Dehydration-induced corrugated folding in Rhapis excelsa plant leaves.

Plant leaves, whose remarkable ability for morphogenesis results in a wide range of petal and leaf shapes in response to environmental cues, have inspired scientific studies as well as the development of engineering structures and devices. Although some typical shape changes in plants and the driving force for such shape evolution have been extensively studied, there remain many poorly understood mechanisms, characteristics, and principles associated with the vast array of shape formation of plant leaves in nature. Here, we present a comprehensive study that combines experiment, theory, and numerical simulations of one such topic-the mechanics and mechanisms of corrugated leaf folding induced by differential shrinking in Rhapis excelsa. Through systematic measurements of the dehydration process in sectioned leaves, we identify a linear correlation between change in the leaf-folding angle and water loss. Building on experimental findings, we develop a generalized model that provides a scaling relationship for water loss in sectioned leaves. Furthermore, our study reveals that corrugated folding induced by dehydration in R. excelsa leaves is achieved by the deformation of a structural architecture-the "hinge" cells. Utilizing such connections among structure, morphology, environmental stimuli, and mechanics, we fabricate several biomimetic machines, including a humidity sensor and morphing devices capable of folding in response to dehydration. The mechanisms of corrugated folding in R. excelsa identified in this work provide a general understanding of the interactions between plant leaves and water. The actuation mechanisms identified in this study also provide insights into the rational design of soft machines.

Wrinkling composite sheets.

We examine the buckling shape and critical compression of confined inhomogeneous composite sheets lying on a liquid foundation. The buckling modes are controlled by the bending stiffness of the sheet, the density of the substrate, and the size and the spatially dependent elastic coefficients of the sheet. We solve the beam equation describing the mechanical equilibrium of a sheet when its bending stiffness varies parallel to the direction of confinement. The case of a homogeneous bending stiffness exhibits a degeneracy of wrinkled states for certain lengths of the confined sheet; we explain this degeneracy using an asymptotic analysis valid for long sheets, and show that it corresponds to the switching of the sheet between symmetric and antisymmetric buckling modes. This degeneracy disappears for spatially dependent elastic coefficients. Medium length sheets buckle similarly to their homogeneous counterparts, whereas the wrinkled states in large length sheets concentrate the bending energy towards the soft regions of the sheet.

Flattened and Wrinkled Encapsulated Droplets: Shape Morphing Induced by Gravity and Evaporation.

We report surprising morphological changes of suspension droplets (containing class II hydrophobin protein HFBI from Trichoderma reesei in water) as they evaporate with a contact line pinned on a rigid solid substrate. Both pendant and sessile droplets display the formation of an encapsulating elastic film as the bulk concentration of solute reaches a critical value during evaporation, but the morphology of the droplet varies significantly: for sessile droplets, the elastic film ultimately crumples in a nearly flattened area close to the apex while in pendant droplets, circumferential wrinkling occurs close to the contact line. These different morphologies are understood through a gravito-elastocapillary model that predicts the droplet morphology and the onset of shape changes, as well as showing that the influence of the direction of gravity remains crucial even for very small droplets (where the effect of gravity can normally be neglected). The results pave the way to control droplet shape in several engineering and biomedical applications.

Delamination from an adhesive sphere: Curvature-induced dewetting versus buckling.

Everyday experience confirms the tendency of adhesive films to detach from spheroidal regions of rigid substrates-what is a petty frustration when placing a sticky band aid onto a knee is a more serious matter in the coating and painting industries. Irrespective of their resistance to bending, a key driver of such phenomena is Gauss' Theorema Egregium, which implies that naturally flat sheets cannot conform to doubly curved surfaces without developing a strain whose magnitude grows sharply with the curved area. Previous attempts to characterize the onset of curvature-induced delamination, and the complex patterns it gives rise to, assumed a dewetting-like mechanism in which the propensity of two materials to form contact through interfacial energy is modified by an elastic energy penalty. We show that this approach may characterize moderately bendable sheets but fails qualitatively to describe the curvature-induced delamination of ultrathin films, whose mechanics is governed by their propensity to buckle and delaminate partially, under minute levels of compression. Combining mechanical and geometrical considerations, we introduce a minimal model for curvature-induced delamination accounting for the two buckling motifs that underlie partial delamination: shallow "rucks" and localized "folds". We predict nontrivial scaling rules for the onset of curvature-induced delamination and various features of the emerging patterns, which compare well with experiments. Beyond gaining control on the use of ultrathin adhesives in cutting-edge technologies such as stretchable electronics, our analysis is a significant step toward quantifying the multiscale morphology that emerges upon imposing geometrical and mechanical constraints on highly bendable solid objects.

Insect-scale jumping robots enabled by a dynamic buckling cascade.

Millions of years of evolution have allowed animals to develop unusual locomotion capabilities. A striking example is the legless-jumping of click beetles and trap-jaw ants, which jump more than 10 times their body length. Their delicate musculoskeletal system amplifies their muscles' power. It is challenging to engineer insect-scale jumpers that use onboard actuators for both elastic energy storage and power amplification. Typical jumpers require a combination of at least two actuator mechanisms for elastic energy storage and jump triggering, leading to complex designs having many parts. Here, we report the new concept of dynamic buckling cascading, in which a single unidirectional actuation stroke drives an elastic beam through a sequence of energy-storing buckling modes automatically followed by spontaneous impulsive snapping at a critical triggering threshold. Integrating this cascade in a robot enables jumping with unidirectional muscles and power amplification (JUMPA). These JUMPA systems use a single lightweight mechanism for energy storage and release with a mass of 1.6 g and 2 cm length and jump up to 0.9 m, 40 times their body length. They jump repeatedly by reengaging the latch and using coiled artificial muscles to restore elastic energy. The robots reach their performance limits guided by theoretical analysis of snap-through and momentum exchange during ground collision. These jumpers reach the energy densities typical of the best macroscale jumping robots, while also matching the rapid escape times of jumping insects, thus demonstrating the path toward future applications including proximity sensing, inspection, and search and rescue.

Effect of Macroscopic Surface Heterogeneities on an Advancing Contact Line.

The shape of a liquid-air interface advancing on a heterogeneous surface was studied experimentally, together with the force induced by the pinning of the contact line to surface defects. Different surfaces were considered with circular defects introduced as arrays of cocoa butter patches or small circular holes. These heterogeneous surfaces were submerged in aqueous ethanol solutions while measuring the additional force arising from the deformation of the advancing contact line and characterizing the interface shape and its pinning on the defects. Initially, the submersion force is linear with submerged depth, suggesting a constant defect-induced stiffness. This regime ends when the contact line depins from the defects. A simple scaling is proposed to describe the depinning force and the depinning energy. As the defect separation increases, the interface stiffness is found to increase too, with a weak dependency on the defect radius. This interaction between defects cannot be captured by simple scaling but can be well predicted by a theory considering the interface deformation in the presence of a periodic arrays of holes. Creating a four-phase contact line by including solid defects (cocoa butter) reduced pinning forces. The radius of the defect had a nonlinear effect on the depinning depth. The four-phase contact line resulted in depinning before the defects were fully submerged. These experimental results and the associated theory help to understand quantitatively the extent to which surface heterogeneities can slow down wetting. This in turn paves the way to tailoring the design of heterogeneous surfaces toward desired wetting performances.

Compression of a pressurized spherical shell by a spherical or flat probe.

Measuring the mechanical properties of cells and tissues often involves indentation with a sphere or compression between two plates. Different theoretical approaches have been developed to retrieve material parameters (e.g., elastic modulus) or state variables (e.g., pressure) from such experiments. Here, we extend previous theoretical work on indentation of a spherical pressurized shell by a point force to cover indentation by a spherical probe or a plate. We provide formulae that enable the modulus or pressure to be deduced from experimental results with realistic contact geometries, giving different results that are applicable depending on pressure level. We expect our results to be broadly useful when investigating biomechanics or mechanobiology of cells and tissues.

Liquid bridge splitting enhances normal capillary adhesion and resistance to shear on rough surfaces.

HYPOTHESIS: 'Bridge splitting' is considered in the case of capillary adhesion: a fixed total volume of liquid is split into multiple capillary bridges. Previous studies have shown that bridge splitting only enhances the capillary-induced adhesion force between two planar surfaces in specific circumstances. We hypothesise that bridge splitting significantly enhances the total adhesion force between rough surfaces, since mobile wetting bridges can naturally migrate to narrower gaps. This migration of capillary bridges should also provide a resistance to shear. NUMERICAL EXPERIMENTS: We theoretically consider an idealized system of many liquid bridges confined between two solid surfaces. By numerically calculating the shape of a single bridge, the total adhesion force is found as the number of bridges and roughness are varied. The resistance to shear is also calculated in the limit of strong surface tension or small shears. FINDINGS: Bridge splitting on a rough surface significantly enhances the adhesion force, with an enhancement that increases with the amplitude of the roughness; maximising over the number of bridges can increase the total adhesion force by an order of magnitude. Resistance to shear is shown to increase linearly with the translation velocity, and the behaviour of many such shearing bridges is quantified.

Validity of Winkler's mattress model for thin elastomeric layers: beyond Poisson's ratio.

Winkler's mattress model is often used as a simplified model to understand how a thin elastic layer, such as a coating, deforms when subject to a distributed normal load: the deformation of the layer is assumed proportional to the applied normal load. This simplicity means that the Winkler model has found a wide range of applications from soft matter to geophysics. However, in the limit of an incompressible elastic layer the model predicts infinite resistance to deformation, and hence breaks down. Since many of the thin layers used in applications are elastomeric, and hence close to incompressible, we consider the question of when the Winkler model is appropriate for such layers. We formally derive a model that interpolates between the Winkler and incompressible limits for thin elastic layers, and illustrate this model by detailed consideration of two example problems: the point-indentation of a coated elastomeric layer and self-sustained lift in soft elastohydrodynamic lubrication. We find that the applicability (or otherwise) of the Winkler model is not determined by the value of the Poisson ratio alone, but by a compressibility parameter that combines the Poisson ratio with a measure of the layer's slenderness, which itself depends on the problem under consideration.

Tapered elasticæ as a route for axisymmetric morphing structures.

Transforming flat two-dimensional (2D) sheets into three-dimensional (3D) structures by combining carefully made cuts with applied edge-loads has emerged as an exciting manufacturing paradigm in a range of applications from mechanical metamaterials to flexible electronics. In Kirigami, patterns of cuts are introduced that allow solid faces to rotate about each other, deforming in three dimensions whilst remaining planar. In other scenarios, however, the solid elements bend in one direction. In this paper, we model such bending deformations using the formulation of an elastic strip whose thickness and width are tapered (the 'tapered elastica'). We show how this framework can be exploited to design the tapering patterns required to create planar sheets that morph into desired axisymmetric 3D shapes under a combination of horizontal and vertical edge-loads. We exhibit this technique by recreating miniature structures with positive, negative, and variable apparent Gaussian curvatures. With sheets of constant thickness, the resulting morphed shapes may leave gaps between the deformed elements. However, by tapering the thickness of the sheet too, these gaps can be closed, creating tessellated three-dimensional structures. Our theoretical approaches are verified by both numerical simulations and physical experiments.

Dynamic buckling of an inextensible elastic ring: Linear and nonlinear analyses.

Slender elastic objects such as a column tend to buckle under loads. While static buckling is well understood as a bifurcation problem, the evolution of shapes during dynamic buckling is much harder to study. Elastic rings under normal pressure have emerged as a theoretical and experimental paradigm for the study of dynamic buckling with controlled loads. Experimentally, an elastic ring is placed within a soap film. When the film outside the ring is removed, surface tension pulls the ring inward, mimicking an external pressurization. Here we present a theoretical analysis of this process by performing a postbifurcation analysis of an elastic ring under pressure. This analysis allows us to understand how inertia, material properties, and loading affect the observed shape. In particular, we combine direct numerical solutions with a postbifurcation asymptotic analysis to show that inertia drives the system towards higher modes that cannot be selected in static buckling. Our theoretical results explain experimental observations that cannot be captured by a standard linear stability analysis.

Dynamic Buckling of an Elastic Ring in a Soap Film.

Dynamic buckling may occur when a load is rapidly applied to, or removed from, an elastic object at rest. In contrast to its static counterpart, dynamic buckling offers a wide range of accessible patterns depending on the parameters of the system and the dynamics of the load. To study these effects, we consider experimentally the dynamics of an elastic ring in a soap film when part of the film is suddenly removed. The resulting change in tension applied to the ring creates a range of interesting patterns that cannot be easily accessed in static experiments. Depending on the aspect ratio of the ring's cross section, high-mode buckling patterns are found in the plane of the remaining soap film or out of the plane. Paradoxically, while inertia is required to observe these nontrivial modes, the selected pattern does not depend on inertia itself. The evolution of this pattern beyond the initial instability is studied experimentally and explained through theoretical arguments linking dynamics to pattern selection and mode growth. We also explore the influence of dynamic loading and show numerically that, by imposing a rate of loading that competes with the growth rate of instability, the observed pattern can be selected and controlled.

Cloaking by coating: how effectively does a thin, stiff coating hide a soft substrate?

From human tissue to fruits, many soft materials are coated by a thin layer of a stiffer material. While the primary role of such a coating is often to protect the softer material, the thin, stiff coating also has an important effect on the mechanical behaviour of the composite material, making it appear significantly stiffer than the underlying material. We study this cloaking effect of a coating for the particular case of indentation tests, which measure the 'firmness' of the composite solid: we use a combination of theory and experiment to characterize the firmness quantitatively. We find that the indenter size plays a key role in determining the effectiveness of cloaking: small indenters feel a mixture of the material properties of the coating and of the substrate, while large indenters sense largely the unadulterated substrate.

Dynamics of droplets on cones: self-propulsion due to curvature gradients.

We study the dynamics of droplets driven by a gradient of curvature, as may be achieved by placing a drop on the surface of a cone. The curvature gradient induces a pressure gradient within the drop, which in turn leads to spontaneous propulsion of the droplet. To investigate the resulting driving force we perform a series of experiments in which we track a droplet's displacement, s, from the apex of a cone whose surface is treated to exhibit near-zero pinning effects. We find an s ∼ t1/4 scaling at sufficiently late times t. To shed light upon these dynamics, we perform an asymptotic calculation of the equilibrium shape of a droplet on a weakly curved cylinder, deriving the curvature-induced force responsible for its propulsion. By balancing this driving force with viscous dissipation, we recover a differential equation for the droplet displacement, whose predictions are found to be in good agreement with our experimental results.

Dynamics of wrinkling in ultrathin elastic sheets.

The wrinkling of thin elastic objects provides a means of generating regular patterning at small scales in applications ranging from photovoltaics to microfluidic devices. Static wrinkle patterns are known to be governed by an energetic balance between the object's bending stiffness and an effective substrate stiffness, which may originate from a true substrate stiffness or from tension and curvature along the wrinkles. Here, we investigate dynamic wrinkling induced by the impact of a solid sphere onto an ultrathin polymer sheet floating on water. The vertical deflection of the sheet's center induced by impact draws material radially inward, resulting in an azimuthal compression that is relieved by the wrinkling of the entire sheet. We show that this wrinkling is truly dynamic, exhibiting features that are qualitatively different to those seen in quasistatic wrinkling experiments. Moreover, we show that the wrinkles coarsen dynamically because of the inhibiting effect of the fluid inertia. This dynamic coarsening can be understood heuristically as the result of a dynamic stiffness, which dominates the static stiffnesses reported thus far, and allows control of wrinkle wavelength.

Wettability-Independent Droplet Transport by Bendotaxis.

We demonstrate "bendotaxis," a novel mechanism for droplet self-transport at small scales. A combination of bending and capillarity in a thin channel causes a pressure gradient that, in turn, results in the spontaneous movement of a liquid droplet. Surprisingly, the direction of this motion is always the same, regardless of the wettability of the channel. We use a combination of experiments at a macroscopic scale and a simple mathematical model to study this motion, focusing in particular on the timescale associated with the motion. We suggest that bendotaxis may be a useful means of transporting droplets in technological applications, e.g., in developing self-cleaning surfaces, and discuss the implications of our results for such applications.

Regimes of wrinkling in an indented floating elastic sheet.

A thin, elastic sheet floating on the surface of a liquid bath wrinkles when poked at its center. We study the onset of wrinkling as well as the evolution of the pattern as indentation progresses far beyond the wrinkling threshold. We use tension field theory to describe the macroscopic properties of the deformed film and show that the system passes through a host of different regimes, even while the deflections and strains remain small. We show that the effect of the finite size of the sheet ultimately plays a key role in determining the location of the wrinkle pattern, and obtain scaling relations that characterize the number of wrinkles at threshold and its variation as the indentation progresses.

Static bistability of spherical caps.

Depending on its geometry, a spherical shell may exist in one of two stable states without the application of any external force: there are two 'self-equilibrated' states, one natural and the other inside out (or 'everted'). Though this is familiar from everyday life-an umbrella is remarkably stable, yet a contact lens can be easily turned inside out-the precise shell geometries for which bistability is possible are not known. Here, we use experiments and finite-element simulations to determine the threshold between bistability and monostability for shells of different solid angle. We compare these results with the prediction from shallow shell theory, showing that, when appropriately modified, this offers a very good account of bistability even for relatively deep shells. We then investigate the robustness of this bistability against pointwise indentation. We find that indentation provides a continuous route for transition between the two states for shells whose geometry makes them close to the threshold. However, for thinner shells, indentation leads to asymmetrical buckling before snap-through, while also making these shells more 'robust' to snap-through. Our work sheds new light on the robustness of the 'mirror buckling' symmetry of spherical shell caps.

Partial wetting of thin solid sheets under tension.

We consider the equilibrium of liquid droplets sitting on thin elastic sheets that are subject to a boundary tension and/or are clamped at their edge. We use scaling arguments, together with a detailed analysis based on the Föppl-von-Kármán equations, to show that the presence of the droplet may significantly alter the stress locally if the tension in the dry sheet is weak compared to an intrinsic elasto-capillary tension scale γ2/3(Et)1/3 (with γ the droplet surface tension, t the sheet thickness and E its Young modulus). Our detailed analysis suggests that some recent experiments may lie in just such a "non-perturbative" regime. As a result, measurements of the tension in the sheet at the contact line (inferred from the contact angles of the sheet with the liquid-vapour interface) do not necessarily reflect the true tension within the sheet prior to wetting. We discuss various characteristics of this non-perturbative regime.

Using evaporation to control capillary instabilities in micro-systems.

The instabilities of fluid interfaces represent both a limitation and an opportunity for the fabrication of small-scale devices. Just as non-uniform capillary pressures can destroy micro-electrical mechanical systems (MEMS), so they can guide the assembly of novel solid and fluid structures. In many such applications the interface appears during an evaporation process and is therefore only present temporarily. It is commonly assumed that this evaporation simply guides the interface through a sequence of equilibrium configurations, and that the rate of evaporation only sets the timescale of this sequence. Here, we use Lattice-Boltzmann simulations and a theoretical analysis to show that, in fact, the rate of evaporation can be a factor in determining the onset and form of dynamical capillary instabilities. Our results shed light on the role of evaporation in previous experiments, and open the possibility of exploiting diffusive mass transfer to directly control capillary flows in MEMS applications.