An intelligent spinal soft robot with self-sensing adaptability.

Self-sensing adaptability is a high-level intelligence in living creatures and is highly desired for their biomimetic soft robots for efficient interaction with the surroundings. Self-sensing adaptability can be achieved in soft robots by the integration of sensors and actuators. However, current strategies simply assemble discrete sensors and actuators into one robotic system and, thus, dilute their synergistic and complementary connections, causing low-level adaptability and poor decision-making capability. Here, inspired by vertebrate animals supported by highly evolved backbones, we propose a concept of a bionic spine that integrates sensing and actuation into one shared body based on the reversible piezoelectric effect and a decoupling mechanism to extract the environmental feedback. We demonstrate that the soft robots equipped with the bionic spines feature locomotion speed improvements between 39.5% and 80% for various environmental terrains. More importantly, it can also enable the robots to accurately recognize and actively adapt to changing environments with obstacle avoidance capability by learning-based gait adjustments. We envision that the proposed bionic spine could serve as a building block for locomotive soft robots toward more intelligent machine-environment interactions in the future.

A Soft Collaborative Robot for Contact-based Intuitive Human Drag Teaching.

Soft material-based robots, known for their safety and compliance, are expected to play an irreplaceable role in human-robot collaboration. However, this expectation is far from real industrial applications due to their complex programmability and poor motion precision, brought by the super elasticity and large hysteresis of soft materials. Here, a soft collaborative robot (Soft Co-bot) with intuitive and easy programming by contact-based drag teaching, and also with exceptional motion repeatability (< 0.30% of body length) and ultra-low hysteresis (< 2.0%) is reported. Such an unprecedented capability is achieved by a biomimetic antagonistic design within a pneumatic soft robot, in which cables are threaded to servo motors through tension sensors to form a self-sensing system, thus providing both precise actuation and dragging-aware collaboration. Hence, the Soft Co-bots can be first taught by human drag and then precisely repeat various tasks on their own, such as electronics assembling, machine tool installation, etc. The proposed Soft Co-bots exhibit a high potential for safe and intuitive human-robot collaboration in unstructured environments, promoting the immediate practical application of soft robots.

Encoded sewing soft textile robots.

Incorporating soft actuation with soft yet durable textiles could effectively endow the latter with active and flexible shape morphing and motion like mollusks and plants. However, creating highly programmable and customizable soft robots based on textiles faces a longstanding design and manufacturing challenge. Here, we report a methodology of encoded sewing constraints for efficiently constructing three-dimensional (3D) soft textile robots through a simple 2D sewing process. By encoding heterogeneous stretching properties into three spatial seams of the sewed 3D textile shells, nonlinear inflation of the inner bladder can be guided to follow the predefined spatial shape and actuation sequence, for example, tendril-like shape morphing, tentacle-like sequential manipulation, and bioinspired locomotion only controlled by single pressure source. Such flexible, efficient, scalable, and low-cost design and formation methodology will accelerate the development and iteration of soft robots and also open up more opportunities for safe human-robot interactions, tailored wearable devices, and health care.

Self-vectoring electromagnetic soft robots with high operational dimensionality.

Soft robots capable of flexible deformations and agile locomotion similar to biological systems are highly desirable for promising applications, including safe human-robot interactions and biomedical engineering. Their achievable degree of freedom and motional deftness are limited by the actuation modes and controllable dimensions of constituent soft actuators. Here, we report self-vectoring electromagnetic soft robots (SESRs) to offer new operational dimensionality via actively and instantly adjusting and synthesizing the interior electromagnetic vectors (EVs) in every flux actuator sub-domain of the robots. As a result, we can achieve high-dimensional operation with fewer actuators and control signals than other actuation methods. We also demonstrate complex and rapid 3D shape morphing, bioinspired multimodal locomotion, as well as fast switches among different locomotion modes all in passive magnetic fields. The intrinsic fast (re)programmability of SESRs, along with the active and selective actuation through self-vectoring control, significantly increases the operational dimensionality and possibilities for soft robots.

Electrically switched underwater capillary adhesion.

Developing underwater adhesives that can rapidly and reversibly switch the adhesion in wet conditions is important in various industrial and biomedical applications. Despite extensive progresses, the manifestation of underwater adhesion with rapid reversibility remains a big challenge. Here, we report a simple strategy that achieves strong underwater adhesion between two surfaces as well as rapid and reversible detachment in on-demand manner. Our approach leverages on the design of patterned hybrid wettability on surfaces that selectively creates a spatially confined integral air shell to preserve the water bridge in underwater environment. The overall adhesion strength can be multiplied by introducing multiple air shells and rapidly broken by disturbing the integrity of the protective air shell in response to the applied voltage on two surfaces. Our design can be constructed on the flexible substrate with hybrid wettability, which can be applied to non-conductive substrates and adapted to more complicated morphologies, extending the choice of underlying materials.

Piezoelectric Dynamics of Arterial Pulse for Wearable Continuous Blood Pressure Monitoring.

Piezoelectric arterial pulse wave dynamics are traditionally considered to be similar to those of typical blood pressure waves. However, achieving accurate continuous blood pressure wave monitoring based on arterial pulse waves remains challenging, because the correlation between piezoelectric pulse waves and their related blood pressure waves is unclear. To address this, the correlation between piezoelectric pulse waves and blood pressure waves is first elucidated via theoretical, simulation, and experimental analysis of these dynamics. Based on this correlation, the authors develop a wireless wearable continuous blood pressure monitoring system, with better portability than conventional systems that are based on the pulse wave velocity between multiple sensors. They explore the feasibility of achieving wearable continuous blood pressure monitoring without motion artifacts, using a single piezoelectric sensor. These findings eliminate the controversy over the arterial pulse wave piezoelectric response, and can potentially be used to develop a portable wearable continuous blood pressure monitoring device for the early prevention and daily control of hypertension.

A novel flexible hydrogel electrode with a strong moisturizing ability for long-term EEG recording.

Objective. A novel flexible hydrogel electrode with a strong moisturizing ability was prepared for long-term electroencephalography (EEG) monitoring.Approach. The hydrogel was synthesized by polymerizing the N-acryloyl glycinamide monomer. And a proper amount of glycerin was added to the hydrogel to increase the moisture retention ability of the electrodes. The hydrogel shows high mechanical properties, and the liquid in the hydrogel produces a hydrating effect on the skin stratum corneum, which could decrease the contact impedance between skin and electrode. In addition, the installation of hydrogel electrode is very convenient, and the skin of the subject does not need to be abraded.Main results. Scanning electron microscope images show that there are a large number of micropores in the hydrogel, which provide storage space for water molecules. The average potential drift of the hydrogel electrode is relatively low (1.974 ± 0.560µV min-1). The average contact impedance of hydrogel electrode in forehead region and hair region are 6.43 ± 0.84 kΩ cm2and 13.15 ± 3.72 kΩ cm2, respectively. The result of open/closed paradigm, steady-state visual evoked potentials, and P300 visual evoked potential show that hydrogel electrode has excellent performance. Compared with the hydrogel without glycerin, the moisture retention ability of hydrogel containing glycerin was greatly improved.Significance.Compared with standard Ag/AgCl wet electrode, hydrogel electrode is more convenient to install and has strong moisture retention ability, which makes it have great potential in daily life for long-term EEG recording.

Data-Driven Optimization of Piezoelectric Energy Harvesters via Pattern Search Algorithm.

A data-driven optimization strategy based on a generalized pattern search (GPS) algorithm is proposed to automatically optimize piezoelectric energy harvesters (PEHs). As a direct search method, GPS can iteratively solve the derivative-free optimization problem. Taking the finite element method (FEM) as the solver and the GPS algorithm as the optimizer, the automatic interaction between the solver and optimizer ensures optimization with minimum human efforts, saving designers' time and performing a more precise exploration in the parameter space to obtain better results. When employing it for the optimization of PEHs, the optimal length and thickness of PZT were 6.0 mm and 4.6 µm, respectively. Compared with reported high-output PEHs, this optimal structure showed an increase of 371% in output power, an improvement by 1000% in normalized power density, and a reduction of 254% in resonant frequency. Furthermore, Spearman's rank correlation coefficient was calculated for evaluating the correlation among geometric parameters and output performance such as resonant frequency and output power, which provides a data-based perspective on the design and optimization of PEHs.

Flexible bioelectrodes with enhanced wrinkle microstructures for reliable electrochemical modification and neuromodulation in vivo.

Limited electrode size with high electrochemical performance and reliability of modified materials are two of the main concerns for flexible neural electrodes in recent years. Here, an effective fabrication method of enhanced micro-scale wrinkles based on oil-pretreated hyperelastic substrates (PDMS and Ecoflex) is proposed for the application of microelectrode biosensors. Compared to pre-stretching or compressing methods, this approach has better advantages including compatibility with MEMS processes on wafer and easy replication. Wrinkled gold microelectrodes exhibit superior electrochemical properties than the flat one, and no crack or delamination occurs after electroplating PEDOT:PSS and platinum black on wrinkled microelectrodes. Cyclic voltammetry (CV) scanning for 2500 times is performed to investigate adhesion and stability of modified materials. For the modified microelectrodes, no significant change is observed in charge storage capacity (CSC) and impedance at 1 kHz, whereas PEDOT:PSS coated flat microelectrodes appears delamination. Ultrasonication and cycling forces are also conducted on modified microelectrodes, which demonstrates little influence on the wrinkled ones. Flexible wrinkled microelectrodes are further verified by in-vivo ECoG recordings combined with optogenetics in mice. These results highlight the importance of micro-structure in neural electrode design and tremendous application potentials in flexible electronics.

Self-Powered and Self-Functional Cotton Sock Using Piezoelectric and Triboelectric Hybrid Mechanism for Healthcare and Sports Monitoring.

Wearable devices rely on hybrid mechanisms that possess the advantages of establishing a smarter system for healthcare, sports monitoring, and smart home applications. Socks with sensing capabilities can reveal more direct sensory information on the body for longer duration in daily life. However, the limitation of suitable materials for smart textile makes the development of multifunctional socks a major challenge. In this paper, we have developed a self-powered and self-functional sock (S2-sock) to realize diversified functions including energy harvesting and sensing various physiological signals, i.e., gait, contact force, sweat level, etc., by hybrid integrating poly(3,4-ethylenedioxythiophene) polystyrenesulfonate (PEDOT:PSS)-coated fabric triboelectric nanogenerator (TENG) and lead zirconate titanate (PZT) piezoelectric chips. An output power of 1.71 mW is collected from a PEDOT:PSS-coated sock with mild jumping at 2 Hz and load resistance of 59.7 MΩ. The study shows that cotton socks worn daily can potentially be a power source for enabling self-sustained socks comprising wireless transmission modules and integrated circuits in the future. We also investigate the influences of environmental humidity, temperature, and weight variations and verify that our S2-sock can successfully achieve walking pattern recognition and motion tracking for smart home applications. On the basis of the sensor fusion concept, the outputs from TENG and PZT sensors under exercise activities are effectively merged together for quick detection of the sweat level. By leveraging the hybrid S2-sock, we can achieve more functionality in the applications of foot-based energy harvesting and monitoring the diversified physiological signals for healthcare, smart homes, etc.

Direct Powering a Real Cardiac Pacemaker by Natural Energy of a Heartbeat.

Implantable medical devices are widely used for monitoring and treatment of severe diseases. In particular, an implantable cardiac pacemaker is the most effective therapeutic device for treating bradyrhythmia, however its surgical replacement is inevitable every 5-12 years due to the limited life of the built-in battery. Although several approaches of energy harvesting have been explored in this decade for powering cardiac pacemakers, the modern, commercial, and full-function pacemaker has never been powered effectively yet. Here, we report an integrated strategy for directly powering a modern and full-function cardiac pacemaker, which can pace the porcine heart in vivo by harvesting the natural energy of a heartbeat, without using any external energy storage element. The generator includes an elastic skeleton and two piezoelectric composites, which could generate a high-output current of 15 µA in vivo over state-of-the-art performance. This study makes an impressive step toward fabricating a self-powered cardiac pacemaker and resolving the power issue of implantable medical devices by piezoelectric harvesting technology.

Dynamic "Scanning-Mode" Meniscus Confined Electrodepositing and Micropatterning of Individually Addressable Ultraconductive Copper Line Arrays.

Micro- and nanopatterning of cost-effective addressable metallic nanostructures has been a long endeavor in terms of both scientific understanding and industrial needs. Herein, a simple and efficient dynamic meniscus-confined electrodeposition (MCED) technique for precisely positioned copper line micropatterns with superior electrical conductivity (greater than 1.57 × 104 S/cm) on glass, silicon, and gold substrates is reported. An unexpected higher printing speed in the evaporative regime is realized for precisely positioned copper lines patterns with uniform width and height under horizontal scanning-mode. The final line height and width depend on the typical behavior of traditional flow coating process, while the surface morphologies and roughness are mainly governed by evaporation-driven electrocrystallization dynamics near the receding moving contact line. Integrated 3D structures and a rapid prototyping of 3D hot-wire anemometer are further demonstrated, which is very important for the freedom integration applications in advanced conceptual devices, such as miniaturized electronics and biomedical sensors and actuators.

Flexible Single-Electrode Triboelectric Nanogenerator and Body Moving Sensor Based on Porous Na2CO3/Polydimethylsiloxane Film.

Triboelectric nanogenerators (TENGs) converting mechanical energy into electrical energy have received much attention because of their huge potential applications for supplying power to electronic devices. Improving the performance of TENGs has become a research hot point because of their output limited current. In this paper, we propose a flexible single-electrode triboelectric nanogenerator based on porous Na2CO3/polydimethylsiloxane (PDMS) structure to enhance the triboelectric performance for nanogenerators. To compare their output performance, NaCl and sugar are normally used as sacrificial template for triboelectric nanogenerator. As an experimental result, the nanogenerator based on porous Na2CO3/PDMS structure obtains the open-circuit voltage of 125 V and maximum output current of 100 µA, which are higher than that generated by NaCl/PDMS and sugar/PDMS TENGs. And the generated electric energy of Na2CO3/PDMS TENG could instantaneously power 42 commercial light-emitting diodes without any energy storage devices. This developed porous Na2CO3/PDMS TENG could open a new application field for self-powered personal electronics because of its flexibility, simple manufacturing process, and the ability to harvest mechanical energy from human motions.

Ultralow flexural properties of copper microhelices fabricated via electrodeposition-based three-dimensional direct-writing technology.

Helical metallic micro/nanostructures as functional components have considerable potential for future miniaturized devices, based on their unique mechanical and electrical properties. Thus, understanding and controlling the mechanical properties of metallic helices is desirable for their practical application. Herein, we implemented a direct-writing technique based on the electrodeposition method to grow copper microhelices with well-defined and programmable three-dimensional (3D) features. The mechanical properties of the 3D helical structures were studied by the electrically induced quasistatic and dynamic electromechanical resonance technique. These methods mainly explored the static pull-in process and the dynamic electromechanical response, respectively. It was found that the center-symmetric and vertical double copper microhelix structure with 1.2 µm wire diameter has a flexural rigidity of 0.9 × 10-14 N m2 and the single vertical copper microhelix structure with 1.1 µm wire diameter has a flexural rigidity of 0.5989 × 10-14 N m2. By comparing with microwires and other reported micro/nanohelices, we found that the copper microhelices reported here had an ultralow stiffness (about 0.13 ± 0.01 N m-1). It is found that the experimental results agree well with the finite element calculations. The proposed method can be used to fabricate and measure the flexural properties of three-dimensional complex micro/nanowire structures, and may have a profound effect on the application of microhelices in various useful microdevices such as helix-based microelectromechanical switches, sensors and actuators based on their unique mechanical properties.

Vertical, capacitive microelectromechanical switches produced via direct writing of copper wires.

Three-dimensional (3D) direct writing based on the meniscus-confined electrodeposition of copper metal wires was used in this study to develop vertical capacitive microelectromechanical switches. Vertical microelectromechanical switches reduce the form factor and increase the area density of such devices in integrated circuits. We studied the electromechanical characteristics of such vertical switches by exploring the dependence of switching voltage on various device structures, particularly with regard to the length, wire diameter, and the distance between the two wires. A simple model was found to match the experimental measurements made in this study. We found that the electrodeposited copper microwires exhibit a good elastic modulus close to that of bulk copper. By optimizing the 3D structure of the electrodes, a volatile electromechanical switch with a sub-5 V switching voltage was demonstrated in a vertical microscale switch with a gap distance as small as 100 nm created with a pair of copper wires with diameters of ~1 µm and heights of 25 µm. This study establishes an innovative approach to construct microelectromechanical systems with arbitrary 3D microwire structures for various applications, including the demonstrated volatile and nonvolatile microswitches.