Click chemistry stereolithography for soft robots that self-heal.

Although soft robotics promises a new generation of robust, versatile machines capable of complex functions and seamless integration with biology, the fabrication of such soft, three dimensional (3D) hierarchical structures remains a significant challenge. Stereolithography (SLA) is an additive manufacturing technique that can rapidly fabricate the complex device architectures required for the next generation of these systems. Current SLA materials and processes are prohibitively expensive, display little elastic deformation at room temperature, or exhibit Young's moduli exceeding most natural tissues, all of which limit use in soft robotics. Herein, we report a low-cost build window substrate that enables the rapid fabrication of high resolution (∼50 µm) silicone (polydimethylsiloxane) based elastomeric devices using an open source SLA printer. Our thiol-ene click chemistry permits photopolymerization using low energy (He < 20 mJ cm-2) optical wavelengths (405 nm < λ < 1 mm) available on many low-cost SLA machines. This chemistry is easily tuned to achieve storage moduli, 6 < E < 283 kPa at engineering strains, γ = 0.02; similarly, a large range of ultimate strains, 0.5 < γult < 4 is achievable through appropriate selection of the two primary chemical constituents (mercaptosiloxane, M.S., and vinylsiloxane, V.S.). Using this chemo-mechanical system, we directly fabricated compliant machines, including an antagonistic pair of fluidic elastomer actuators (a primary component in most soft robots). During printing, we retained unreacted pockets of M.S. and V.S. that permit autonomic self-healing, via sunlight, upon puncture of the elastomeric membranes of the soft actuators.

Three-dimensional printing of freeform helical microstructures: a review.

Three-dimensional (3D) printing is a fabrication method that enables creation of structures from digital models. Among the different structures fabricated by 3D printing methods, helical microstructures attracted the attention of the researchers due to their potential in different fields such as MEMS, lab-on-a-chip systems, microelectronics and telecommunications. Here we review different types of 3D printing methods capable of fabricating 3D freeform helical microstructures. The techniques including two more common microfabrication methods (i.e., focused ion beam chemical vapour deposition and microstereolithography) and also five methods based on computer-controlled robotic direct deposition of ink filament (i.e., fused deposition modeling, meniscus-confined electrodeposition, conformal printing on a rotating mandrel, UV-assisted and solvent-cast 3D printings) and their advantages and disadvantages regarding their utilization for the fabrication of helical microstructures are discussed. Focused ion beam chemical vapour deposition and microstereolithography techniques enable the fabrication of very precise shapes with a resolution down to ∼100 nm. However, these techniques may have material constraints (e.g., low viscosity) and/or may need special process conditions (e.g., vacuum chamber) and expensive equipment. The five other techniques based on robotic extrusion of materials through a nozzle are relatively cost-effective, however show lower resolution and less precise features. The popular fused deposition modeling method offers a wide variety of printable materials but the helical microstructures manufactured featured a less precise geometry compared to the other printing methods discussed in this review. The UV-assisted and the solvent-cast 3D printing methods both demonstrated high performance for the printing of 3D freeform structures such as the helix shape. However, the compatible materials used in these methods were limited to UV-curable polymers and polylactic acid (PLA), respectively. Meniscus-confined electrodeposition is a flexible, low cost technique that is capable of fabricating 3D structures both in nano- and microscales including freeform helical microstructures (down to few microns) under room conditions using metals. However, the metals suitable for this technique are limited to those that can be electrochemically deposited with the use of an electrolyte solution. The highest precision on the helix geometry was achieved using the conformal printing on a rotating mandrel. This method offers the lowest shape deformation after printing but requires more tools (e.g., mandrel, motor) and the printed structure must be separated from the mandrel. Helical microstructures made of multifunctional materials (e.g., carbon nanotube nanocomposites, metallic coated polymer template) were used in different technological applications such as strain/load sensors, cell separators and micro-antennas. These innovative 3D microsystems exploiting the unique helix shape demonstrated their potential for better performance and more compact microsystems.

Electrical transport properties of single wall carbon nanotube/polyurethane composite based field effect transistors fabricated by UV-assisted direct-writing technology.

We report on the fabrication and transport properties of single-walled carbon nanotube (SWCNT)/polyurethane (PU) nanocomposite microfiber-based field effect transistors (FETs). UV-assisted direct-writing technology was used, and microfibers consisting of cylindrical micro-rods, having different diameters and various SWCNT loads, were fabricated directly onto SiO2/Si substrates in a FET scheme. The room temperature dc electrical conductivities of these microfibers were shown to increase with respect to the SWCNT concentrations in the nanocomposite, and were about ten orders of magnitude higher than that of the pure polyurethane, when the SWCNT load ranged from 0.1 to 2.5 wt% only. Our results show that for SWCNT loads ≤ 1.5 wt%, all the microfibers behave as a FET with p-type transport. The resulting FET exhibited excellent performance, with an I(on)/I(off) ratio of 105 and a maximum on-state current (I(on)) exceeding 70 µA. Correlations between the FET performance, SWCNTs concentration, and the microfiber diameters are also discussed.

Pilot epidemiological studies in thrombosis.

Some differences in the blood of farmers in Nurmijarvi, Finland, Canino, Italy, and Beltsville, Maryland in the United States apparently were associated with differences, among the areas, in the farmers' diets. Those associations suggested that diets that are high in saturated fats (Nurmijarvi) could predispose humans to develop intravascular disease. Such predisposition has been observed in experimental animals. Low levels of the parameters that are considered active in such predisposition apparently were associated with diets that were low in saturated fats (Canino) or with diets that were low in saturated and high in unsaturated fats (Beltsville). Within the limits of the experimental design, the data from the three population groups indicated that a more comprehensive study might establish a relation between diet and intravascular disease in humans.

Intramuscular energy sources in dogs during physical work.

Three groups of dogs were run under different experimental conditions characterized by varying the work load or the running time. Lipid and glycogen analyses were carried out on biopsy specimens from the biceps femoris muscle before and after exercise. In addition, arterial and venous triglycerides and free fatty acids were determined on plasma samples from one group of dogs that had been previously catheterized. Under the conditions of these experiments, results revealed: (1) plasma triglycerides did not contribute significantly to the energy supply for muscle contraction; (2) plasma free fatty acid efflux into muscle was increased during mild exercise but significantly lowered during heavy exercise; (3) exercise did not affect the phospholipid level or its composition in the muscle; and (4) muscle triglyceride levels may increase, decrease, or remain unchanged, depending upon the work load imposed by the exercise.