An Untethered Soft Robot Based on Liquid Crystal Elastomers.

An untethered, soft robot using liquid crystal elastomer (LCE) actuators, onboard power, and wireless Bluetooth control was developed. LCE actuators were thermally triggered using Joule heating and demonstrated an ∼5 N force pull capacity per LCE. A >20% repeatable strain was demonstrated over >100 cycles with minimal loss of strain at high cycle numbers. The LCE actuators were horizontally oriented to maximize conversion of LCE contraction to overall robot movement. A battery and control board were integrated into the body of the robot, which allowed for Bluetooth control of the LCE on/off cycle. System level programming and design were implemented to offset the slow recovery associated with LCE actuators. The multiple LCE actuator legs were programmed to allow individual control of on/off cycles for each leg. LCE leg actuation was alternated between inner and outer legs to provide horizontal movement with minimized loss of motion during the LCE recovery cycle by actuating one set of legs during the recovery cycle of the other set for a maximum movement speed of 1.27 cm/min. Path control was also demonstrated by turning the robot by actuating two LCE legs on one side of the robot. The robot was able to pull up to 1400 g in ideal frictional conditions, allowing the possibility of payload transport, additional battery storage, or onboard sensors. Additional design considerations are discussed to further improve overall robot speed in the future by combining system and material level design considerations.

Anisotropic, porous hydrogels templated by lyotropic chromonic liquid crystals.

Approaches to control the microstructure of hydrogels enable the control of cell-material interactions and the design of stimuli-responsive materials. We report a versatile approach for the synthesis of anisotropic polyacrylamide hydrogels using lyotropic chromonic liquid crystal (LCLC) templating. The orientational order of LCLCs in a mold can be patterned by controlling surface anchoring conditions, which in turn patterns the polymer network. The resulting hydrogels have tunable pore size and mechanical anisotropy. For example, the elastic moduli measured parallel and perpendicular to the LCLC order are 124.9 ± 6.4 kPa and 17.4 ± 1.1 kPa for a single composition. The resulting anisotropic hydrogels also have 30% larger swelling normal to the LCLC orientation than along the LCLC orientation. By patterning the LCLC order, this anisotropic swelling can be used to create 3D hydrogel structures. These anisotropic gels can also be functionalized with extracellular matrix (ECM) proteins and used as compliant substrata for cell culture. As an illustrative example, we show that the patterned hydrogel microstructure can be used to direct the orientation of cultured human corneal fibroblasts. This strategy to make anisotropic hydrogels has potential for enabling patternable tissue scaffolds, soft robotics, or microfluidic devices.

Mechanical considerations for design and implementation of peripheral intraneural devices.

OBJECTIVE: Neural interfaces designed to stimulate or record electrical activity from peripheral nerves have applications ranging from the electrical modulation of nerve activity as a therapeutic option (e.g. epilepsy and depression) to the design of prosthetics. Currently, most peripheral nerve interfaces are either cuff-style devices that wrap around the target nerve or intraneural devices that are implanted within the nerve. While the latter option offers higher specificity and signal-to-noise ratio, penetrating devices can cause significant damage to the nerve due to the high degree of mechanical mismatch. Because of this, there is interest in developing penetrating devices fabricated from soft or softening materials (materials having a low elastic modulus). However, there is currently a lack of understanding regarding implantation forces required for successful insertion, which is a constraint for soft device design. Softer devices require robust designs to achieve a critical buckling force that is larger than forces experienced during device insertion. APPROACH: This study comprehensively assesses insertion force under different implantation conditions, with three variations for implantation speed, angle, and device tip angle, during insertion of silicon shanks in rat sciatic nerve. Additionally, we report compression moduli for rat sciatic nerve at different compression rates to inform computational modeling. MAIN RESULTS: We found that insertion speed and angle had significant effects on peak insertion force. We observed lower insertion forces (10-60 mN) when the device was implanted at higher angles relative to perpendicular insertion (80-125 mN). We also demonstrate the use of a nerve-stabilizing device to keep the nerve immobile during implantation. Additionally, we found that compression moduli were significantly different in small and large strain regions of the stress-strain curve with values between 1500-4500 Pa depending on compression rate. SIGNIFICANCE: This study provides information imperative to the design and successful implementation of soft penetrating peripheral nerve interfaces.

Molecularly-ordered hydrogels with controllable, anisotropic stimulus response.

Hydrogels which morph between programmed shapes in response to aqueous stimuli are of significant interest for biosensors and artificial muscles, among other applications. However, programming hydrogel shape change at small size scales is a significant challenge. Here we use the inherent ordering capabilities of liquid crystals to create a mechanically anisotropic hydrogel; when coupled with responsive comonomers, the mechanical anisotropy in the network guides shape change in response to the desired aqueous condition. Our synthetic strategy hinges on the use of a methacrylic chromonic liquid crystal monomer which can be combined with a non-polymerizable chromonic of similar structure to vary the magnitude of shape change while retaining liquid crystalline order. This shape change is directional due to the mechanical anisotropy of the gel, which is up to 50% stiffer along the chromonic stack direction than perpendicular. Additionally, we show that the type of stimulus to which these anisotropic gels respond can be switched by incorporating responsive, hydrophilic comonomers without destroying the nematic phase or alignment. The utility of these properties is demonstrated in polymerized microstructures which exhibit Gaussian curvature in response to high pH due to emergent ordering in a micron-sized capillary.

Four-dimensional Printing of Liquid Crystal Elastomers.

Three-dimensional structures capable of reversible changes in shape, i.e., four-dimensional-printed structures, may enable new generations of soft robotics, implantable medical devices, and consumer products. Here, thermally responsive liquid crystal elastomers (LCEs) are direct-write printed into 3D structures with a controlled molecular order. Molecular order is locally programmed by controlling the print path used to build the 3D object, and this order controls the stimulus response. Each aligned LCE filament undergoes 40% reversible contraction along the print direction on heating. By printing objects with controlled geometry and stimulus response, magnified shape transformations, for example, volumetric contractions or rapid, repetitive snap-through transitions, are realized.

Thermo-mechanical behavior and structure of melt blown shape-memory polyurethane nonwovens.

New processing methods for shape-memory polymers allow for tailoring material properties for numerous applications. Shape-memory nonwovens have been previously electrospun, but melt blow processing has yet to be evaluated. In order to determine the process parameters affecting shape-memory behavior, this study examined the effect of air pressure and collector speed on the mechanical behavior and shape-recovery of shape-memory polyurethane nonwovens. Mechanical behavior was measured by dynamic mechanical analysis and tensile testing, and shape-recovery was measured by unconstrained and constrained recovery. Microstructure changes throughout the shape-memory cycle were also investigated by micro-computed tomography. It was found that increasing collector speed increases elastic modulus, ultimate strength and recovery stress of the nonwoven, but collector speed does not affect the failure strain or unconstrained recovery. Increasing air pressure decreases the failure strain and increases rubbery modulus and unconstrained recovery, but air pressure does not influence recovery stress. It was also found that during the shape-memory cycle, the connectivity density of the fibers upon recovery does not fully return to the initial values, accounting for the incomplete shape-recovery seen in shape-memory nonwovens. With these parameter to property relationships identified, shape-memory nonwovens can be more easily manufactured and tailored for specific applications.

High-strength, surface-porous polyether-ether-ketone for load-bearing orthopedic implants.

Despite its widespread clinical use in load-bearing orthopedic implants, polyether-ether-ketone (PEEK) is often associated with poor osseointegration. In this study, a surface-porous PEEK material (PEEK-SP) was created using a melt extrusion technique. The porous layer was 399.6±63.3 µm thick and possessed a mean pore size of 279.9±31.6 µm, strut spacing of 186.8±55.5 µm, porosity of 67.3±3.1% and interconnectivity of 99.9±0.1%. Monotonic tensile tests showed that PEEK-SP preserved 73.9% of the strength (71.06±2.17 MPa) and 73.4% of the elastic modulus (2.45±0.31 GPa) of as-received, injection-molded PEEK. PEEK-SP further demonstrated a fatigue strength of 60.0 MPa at one million cycles, preserving 73.4% of the fatigue resistance of injection-molded PEEK. Interfacial shear testing showed the pore layer shear strength to be 23.96±2.26 MPa. An osseointegration model in the rat revealed substantial bone formation within the pore layer at 6 and 12 weeks via microcomputed tomography and histological evaluation. Ingrown bone was more closely apposed to the pore wall and fibrous tissue growth was reduced in PEEK-SP when compared to non-porous PEEK controls. These results indicate that PEEK-SP could provide improved osseointegration while maintaining the structural integrity necessary for load-bearing orthopedic applications.