consumption, and noise, as well as tendency to increase the temperature of the liquids. Here, we describe a new kind of robotic mixers of liquids, based on electro-responsive smart materials (dielectric elastomer actuators). We show for the first time how an efficient soft robotic device can be used to produce, via combinations of rotations and translations, various spatial patterns in liquids and maintain them stable for a few minutes. Moreover, we show that, as compared to a conventional orbital shaker, the new type of robotic device can mix liquids with a higher efficacy (~ 94% relative to ~ 80%, after 8 min of mixing) and with a significantly lower increase of the liquids' temperature (+ 1 °C relative to + 5 °C, after 6 h of mixing). This is especially beneficial when mixing should occur according to controllable spatial features and should involve temperature-sensitive matter (such as biological cells, proteins, pre-polymers and other thermolabile molecules).

Improved Dual Network Model for Aging of Rubber Composites under Set Strains.

A new model is presented to predict rubber behavior during chemical aging at fixed strains. The model is validated using a carbon black-filled nitrile butadiene rubber aged in air at 125 °C. The model improves upon Tobolsky's dual network theory, designed for unfilled elastomers undergoing conventional aging but which has also often been used in rubber composites undergoing more complex aging scenarios. This work explores the shortcomings of the original model and demonstrates how the new model overcomes them. The model was validated using uniaxial tensile samples aged at 125 °C for 24-72 h at strains from 0-30%. The permanent set was measured, and the samples were tested on an Instron uniaxial test machine after aging. The cross-link density was estimated by equilibrium swelling. Results show that the new model more accurately models the stress-strain behavior to higher strains and provides more reliable estimates of chain scission and cross-linking after aging.

Thiyl radical induced cis/trans isomerism in double bond containing elastomers.

This report presents an evaluation of thiyl radical-induced cis/trans isomerism in double bond-containing elastomers, such as natural, polychloroprene, and polybutadiene rubbers. The study aims to extensively investigate structural changes in polymers after functionalisation using thiol-ene chemistry, a useful click reaction for modifying polymers and developing materials with new functionalities. The paper reports on the use of different thiols, and cis/trans isomerism was detected through 1H NMR analysis, even at very low alkene/thiol mole ratios. The study finds that the configurational arrangements between non-functionalised elastomer units and thiolated units followed a trans-functionalised-cis units arrangement up to an alkene/thiol mole feed ratio of 0.3, while from 0.4 onward, a combination of trans-functionalised-cis and cis-functionalised-trans configurations are found. Additionally, it is observed that by increasing the level of functionalisation, the glass transition temperature of the resulting modified elastomer also increases. Overall, this study provides valuable insights into the effects of thiol-ene chemistry on the structure and properties of elastomers and could have important implications for the development of new materials with enhanced functionality.

The Influence of Carbon Black Colloidal Properties on the Parameters of the Kraus Model.

The Payne Effect (also known as the Fletcher-Gent Effect) has a fundamental impact on the behavior of filled rubber composites and therefore must be considered during their design. This study investigates the influence of carbon black (CB) surface area and structure on the observed Payne Effect and builds on the existing models of Kraus and Ulmer to explain this phenomenon. Dynamic strain sweeps were carried out on natural rubber (NR) compounds containing eight different grades of CB at equivalent volume fractions. The loss and storage moduli were modeled according to the Kraus and Ulmer equations, using a curve optimization tool in SciPy. Subsequent regression analysis provided strong correlations between the fitting parameters and the CB structure and surface area. Using this regression analysis, this work provides further insight into the physical meaning behind the Kraus and Ulmer models, which are phenomenological in nature.

Evolution of the Viscoelastic Properties of Filler Reinforced Rubber under Physical Aging at Room Temperature.

Filler reinforced rubber is widely used for engineering applications; therefore, a sound characterization of the effects of physical aging is crucial for accurately predicting its viscoelastic properties within its operational temperature range. Here, the torsion pendulum is used to monitor the evolution of the storage and loss modulus of carbon black filled samples for four days after a temperature drop to 30 °C. The storage modulus presents a continuous increase, while the loss modulus generally displays a steady decrease throughout the four days that each test was conducted. The relationship of the recovery rates with the carbon black properties is also studied, analysing its dependency on the particle size and aggregate structure. The evolution of the recovery rate seems to depend linearly on the surface area while the carbon black structure appears to have a much weaker influence on the physical aging behavior for the set of compounds tested. The obtained results corroborate the presence of physical aging at room temperature for filler rubber materials and the ability of the torsion pendulum to monitor the storage and loss modulus change, providing pivotal data on the influence of physical aging on the viscoelastic properties of the material.

The Influence of Colloidal Properties of Carbon Black on Static and Dynamic Mechanical Properties of Natural Rubber.

The influence of carbon black (CB) structure and surface area on key rubber properties such as monotonic stress-strain, cyclic stress-strain, and dynamic mechanical behaviors are investigated in this paper. Natural rubber compounds containing eight different CBs were examined at equivalent particulate volume fractions. The CBs varied in their surface area and structure properties according to a wide experimental design space, allowing robust correlations to the experimental data sets to be extracted. Carbon black structure plays a dominant role in defining the monotonic stress-strain properties (e.g., secant moduli) of the compounds. In line with the previous literature, this is primarily due to strain amplification and occluded rubber mechanisms. For cyclic stress-strain properties, which include the Mullins effect and cyclic softening, the observed mechanical hysteresis is strongly correlated with carbon black structure, which implies that hysteretic energy dissipation at medium to large strain values is isolated in the rubber matrix and arises due to matrix overstrain effects. Under small to medium dynamic strain conditions, classical strain dependence of viscoelastic moduli is observed (the Payne effect), the magnitude of which varies dramatically and systematically depending on the colloidal properties of the CB. At low strain amplitudes, both CB structure and surface area are positively correlated to the complex moduli. Beyond ~2% strain amplitude the effect of surface area vanishes, while structure plays an increasing and eventually dominant role in defining the complex modulus. This transition in colloidal correlations reflects the transition in stiffening mechanisms from flexing of rigid percolated particle networks at low strains to strain amplification at medium to high strains. By rescaling the dynamic mechanical data sets to peak dynamic stress and peak strain energy density, the influence of CB colloidal properties on compound hysteresis under strain, stress, and strain energy density control can be estimated. This has considerable significance for materials selection in rubber product development.

Novel Crosslinking System for Poly-Chloroprene Rubber to Enable Recyclability and Introduce Self-Healing.

The introduction of dynamic bonds capable of mediating self-healing in a fully cross-linked polychloroprene network can only occur if the reversible moieties are carried by the cross-linker itself or within the main polymer backbone. Conventional cross-linking is not suitable for such a purpose. In the present work, a method to develop a self-healable and recyclable polychloroprene rubber is presented. Dynamic disulfide bonds are introduced as part of the structure of a crosslinker (liquid polysulfide polymer, Thiokol LP3) coupled to the polymer backbone via thermally initiated thiol-ene reaction. The curing and kinetic parameters were determined by isothermal differential scanning calorimetry and by moving die rheometer analysis; tensile testing was carried to compare the tensile strength of cured compound, healed compounds and recycled compounds, while chemical analysis was conducted by surface X-ray Photoelectron Spectroscopy. Three formulations with increasing concentrations of Thiokol LP-3 were studied (2, 4, 6 phr), reaching a maximum ultimate tensile strength of 22.4 MPa and ultimate tensile strain of 16.2 with 2 phr of Thiokol LP-3, 11.7 MPa and 10.7 strain with 4 phr and 5.6 MPa and 7.3 strain with 6 phr. The best healing efficiencies were obtained after 24 h of healing at 80 °C, increasing with the concentration of Thiokol LP-3, reaching maximum values of 4.5% 4.4% 13.4% with 2 phr, 4 phr and 6 phr, respectively, while the highest recycling efficiency was obtained with 4 phr of Thiokol LP-3, reaching 11.2%.

Electrically Tunable Lenses: A Review.

Optical lenses with electrically controllable focal length are of growing interest, in order to reduce the complexity, size, weight, response time and power consumption of conventional focusing/zooming systems, based on glass lenses displaced by motors. They might become especially relevant for diverse robotic and machine vision-based devices, including cameras not only for portable consumer electronics (e.g. smart phones) and advanced optical instrumentation (e.g. microscopes, endoscopes, etc.), but also for emerging applications like small/micro-payload drones and wearable virtual/augmented-reality systems. This paper reviews the most widely studied strategies to obtain such varifocal "smart lenses", which can electrically be tuned, either directly or via electro-mechanical or electro-thermal coupling. Only technologies that ensure controllable focusing of multi-chromatic light, with spatial continuity (i.e. continuous tunability) in wavefronts and focal lengths, as required for visible-range imaging, are considered. Both encapsulated fluid-based lenses and fully elastomeric lenses are reviewed, ranging from proof-of-concept prototypes to commercially available products. They are classified according to the focus-changing principles of operation, and they are described and compared in terms of advantages and drawbacks. This systematic overview should help to stimulate further developments in the field.

Electrically tunable directional light scattering from soft thin membranes.

The possibility of electrically tuning the scattering of light from surfaces by dynamically varying their properties is desirable for controllable transparency devices and diffusion filters. As a difference from state-of-the-art approaches where scattering is changed isotropically, this paper presents the first smart-material-based technology enabling electrical modulations in a single or multiple directions, which can be selected dynamically. The effect is achieved from thin soft membranes with transparent PEDOT:PSS coatings, which are electrically deformed along a single or multiple axes, using dielectric elastomer actuation. Anisotropic scattering is induced by electrically tuning the formation of directional surface wrinkles. As a proof of concept, a bi-directional device is obtained by overlapping two 90°-shifted mono-directional layers that can be controlled independently. According to the activation of the layers, light can be scattered along either direction, as well as both of them. Prototypes made of an acrylic elastomer were demonstrated with mono- and bi-directional operations. Devices with a window-to-total area ratio of 1:4 also showed a maximum electrical reduction of optical transmittance from 75% to 4%. This functionality and possible extensions to more than two controllable directions suggest applicability as electrically controllable anisotropic light diffusers for dynamic light shaping, as well as tunable transparency surfaces.

Bioreactor With Electrically Deformable Curved Membranes for Mechanical Stimulation of Cell Cultures.

Physiologically relevant in vitro models of stretchable biological tissues, such as muscle, lung, cardiac and gastro-intestinal tissues, should mimic the mechanical cues which cells are exposed to in their dynamic microenvironment in vivo. In particular, in order to mimic the mechanical stimulation of tissues in a physiologically relevant manner, cell stretching is often desirable on surfaces with dynamically controllable curvature. Here, we present a device that can deform cell culture membranes without the current need for external pneumatic/fluidic or electrical motors, which typically make the systems bulky and difficult to operate. We describe a modular device that uses elastomeric membranes, which can intrinsically be deformed by electrical means, producing a dynamically tuneable curvature. This approach leads to compact, self-contained, lightweight and versatile bioreactors, not requiring any additional mechanical equipment. This was obtained via a special type of dielectric elastomer actuator. The structure, operation and performance of early prototypes are described, showing preliminary evidence on their ability to induce changes on the spatial arrangement of the cytoskeleton of fibroblasts dynamically stretched for 8 h.

Electrically tuning soft membranes to both a higher and a lower transparency.

The possibility to electrically tune the optical transparency of thin membranes is of significant interest for a number of possible applications, such as controllable light diffusers and smart windows, both for residential and mobile use. As a difference from state-of-the-art approaches, where with an applied voltage the transparency can only increase or decrease, this paper presents the first concept to make it electrically tuneable to both higher and lower values, within the same device. The concept is applicable to any soft insulating membrane, by coating both of its surfaces with a circular transparent stretchable conductor, surrounded by a stretchable annular conductor. The two conductors are used as independently addressable electrodes to generate a dielectric elastomer-based actuation of the membrane, so as to electrically control its surface topography. We show that the optical transmittance can electrically be modulated within a broad range, between 25% and 83%. This approach could be especially advantageous for systems that require such a broad tuning range within structures that have to be thin, lightweight and acoustically silent in operation.

Smart Lenses with Electrically Tuneable Astigmatism.

The holy grail of reconfigurable optics for microscopy, machine vision and other imaging technologies is a compact, in-line, low cost, refractive device that could dynamically tune optical aberrations within a range of about 2-5 wavelengths. This paper presents the first electrically reconfigurable, fully elastomeric, tuneable optical lenses with motor-less electrical controllability of astigmatism in the visible range. By applying different voltage combinations to thin dielectric elastomer actuator segments surrounding a soft silicone lens, we show that the latter can be electrically deformed either radially or along selectable directions, so as to tune defocus or astigmatism, up to about 3 wavelengths. By mounting the new lenses on a commercial camera, we demonstrate their functionality, showing how electrically reconfiguring their shape can be used to dynamically control directional blurring while taking images of different targets, so as to emphasize directional features having orthogonal spatial orientations. Results suggest that the possibility of electrically controlling aberrations inherent to these smart lenses holds promise to develop highly versatile new components for adaptive optics.

Limitations of Viscoelastic Constitutive Models for Carbon-Black Reinforced Rubber in Medium Dynamic Strains and Medium Strain Rates.

Modelling the viscoelastic behavior of rubber for use in component design remains a challenge. Most of the literature does not consider the typical regimes encountered by anti-vibration devices that are deformed to medium dynamic strains (0.5 to 3.5) at medium strain rates (0.5/s to 10/s). Previous studies have either focused on the behaviour at small strains and small strain rates or in fast loading conditions that result in low cycle fatigue or tearing phenomena. There is a lack of understanding of the dynamic response of natural rubber suspension components when used in real vehicle applications. This paper presents a review of popular viscoelastic nonlinear constitutive models and their ability to model the mechanical behaviour of typical elastomer materials such as Natural Rubber (NR) incorporating different PHR (Parts per Hundred Rubber, XX) of carbon black. The range of strain and strain rate are typical for the materials used in rubber suspensions when operating in severe service operating conditions, such as over rough terrain or over pot-holes. The cyclic strain is applied at different amplitudes and different strain rates in this medium strain range. Despite the availability of many models in the literature, our study reports that none of the existing models can fit the data satisfactorily over a wide range of conditions.

Deformation of uncemented metal acetabular cups following impaction: experimental and finite element study.

Predicting failure following the implantation of acetabular cups used in hip replacements is important in ensuring robust component designs. This study has developed 3D explicit dynamics finite element (FE) models to investigate the deformation of press-fit metal cups following insertion in the acetabular cavity. The cup deformation following insertion is clearly influenced by the forces encountered during insertion, the initial position of the cup in the cavity, the support provided by the underlying bone and the geometry of the cup itself. Experimentally validated explicit dynamics FE models were used to allow a physiologically relevant simulation of the impaction of cups, which is encountered in clinical practice, in comparison to previous studies that have used unrealistically high static forces to simulate a static press-fit insertion. Diametrical cup deformations were twice as large when the cup was tilted at 5° with respect to the cavity compared to when the poles of the cup and the cavity were aligned. The introduction of a non-uniform support to the cup increased deformations further by a factor of approximately 2.5. The greatest deformations established in the model were between 80 and 150 µm similar to typical cup-femoral head clearances. Increasing the thickness at the pole of the cup and reducing the cup diameter resulted in significantly smaller deformations being generated. These results suggest that small cup misalignments, which may not be noticeable in a clinical situation, may produce significant deformations after insertion especially when coupled with the non-uniform support found in the pelvis.

Auxetic oesophageal stents: structure and mechanical properties.

Oesophageal cancer is the ninth leading cause of malignant cancer death and its prognosis remains poor, ranking as the sixth most frequent cause of death in the world. This research work aims to adopt an Auxetic (rotating-squares) geometry device, that had previously been examined theoretically and analysed by Grima and Evans (J Mater Sci Lett 19(17):1563-1565, 2000), to produce a novel Auxetic oesophageal stent and stent-grafts relevant to the palliative treatment of oesophageal cancer and also for the prevention of dysphagia. This paper discusses the manufacture of a small diameter Auxetic oesophageal stent and stent-graft. The oral deployment of such an Auxetic stent would be simplest if a commercial balloon dilatational catheter was used as this obviates the need for an expensive dedicated delivery system. A novel manufacturing route was employed in this research to develop both Auxetic films and Auxetic oesophageal stents, which ranged from conventional subtractive techniques to a new additive manufacturing method. Polyurethane was selected as a material for the fabrication of Auxetic films and Auxetic oesophageal stents because of its good biocompatibility and non-toxicological properties. The Auxetic films were later used for the fabrication of seamed Auxetic oesophageal stents. The flexible polyurethane tubular grafts were also attached to the inner luminal side of the seamless Auxetic oesophageal stents, in order to prevent tumour in-growth. Scanning electron microscopy was used to conduct surface morphology study by using different Auxetic specimens developed from different conventional and new additive manufacturing techniques. Tensile testing of the Auxetic films was performed to characterise their mechanical properties. The stent expansion tests of the Auxetic stents were done to analyse the longitudinal extension and radial expansion of the Auxetic stent at a range of radial pressures applied by the balloon catheter, and to also identify the pressure values where the Auxetic stent fails. Finite element models of both Auxetic film and Auxetic stent were developed, and the results were compared with experimental results with a good agreement. The tensile testing of the Auxetic polyurethane films revealed that the Poisson's ratio of the sample ranged between -0.87 and -0.963 at different uniaxial tensile load values. From the stent expansion test, it was found that the Auxetic oesophageal stent radially expanded from 0.5 to 5.73 mm and longitudinally extended from 0.15 to 1.83 mm at a range of applied pressure increments (0.5-2.7 bar) from the balloon catheter.