Ultrafast small-scale soft electromagnetic robots.

High-speed locomotion is an essential survival strategy for animals, allowing populating harsh and unpredictable environments. Bio-inspired soft robots equally benefit from versatile and ultrafast motion but require appropriate driving mechanisms and device designs. Here, we present a class of small-scale soft electromagnetic robots made of curved elastomeric bilayers, driven by Lorentz forces acting on embedded printed liquid metal channels carrying alternating currents with driving voltages of several volts in a static magnetic field. Their dynamic resonant performance is investigated experimentally and theoretically. These robust and versatile robots can walk, run, swim, jump, steer and transport cargo. Their tethered versions reach ultra-high running speeds of 70 BL/s (body lengths per second) on 3D-corrugated substrates and 35 BL/s on arbitrary planar substrates while their maximum swimming speed is 4.8 BL/s in water. Moreover, prototype untethered versions run and swim at a maximum speed of 2.1 BL/s and 1.8 BL/s, respectively.

Body Temperature-Triggered Mechanical Instabilities for High-Speed Soft Robots.

Nature offers bionic inspirations for elegant applications of mechanical principles such as the concept of snap buckling, which occurs in several plants. Exploiting mechanical instabilities is the key to fast movement here. We use the snap-through and snap-back instability observed in natural rubber balloons to design an ultrafast purely mechanical elastomer actuator. Our design eliminates the need in potentially harmful stimulants, high voltages, and is safe in operation. We trigger the instability and thus the actuation by temperature changes, which bring about a liquid/gas phase transition in a suitable volatile fluid. This allows for large deformations up to 300% area expansion within response times of a few milliseconds. A few degree temperature change, readily provided by the warmth of a human hand, is sufficient to reliably trigger the actuation. Experiments are compared with the appropriate theory for a model actuator system; this provides design rules, sensitivity, and operational limitations, paving the way for applications ranging from object sorting to intimate human-machine interaction.

iSens: A Fiber-Based, Highly Permeable and Imperceptible Sensor Design.

Embedded sensors are key to optimizing processes and products; they collect data that allow time, energy, and materials to be saved, thereby reducing costs. After production, they remain in place and are used to monitor the long-term structural health of buildings or aircraft. Fueled by climate change, sustainable construction materials such as wood and fiber composites are gaining importance. Current sensors are not optimized for use with these materials and often act as defects that cause catastrophic failures. Here, flexible, highly permeable, and imperceptible sensors (iSens) are introduced that integrate seamlessly into a component. Their porous substrates are readily infused with adhesives and withstand harsh conditions. In situ resistive temperature measurements and capacitive sensing allows monitoring of adhesives curing as used in wooden structures and fiber composites. The devices also act as heating elements to reduce the hardening time of the glue. Results are analyzed using numerical simulations and theoretical analysis. The suggested iSens technology is widely applicable and represents a step towards realizing the Internet of Things for construction materials.

Soft Tunable Lenses Based on Zipping Electroactive Polymer Actuators.

Compact and entirely soft optics with tunable and adaptive properties drive the development of life-like soft robotic systems. Yet, existing approaches are either slow, require rigid components, or use high operating voltages of several kilovolts. Here, soft focus-tunable lenses are introduced, which operate at practical voltages, cover a high range of adjustable focal lengths, and feature response times in the milliseconds range. The nature-inspired design comprises a liquid-filled elastomeric lens membrane, which is inflated by zipping electroactive polymers to tune the focal length. An analytic description of the tunable lens supports optimized designs and accurate prediction of the lens characteristics. Focal length changes between 22 and 550 mm (numerical aperture 0.14-0.005) within 260 ms, equal in performance to human eyes, are demonstrated for a lens with 3 mm aperture radius, while applying voltages below 500 V. The presented model, design rules, and fabrication methods address central challenges of soft electrostatic actuators and optical systems, and pave the way toward autonomous bio-inspired robots and machines.

A Lesson from Plants: High-Speed Soft Robotic Actuators.

Rapid energy-efficient movements are one of nature's greatest developments. Mechanisms like snap-buckling allow plants like the Venus flytrap to close the terminal lobes of their leaves at barely perceptible speed. Here, a soft balloon actuator is presented, which is inspired by such mechanical instabilities and creates safe, giant, and fast deformations. The basic design comprises two inflated elastomer membranes pneumatically coupled by a pressurized chamber of suitable volume. The high-speed actuation of a rubber balloon in a state close to the verge of mechanical instability is remotely triggered by a voltage-controlled dielectric elastomer membrane. This method spatially separates electrically active and passive parts, and thereby averts electrical breakdown resulting from the drastic thinning of an electroactive membrane during large expansion. Bistable operation with small and large volumes of the rubber balloon is demonstrated, achieving large volume changes of 1398% and a high-speed area change rate of 2600 cm2 s-1. The presented combination of fast response time with large deformation and safe handling are central aspects for a new generation of soft bio-inspired robots and can help pave the way for applications ranging from haptic displays to soft grippers and high-speed sorting machines.

Physiological relevance of epithelial geometry: New insights into the standing gradient model and the role of LI cadherin.

We introduce a mathematical model of an absorbing leaky epithelium to reconsider the problem formulated by Diamond and Bossert in 1967: whether "… some distinctive physiological properties of epithelia might arise as geometrical consequences of epithelial ultrastructure". A standing gradient model of the intercellular cleft (IC) is presented that includes tight junctions (TJ) and ion channels uniformly distributed along the whole cleft. This nonlinear system has an intrinsic homogeneous concentration and the spatial scale necessary to establish it along the cleft. These parameters have not been elucidated so far. We further provide non-perturbative analytical approximations for a broad range of parameters. We found that narrowing of the IC increases ion concentration dramatically and can therefore prevent outflow through tight junctions (TJs) and the lateral membrane, as long as extremely high luminal osmolarities are not reached. Our model predicts that the system is to some extent self-regulating and thereby prevents fluxes into the lumen. Recent experimental evidence has shown that liver-intestine (LI) cadherin can control the up/down flux in intestines via regulation of the cleft width. This finding is in full agreement with predictions of our model. We suggest that LI-cadherin may increase water transport through epithelia via sequential narrowing of the cleft, starting from the highest concentration area at the beginning of the cleft and triggering a propagating squeezing motion.

Power Balance and Temperature in Optically Pumped Spasers and Nanolasers.

Spasers and nanolasers produce a significant amount of heat, which impedes their realizability. We numerically investigate the farfield emission and thermal load in optically pumped spasers with a coupled electromagnetic/thermal model, including additional temperature discontinuities due to interfacial Kapitza resistance. This approach allows to explore multiple combinations of constitutive materials suitable for robust manufacturable spasers. Three main channels of heat generation are quantified: metal absorption at pumping and spasing wavelengths and nonradiative relaxations in the gain material. Out-radiated power becomes comparable with absorption for spasers of realistic dimensions. Two optimized spaser configurations emitting light near 520 nm are compared in detail: a prolate metal-core/gain-shell and an oblate gain-core/metal-shell. The metal-shell design, which with the increasing size transforms into a metal-clad nanolaser, achieves an internal light-extraction efficiency of 22.4%, and stably operates up to several hundred picoseconds, an order of magnitude longer than the metal-core spaser.

Anticorrelation of Photoluminescence from Gold Nanoparticle Dimers with Hot-Spot Intensity.

Bulk gold shows photoluminescence (PL) with a negligible quantum yield of ∼10-10, which can be increased by orders of magnitude in the case of gold nanoparticles. This bears huge potential to use noble metal nanoparticles as fluorescent and unbleachable stains in bioimaging or for optical data storage. Commonly, the enhancement of the PL yield is attributed to nanoparticle plasmons, specifically to the enhancements of scattering or absorption cross sections. Tuning the shape or geometry of gold nanostructures (e.g., via reducing the distance between two nanoparticles) allows for redshifting both the scattering and the PL spectra. However, while the scattering cross section increases with a plasmonic redshift, the PL yield decreases, indicating that the common simple picture of a plasmonically boosted gold luminescence needs more detailed consideration. In particular, precise experiments as well as numerical simulations are required. Hence, we systematically varied the distance between the tips of two gold bipyramids on the nanometer scale using AFM manipulation and recorded the PL and the scattering spectra for each separation. We find that the PL intensity decreases as the interparticle coupling increases. This anticorrelation is explained by a theoretical model where both the gold-intrinsic d-band hole recombination probabilities as well as the field strength inside the nanostructure are considered. The scattering cross section or the field strength in the hot-spot between the tips of the bipyramids are not relevant for the PL intensity. Besides, we not only observe PL supported by dipolar plasmon resonances, but also measure and simulate PL supported by higher order plasmonic modes.

Minimal spaser threshold within electrodynamic framework: Shape, size and modes.

It is known (yet often ignored) from quantum mechanical or energetic considerations, that the threshold gain of the quasi-static spaser depends only on the dielectric functions of the metal and the gain material. Here, we derive this result from the purely classical electromagnetic scattering framework. This is of great importance, because electrodynamic modelling is far simpler than quantum mechanical one. The influence of the material dispersion and spaser geometry are clearly separated; the latter influences the threshold gain only indirectly, defining the resonant wavelength. We show that the threshold gain has a minimum as a function of wavelength. A variation of nanoparticle shape, composition, or spasing mode may shift the plasmonic resonance to this optimal wavelength, but it cannot overcome the material-imposed minimal gain. Furthermore, retardation is included straightforwardly into our framework; and the global spectral gain minimum persists beyond the quasi-static limit. We illustrate this with two examples of widely used geometries: Silver spheroids and spherical shells embedded in and filled with gain materials.

Spectral and directional reshaping of fluorescence in large area self-assembled plasmonic-photonic crystals.

Spectral and directional reshaping of fluorescence from dye molecules embedded in self-assembled hybrid plasmonic-photonic crystals has been examined. The hybrid crystals comprise two-dimensional hexagonal arrays of dye-doped dielectric nanospheres, capped with silver semishells. Comparing the reshaped fluorescence spectra with measured transmission/reflection spectra and numerical calculations reveals that the spectral and directional reshaping of fluorescence is the result of its coupling to photonic crystal Bloch modes and to void plasmons localized inside the silver caps.

Dye-doped spheres with plasmonic semi-shells: Lasing modes and scattering at realistic gain levels.

We numerically simulate the compensation of absorption, the near-field enhancement as well as the differential far-field scattering cross section for dye-doped polystyrene spheres (radius 195 nm), which are half-covered by a silver layer of 10-40 nm thickness. Such silver capped spheres are interesting candidates for nanoplasmonic lasers, so-called spasers. We find that spasing requires gain levels less than 3.7 times higher than those in commercially available dye-doped spheres. However, commercially available concentrations are already apt to achieve negative absorption, and to narrow and enhance scattering by higher order modes. Narrowing of the plasmonic modes by gain also makes visible higher order modes, which are normally obscured by the broad spectral features of the lower order modes. We further show that the angular distribution of the far-field scattering of the spasing modes is by no means dipole-like and is very sensitive to the geometry of the structure.

Rontgen's electrode-free elastomer actuators without electromechanical pull-in instability.

Electrical actuators made from films of dielectric elastomers coated on both sides with stretchable electrodes may potentially be applied in microrobotics, tactile and haptic interfaces, as well as in adaptive optical elements. Such actuators with compliant electrodes are sensitive to the pull-in electromechanical instability, limiting operational voltages and attainable deformations. Electrode-free actuators driven by sprayed-on electrical charges were first studied by Röntgen in 1880. They withstand much higher voltages and deformations and allow for electrically clamped (charge-controlled) thermodynamic states preventing electromechanical instabilities. The absence of electrodes allows for direct optical monitoring of the actuated elastomer, as well as for designing new 3D actuator configurations and adaptive optical elements.

Laser-induced structure formation on stretched polymer foils.

Noncoherent structures that develop during UV laser ablation of stretched semicrystalline polymer foils are a very general phenomenon. A thermodynamic model based on stress relaxation within the modified layer of the polymer surface describes the main features of the observed phenomena, and, in particular, the dependence of the period of structures on laser wavelength, fluence, and number of laser pulses.