Bioinspired rotary flight of light-driven composite films.

Light-driven actuators have great potential in different types of applications. However, it is still challenging to apply them in flying devices owing to their slow response, small deflection and force output and low frequency response. Herein, inspired by the structure of vine maple seeds, we report a helicopter-like rotary flying photoactuator (in response to 0.6 W/cm2 near-infrared (NIR) light) with ultrafast rotation (~7200 revolutions per minute) and rapid response (~650 ms). This photoactuator is operated based on a fundamentally different mechanism that depends on the synergistic interactions between the photothermal graphene and the hygroscopic agar/silk fibroin components, the subsequent aerodynamically favorable airscrew formation, the jet propulsion, and the aerodynamics-based flying. The soft helicopter-like photoactuator exhibits controlled flight and steering behaviors, making it promising for applications in soft robotics and other miniature devices.

Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces.

Magnetic miniature soft robots have shown great potential for facilitating biomedical applications by minimizing invasiveness and possible physical damage. However, researchers have mainly focused on fixed-size robots, with their active locomotion accessible only when the cross-sectional dimension of these confined spaces is comparable to that of the robot. Here, we realize the scale-reconfigurable miniature ferrofluidic robots (SMFRs) based on ferrofluid droplets and propose a series of control strategies for reconfiguring SMFR's scale and deformation to achieve trans-scale motion control by designing a multiscale magnetic miniature robot actuation (M3RA) system. The results showed that SMFRs, varying from centimeters to a few micrometers, leveraged diverse capabilities, such as locomotion in structured environments, deformation to squeeze through gaps, and even reversible scale reconfiguration for navigating sharply variable spaces. A miniature robot system with these capabilities combined is promising to be applied in future wireless medical robots inside confined regions of the human body.

Wireless Miniature Magnetic Phase-Change Soft Actuators.

Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g-1 work capacity under remote magnetic radio frequency heating, which are 106 -107 times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s-1 fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.

Magnetically actuated gearbox for the wireless control of millimeter-scale robots.

The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters for driving wireless millirobots. The gearbox is assembled using microgears that have reference diameters down to 270 micrometers and are made of aluminum-filled epoxy resins through casting. With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds; store energy in elastic components; and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.

Adaptive wireless millirobotic locomotion into distal vasculature.

Microcatheters have enabled diverse minimally invasive endovascular operations and notable health benefits compared with open surgeries. However, with tortuous routes far from the arterial puncture site, the distal vascular regions remain challenging for safe catheter access. Therefore, we propose a wireless stent-shaped magnetic soft robot to be deployed, actively navigated, used for medical functions, and retrieved in the example M4 segment of the middle cerebral artery. We investigate shape-adaptively controlled locomotion in phantoms emulating the physiological conditions here, where the lumen diameter shrinks from 1.5 mm to 1 mm, the radius of curvature of the tortuous lumen gets as small as 3 mm, the lumen bifurcation angle goes up to 120°, and the pulsatile flow speed reaches up to 26 cm/s. The robot can also withstand the flow when the magnetic actuation is turned off. These locomotion capabilities are confirmed in porcine arteries ex vivo. Furthermore, variants of the robot could release the tissue plasminogen activator on-demand locally for thrombolysis and function as flow diverters, initiating promising therapies towards acute ischemic stroke, aneurysm, arteriovenous malformation, dural arteriovenous fistulas, and brain tumors. These functions should facilitate the robot's usage in new distal endovascular operations.

Miniature coiled artificial muscle for wireless soft medical devices.

Wireless small-scale soft-bodied devices are capable of precise operation inside confined internal spaces, enabling various minimally invasive medical applications. However, such potential is constrained by the small output force and low work capacity of the current miniature soft actuators. To address this challenge, we report a small-scale soft actuator that harnesses the synergetic interactions between the coiled artificial muscle and radio frequency-magnetic heating. This wirelessly controlled actuator exhibits a large output force (~3.1 N) and high work capacity (3.5 J/g). Combining this actuator with different mechanical designs, its tensile and torsional behaviors can be engineered into different functional devices, such as a suture device, a pair of scissors, a driller, and a clamper. In addition, by assuming a spatially varying magnetization profile, a multilinked coiled muscle can have both magnetic field-induced bending and high contractile force. Such an approach could be used in various future untethered miniature medical devices.

Effect of body stiffness distribution on larval fish-like efficient undulatory swimming.

Energy-efficient propulsion is a critical design target for robotic swimmers. Although previous studies have pointed out the importance of nonuniform body bending stiffness distribution (k) in improving the undulatory swimming efficiency of adult fish-like robots in the inertial flow regime, whether such an elastic mechanism is beneficial in the intermediate flow regime remains elusive. Hence, we develop a class of untethered soft milliswimmers consisting of a magnetic composite head and a passive elastic body with different k These robots realize larval zebrafish-like undulatory swimming at the same scale. Investigations reveal that uniform k and high swimming frequency (60 to 100 Hz) are favorable to improve their efficiency. A shape memory polymer-based milliswimmer with tunable k on the fly confirms such findings. Such acquired knowledge can guide the design of energy-efficient leading edge-driven soft undulatory milliswimmers for future environmental and biomedical applications in the same flow regime.

In-air fast response and high speed jumping and rolling of a light-driven hydrogel actuator.

Stimuli-responsive hydrogel actuators have promising applications in various fields. However, the typical hydrogel actuation relies on the swelling and de-swelling process caused by osmotic-pressure changes, which is slow and normally requires the presence of water environment. Herein, we report a light-powered in-air hydrogel actuator with remarkable performances, including ultrafast motion speed (up to 1.6 m/s), rapid response (as fast as 800 ms) and high jumping height (~15 cm). The hydrogel is operated based on a fundamentally different mechanism that harnesses the synergetic interactions between the binary constituent parts, i.e. the elasticity of the poly(sodium acrylate) hydrogel, and the bubble caused by the photothermal effect of the embedded magnetic iron oxide nanoparticles. The current hydrogel actuator exhibits controlled motion velocity and direction, making it promising for a wide range of mobile robotics, soft robotics, sensors, controlled drug delivery and other miniature device applications.

Low-Cost, Robust Pressure-Responsive Smart Windows with Dynamic Switchable Transmittance.

Mechanically responsive smart windows with adjustable light transmittance have attracted more and more attention due to their great potential in our daily life. However, their fabrication normally requires complicated preparation such as oxygen plasma treatment and high-cost materials (i.e., poly(dimethylsiloxane) (PDMS)), which hinders their practical applications. Herein, a principally different mechanically responsive smart window, i.e., a pressure-responsive smart window, is reported, which is achieved by harnessing the synergistic interactions (i.e., hydrogen bonding and surface roughness compensation) between the two constituent parts, i.e., hydrogel and agar films. The pressure-responsive smart window features the ultrafast response time (37.5 ms) and high transmittance changes (∼50%) with excellent repeatability, which can be stained with different colors and operated on a flexible substrate. Since the pressure-responsive smart window enables the utilization of the low-cost material and does not require the external energy input, it is anticipated that it may have great potential in practical applications.

Gelatin Microcartridges for Onboard Activation and Antioxidant Protection of Sperm.

Sperm-driven micromotors are promising devices for developing autonomous, noninvasive diagnostic and therapeutic tools, specifically in reproductive biology and medicine. In this article, we present template-based microstructures fabricated from gelatin for sperm capture, activation, and antioxidant protection. The cartridge-like structures with one closed end-capture single bovine sperm cells and are propelled by the sperm's flagellum. We demonstrate the pH-dependent release of heparin from the gelatin microcartridges to induce capacitation, a crucial maturation process prior to fertilization. Further, the gelatin cartridges exhibit a protection against oxidative stress, one of the main causes for sperm damage. Finally, we investigate the stability and degradability of the microstructures in various physiological environments, such as endometrial cell culture, different pH, and in the presence of proteases. Overall, we prove that these gelatin spermbots display great potential for the development of noninvasive theranostic tools in reproductive biology and medicine for the protection and activation of sperm, especially useful for studying sperm migration. We present their beneficial features which comprise not only biocompatibility and biodegradability but also pH response, loading stability, and antioxidant protection.

PpNAC187 Enhances Lignin Synthesis in 'Whangkeumbae' Pear (Pyrus pyrifolia) 'Hard-End' Fruit.

A disorder in pears that is known as 'hard-end' fruit affects the appearance, edible quality, and market value of pear fruit. RNA-Seq was carried out on the calyx end of 'Whangkeumbae' pear fruit with and without the hard-end symptom to explore the mechanism underlying the formation of hard-end. The results indicated that the genes in the phenylpropanoid pathway affecting lignification were up-regulated in hard-end fruit. An analysis of differentially expressed genes (DEGs) identified three NAC transcription factors, and RT-qPCR analysis of PpNAC138, PpNAC186, and PpNAC187 confirmed that PpNAC187 gene expression was correlated with the hard-end disorder in pear fruit. A transient increase in PpNAC187 was observed in the calyx end of 'Whangkeumbae' fruit when they began to exhibit hard-end symptom. Concomitantly, the higher level of PpCCR and PpCOMT transcripts was observed, which are the key genes in lignin biosynthesis. Notably, lignin content in the stem and leaf tissues of transgenic tobacco overexpressing PpNAC187 was significantly higher than in the control plants that were transformed with an empty vector. Furthermore, transgenic tobacco overexpressing PpNAC187 had a larger number of xylem vessel elements. The results of this study confirmed that PpNAC187 functions in inducing lignification in pear fruit during the development of the hard-end disorder.

Overexpression of Pear (Pyrus pyrifolia) CAD2 in Tomato Affects Lignin Content.

PpCAD2 was originally isolated from the 'Wangkumbae' pear (Pyrus pyrifolia Nakai), and it encodes for cinnamyl alcohol dehydrogenase (CAD), which is a key enzyme in the lignin biosynthesis pathway. In order to verify the function of PpCAD2, transgenic tomato (Solanum lycopersicum) 'Micro-Tom' plants were generated using over-expression constructs via the agrobacterium-mediated transformation method. The results showed that the PpCAD2 over-expression transgenic tomato plant had a strong growth vigor. Furthermore, these PpCAD2 over-expression transgenic tomato plants contained a higher lignin content and CAD enzymatic activity in the stem, leaf and fruit pericarp tissues, and formed a greater number of vessel elements in the stem and leaf vein, compared to wild type tomato plants. This study clearly indicated that overexpressing PpCAD2 increased the lignin deposition of transgenic tomato plants, and thus validated the function of PpCAD2 in lignin biosynthesis.

One-Step Fabrication of Dual Optically/Magnetically Modulated Walnut-like Micromotor.

In this paper, we report a novel multi-responsive walnut-like micromotor consisting of polycaprolactone (PCL), iron oxide nanoparticles (Fe3O4 NPs), and catalase, which is constructed through a one-step electrospinning method. Based on the catalytic activity and photothermal and magnetic responsiveness originating from catalase and Fe3O4 NPs, respectively, the resulting micromotor exhibits an autonomous movement in the presence of hydrogen peroxide (H2O2) fuel, controlled motion velocity under light irradiation, and guided movement direction upon the application of an external magnetic field. Owing to the hydrophobic nature of the PCL polymer constituent inside the micromotor, the autonomous moving micromotor can collect spilled oil inside a solution once it collides with the oil droplet. Since the micromotor could be separated out using a magnetic field, we believe the current walnut-like micromotor holds great promise in the field of environmental remediation.

Shape-Controlled Fabrication of the Polymer-Based Micromotor Based on the Polydimethylsiloxane Template.

We report the utilization of the polydimethylsiloxane template to construct polymer-based autonomous micromotors with various structures. Solid or hollow micromotors, which consist of polycaprolactone and platinum nanoparticles, can be obtained with controllable sizes and shapes. The resulting micromotor can not only be self-propelled in solution based on the bubble propulsion mechanism in the presence of the hydrogen peroxide fuel, but also exhibit structure-dependent motion behavior. In addition, the micromotors can exhibit various functions, ranging from fluorescence, magnetic control to cargo transportation. Since the current method can be extended to a variety of organic and inorganic materials, we thus believe it may have great potential in the fabrication of different functional micromotors for diverse applications.