An 88-milligram insect-scale autonomous crawling robot driven by a catalytic artificial muscle.

The creation of autonomous subgram microrobots capable of complex behaviors remains a grand challenge in robotics largely due to the lack of microactuators with high work densities and capable of using power sources with specific energies comparable to that of animal fat (38 megajoules per kilogram). Presently, the vast majority of microrobots are driven by electrically powered actuators; consequently, because of the low specific energies of batteries at small scales (below 1.8 megajoules per kilogram), almost all the subgram mobile robots capable of sustained operation remain tethered to external power sources through cables or electromagnetic fields. Here, we present RoBeetle, an 88-milligram insect-sized autonomous crawling robot powered by the catalytic combustion of methanol, a fuel with high specific energy (20 megajoules per kilogram). The design and physical realization of RoBeetle is the result of combining the notion of controllable NiTi-Pt-based catalytic artificial micromuscle with that of integrated millimeter-scale mechanical control mechanism (MCM). Through tethered experiments on several robotic prototypes and system characterization of the thermomechanical properties of their driving artificial muscles, we obtained the design parameters for the MCM that enabled RoBeetle to achieve autonomous crawling. To evaluate the functionality and performance of the robot, we conducted a series of locomotion tests: crawling under two different atmospheric conditions and on surfaces with different levels of roughness, climbing of inclines with different slopes, transportation of payloads, and outdoor locomotion.

An earthworm-inspired soft robot with perceptive artificial skin.

The bodies of earthworms are composed of repeating deformable structural units, called metameres, that generate the peristaltic body motions required for limbless underground burrowing and above-ground crawling. Metameres are actuated by circular and longitudinal muscles that are activated synchronously by the animals' nervous systems. A significant number of the neural-motor feedback loops function with sensory input gathered by the animals' highly sensitive skins, which are embedded with light, pressure and chemical receptors. In this paper, adopting the basic mechanisms employed by earthworms, we propose a new type of pneumatically-driven soft robot that can travel inside pipes by mimicking the motions and replicating the functionalities of a single metamere. Furthermore, we introduce a sensing scheme for feedback control that mimics the mechanical sensory capabilities of an earthworm's skin, which was developed upon stretchable liquid circuits capable of measuring strain and detecting pressure variations. The suitability of the proposed approach is demonstrated through several controlled locomotion experiments, employing two different robotic prototypes.

An earthworm-inspired friction-controlled soft robot capable of bidirectional locomotion.

We present the design, fabrication, modeling and feedback control of an earthworm-inspired soft robot capable of bidirectional locomotion on both horizontal and inclined flat platforms. In this approach, the locomotion patterns are controlled by actively varying the coefficients of friction between the contacting surfaces of the robot and the supporting platform, thus emulating the limbless locomotion of earthworms at a conceptual level. Earthworms are characterized by segmented body structures, known as metameres, composed of longitudinal and circular muscles which during locomotion are contracted and relaxed periodically in order to generate a peristaltic wave that propagates backwards with respect to the worm's traveling direction; simultaneously, microscopic bristle-like structures (setae) on each metamere coordinately protrude or retract to provide varying traction with the ground, thus enabling the worm to burrow or crawl. The proposed soft robot replicates the muscle functionalities and setae mechanisms of earthworms employing pneumatically-driven actuators and 3D-printed casings. Using the notion of controllable subspace, we show that friction plays an indispensable role in the generation and control of locomotion in robots of this type. Based on this analysis, we introduce a simulation-based method for synthesizing and implementing feedback control schemes that enable the robot to generate forward and backward locomotion. From the set of feasible control strategies studied in simulation, we adopt a friction-modulation-based feedback control algorithm which is implementable in real time and compatible with the hardware limitations of the robotic system. Through experiments, the robot is demonstrated to be capable of bidirectional crawling on surfaces with different textures and inclinations.

Thermosensitive in situ hydrogel based on the hybrid of hyaluronic acid and modified PCL/PEG triblock copolymer.

In this work, a new hydrogel was constructed using poly(ɛ-caprolactone-co-1,4,8-trioxa[4.6]spiro-9-undecanone)-poly(ethylene glycol)-poly(ɛ-caprolactone-co-1,4,8-trioxa[4.6]spiro-9-undecanone) tri-block copolymers (PECT) with hyaluronic acid (HA) in order to expand application scopes of PECT hydrogel. The rheological and sol-gel phase transition behaviors were investigated by rheometer and test tube inversion method, and the interior morphologies of hydrogel systems were observed by scanning electron microscope (SEM). With the introduction of HA, certain properties of PECT hydrogel, such as viscosity and morphology, have present trends with regularity. Furthermore, with the participation of HA, the degradation and release of acetylsalicylic acid was slightly affected, however, the drug release mechanism of hydrogel has not been changed. PECT/HA hydrogel is confirmed to be non-toxic through a test to NIH3T3 cells. In conclusion, blending with HA is a feasible and safe method to tune properties of PECT hydrogel.

Photo-crosslinked poly(ethylene glycol)-b-poly(ϵ-caprolactone) nanoparticles for controllable paclitaxel release.

Novel biodegradable core-crosslinked nanoparticles (CNPs) consisting of methoxy poly(ethylene glycol)-block-poly(ϵ-caprolactone-co-γ-cinnamoyloxy-ϵ-caprolactone) (mPEG-b-P(CL-co-CCL)) were prepared and evaluated for paclitaxel (PTX) delivery. mPEG113-b-P(CL65.2-co-CCL10.1) had a higher drug loading efficiency (95%) compared to mPEG113-b-PCL93.1 (43%). The stability of NPs has been largely improved and PTX release was significantly inhibited by crosslinking via UV irradiation at λ = 254 nm. MTT assays demonstrated that both blank non-crosslinked and crosslinked NPs showed low cytotoxicity to NCL-H460 cells while PTX-loaded non-crosslinked and crosslinked NPs exhibited obvious cytotoxicity against NCL-H460 cells, and the cytotoxicity was both dose-dependent and time-dependent. Furthermore, after 48 h incubation the cell viability of PTX-loaded crosslinked NPs was lower compared to that of PTX-loaded non-crosslinked NPs or free PTX. These properties indicated that CNPs prepared from mPEG-b-P(CL-co-CCL) have great potentials as carriers for drug delivery.

Poly(ethyleneglycol)-b-poly(ε-caprolactone-co-γ-hydroxyl-ε- caprolactone) bearing pendant hydroxyl groups as nanocarriers for doxorubicin delivery.

A novel biodegradable amphiphilic diblock copolymer methoxy poly(ethylene glycol)-b-poly(ε-caprolactone-co-γ-hydroxyl-ε-caprolactone) (mPEG-b-P(CL-co-HCL)) bearing pendant hydroxyl groups on the PCL block was prepared. The hydroxyl groups were formed through the reduction of ketones by sodium borohydride without protection and deprotection. The obtained polymers were well characterized by (1)H NMR, Fourier transform infrared (FT-IR), gel permeation chromatography (GPC), differential scanning calorimetry (DSC), X-ray diffraction (XRD), and contact angle measurement. mPEG-b-P(CL-co-HCL) could self-assemble into stable nanoparticles (NPs) with critical micellar concentrations (CMC) of 6.3 × 10(-4) ∼ 8.1 × 10(-4) mg/mL. The NPs prepared from mPEG-b-P(CL-co-HCL) were spherical in shape with diameters about 100 to 140 nm. The hydrophobic doxorubicin (DOX) was chosen as a drug model and successfully encapsulated into the NPs. The encapsulation efficiency and release kinetics of DOX were investigated. The results indicated that the introduction of hydroxyl groups onto the core-forming block could decrease the hydrophobicity of copolymers, thus improving the storage stability of NPs in aqueous solution. Moreover, higher loading capacity and slower in vitro release of DOX were observed, which was due to the hydrogen-bonding formation between DOX and hydroxyl groups. Meanwhile, the MTT assay demonstrated that the blank NPs were biocompatible to HepG2 cell,s while free DOX and DOX-loaded NPs showed significant cytotoxicity against the cells. Moreover, Compared to the free DOX, the DOX-loaded NPs were more efficiently internalized by HepG2 cells. In sum, the introduction of hydroxyl groups on the polyester block in mPEG-b-P(CL-co-HCL) exhibited great potentials for modifications in the stability, drug solubilization, and release properties of NPs.