Arthrobots.

This article describes a class of robots-"arthrobots"-inspired, in part, by the musculoskeletal system of arthropods (spiders and insects, inter alia). Arthrobots combine mechanical compliance, lightweight and simple construction, and inexpensive yet scalable design. An exoskeleton, constructed from thin organic polymeric tubes, provides lightweight structural support. Pneumatic joints modeled after the hydrostatic joints of spiders provide actuation and inherent mechanical compliance to external forces. An inflatable elastomeric tube (a "balloon") enables active extension of a limb; an opposing elastic tendon enables passive retraction. A variety of robots constructed from these structural elements demonstrate (i) crawling with one or two limbs, (ii) walking with four or six limbs (including an insect-like triangular gait), (iii) walking with eight limbs, or (iv) floating and rowing on the surface of water. Arthrobots are simple to fabricate and are able to operate safely in contact with humans.

A three-dimensional actuated origami-inspired transformable metamaterial with multiple degrees of freedom.

Reconfigurable devices, whose shape can be drastically altered, are central to expandable shelters, deployable space structures, reversible encapsulation systems and medical tools and robots. All these applications require structures whose shape can be actively controlled, both for deployment and to conform to the surrounding environment. While most current reconfigurable designs are application specific, here we present a mechanical metamaterial with tunable shape, volume and stiffness. Our approach exploits a simple modular origami-like design consisting of rigid faces and hinges, which are connected to form a periodic structure consisting of extruded cubes. We show both analytically and experimentally that the transformable metamaterial has three degrees of freedom, which can be actively deformed into numerous specific shapes through embedded actuation. The proposed metamaterial can be used to realize transformable structures with arbitrary architectures, highlighting a robust strategy for the design of reconfigurable devices over a wide range of length scales.

Using "click-e-bricks" to make 3D elastomeric structures.

Soft, 3D elastomeric structures and composite structures are easy to fabricate using click-e-bricks, and the internal architecture of these structures together with the capabilities built into the bricks themselves provide mechanical, optical, electrical, and fluidic functions.

Surface plasmon resonance fiber sensor for real-time and label-free monitoring of cellular behavior.

This paper reports on the application of an optical fiber biosensor for real-time analysis of cellular behavior. Our findings illustrate that a fiber sensor fabricated from a traditional telecommunication fiber can be integrated into conventional cell culture equipment and used for real-time and label-free monitoring of cellular responses to chemical stimuli. The sensing mechanism used for the measurement of cellular responses is based on the excitation of surface plasmon resonance (SPR) on the surface of the optical fiber. In this proof of concept study, the sensor was utilized to investigate the influence of a number of different stimuli on cells-we tested the effects of trypsin, serum and sodium azide. These stimuli induced detachment of cells from the sensor surface, uptake of serum and inhibition of cellular metabolism, accordingly. The effects of different stimuli were confirmed with alamar blue assay, phase contrast and fluorescence microscopy. The results indicated that the fiber biosensor can be successfully utilized for real-time and label-free monitoring of cellular response in the first 30 min following the introduction of a stimulus. Furthermore, we demonstrated that the optical fiber biosensors can be easily regenerated for repeated use, proving this platform as a versatile and cost-effective sensing tool.

In situ biosensing with a surface plasmon resonance fiber grating aptasensor.

Surface plasmon resonance (SPR) biosensors prepared using optical fibers can be used as a cost-effective and relatively simple-to-implement alternative to well established biosensor platforms for monitoring biomolecular interactions in situ or possibly in vivo. The fiber biosensor presented in this study utilizes an in-fiber tilted Bragg grating to excite the SPR on the surface of the sensor over a large range of external medium refractive indices, with minimal cross-sensitivity to temperature and without compromising the structural integrity of the fiber. The label-free biorecognition scheme used demonstrates that the sensor relies on the functionalization of the gold-coated fiber with aptamers, synthetic DNA sequences that bind with high specificity to a given target. In addition to monitoring the functionalization of the fiber by the aptamers in real-time, the results also show how the fiber biosensor can detect the presence of the aptamer's target, in various concentrations of thrombin in buffer and serum solutions. The findings also show how the SPR biosensor can be used to evaluate the dissociation constant (K(d)), as the binding constant agrees with values already reported in the literature.

High resolution interrogation of tilted fiber grating SPR sensors from polarization properties measurement.

The generation of surface plasmon resonances (SPRs) in gold-coated weakly tilted fiber Bragg gratings (TFBGs) strongly depends on the state of polarization of the core guided light. Recently, it was demonstrated that rotating the linear state of polarization of the guided light by 90° with respect to the grating tilt allows to turn the SPR on and off. In this work, we measure the Jones matrix associated to the TFBG transmission properties in order to be able to analyze different polarization-related parameters (i.e. dependency on wavelength of polarization dependent loss and first Stokes parameter). As they contain the information about the SPR, they can be used as a robust and accurate demodulation technique for refractometry purposes. Unlike other methods reported so far, a tight control of the input state of polarization is not required. The maximum error on refractive index measurement has been determined to be ~1 10(-5) refractive index unit (RIU), 5 times better than intensity-based measurements on the same sensors.

In situ monitoring of the formation of nanoscale polyelectrolyte coatings on optical fibers using Surface Plasmon Resonances.

Deposition of a conformal nanoscale polymer coating was characterized using a fiber SPR sensor. The sensor platform consisted of an unmodified gold-coated single mode fiber where SPR was excited through the coupling of the core mode into the cladding modes using a Tilted Fiber Bragg Grating. The results from this study show how the sensor can monitor in real time the formation of polyelectrolyte coatings during a process consisting of several stages of immersion. The experimental data was further calibrated by simulations and Atomic Force Microscope imaging allowing us to determine the thickness and refractive index of the adsorbed polyelectrolyte.

Intrinsic temperature sensitivity of tilted fiber Bragg grating based surface plasmon resonance sensors.

A miniature surface plasmon resonance sensor is fabricated from a gold-coated standard optical fiber with an in-core tilted fiber Bragg grating fabricated by UV exposure. The sensor has a measured refractive index sensitivity of 571.5 nm/RIU (refractive index unit) at constant temperature. We show here that the intrinsic temperature sensitivity of this device is reduced to less than 6.3 pm/degrees C (between 23 degrees C and 59 degrees C) when measurements are referenced to a core mode reflection resonance of the grating. This residual sensitivity is essentially that of the 50 nm thick deposited gold layer but it is bigger by one order of magnitude than the expected value (0.51 pm/degrees C) for a gold-water interface.

Plasmon resonances in gold-coated tilted fiber Bragg gratings.

The transmission spectrum of fiber Bragg gratings with gratings planes tilted at a small angle (2 degrees -10 degrees) relative to the fiber axis shows a large number of narrowband cladding mode resonances within a 100 nm wide spectrum. When a gold coating with a thickness between 10 and 30 nm is deposited on the fiber, the transmission spectrum shows anomalous features for values of the outside medium refractive index between 1.4211 and 1.4499. These features are shown to correspond to the excitation of surface plasmon resonances at the external surface of the gold film.