ABSTRACT
Untethered magnetic miniature soft robots capable of accessing hard-to-reach regions can enable safe, disruptive, and minimally invasive medical procedures. However, the soft body limits the integration of non-magnetic external stimuli sources on the robot, thereby restricting the functionalities of such robots. One such functionality is localised heat generation, which requires solid metallic materials for increased efficiency. Yet, using these materials compromises the compliance and safety of using soft robots. To overcome these competing requirements, we propose a pangolin-inspired bi-layered soft robot design. We show that the reported design achieves heating > 70 °C at large distances > 5 cm within a short period of time <30 s, allowing users to realise on-demand localised heating in tandem with shape-morphing capabilities. We demonstrate advanced robotic functionalities, such as selective cargo release, in situ demagnetisation, hyperthermia and mitigation of bleeding, on tissue phantoms and ex vivo tissues.
Subject(s)
Pangolins , Robotics , Animals , Heating , Physical Phenomena , Body Temperature RegulationABSTRACT
Increasing demand for wearable devices has resulted in the development of soft sensors; however, an excellent soft sensor for measuring stretch, twist, and pressure simultaneously has not been proposed yet. This paper presents a novel, fully 3D, microfluidic-oriented, gel-based, and highly stretchable resistive soft sensor. The proposed sensor is multi-functional and could be used to measure stretch, twist, and pressure, which is the potential of using a fully 3D structure in the sensor. Unlike previous methods, in which almost all of them used EGaIn as the conductive material, in this case, we used a low-cost, safe (biocompatible), and ubiquitous conductive gel instead. To show the functionality of the proposed sensor, FEM simulations and a set of designed experiments were done, which show linear (99%), accurate (> 94.9%), and durable (tested for a whole of four hours) response of the proposed sensor. Then, the sensor was put through its paces on a female test subject's knee, elbow, and wrist to show the potential application of the sensor as a body motion sensor. Also, a fully 3D active foot insole was developed, fabricated, and evaluated to evaluate the pressure functionality of the sensor. The result shows good discrimination and pressure measurement for different foot sole areas. The proposed sensor has the potential to be used in real-world applications like rehabilitation, wearable devices, soft robotics, smart clothing, gait analysis, AR/VR, etc.
Subject(s)
Elbow Joint , Wearable Electronic Devices , Female , Humans , Microfluidics , Lower Extremity , FootABSTRACT
As microfluidic chips are evolving to become a significant analysis tool toward POCT devices, it is crucial to make the cost and the time required for the fabrication process of these chips as low as possible. Because of the multidisciplinary nature of these systems and the collaboration of many different laboratories and organizations from vastly various fields with unequal types of equipment, it is essential to develop new techniques and materials to make the integration of disparate systems together more straightforward, accessible, and economical. In this paper, we present ethylene-vinyl acetate (EVA) as a new polymer-based material for the fabrication of different microfluidic chips, which brings new features and tools in fabrication, integration, and functionality of microfluidic systems. We put this material next to PDMS for comparison between various aspects of these materials. We have shown that besides the low-cost ability, ubiquitousness, geometrical modifiability, and ease of fabrication of EVA chips, due the lower hydrophobicity and lower terahertz (THz) absorption of EVA than PDMS, EVA chips, in comparison to PDMS counterparts, can work faster, have less number of channel blocking and can be used in THz biosensing application like metamaterial-based cancer detection. Finally, several devices are made using EVA to demonstrate the functionality and versatility of this material for the fabrication of microfluidic chips.
