Pump Up the Jam: Granular Media as a Quasi-Hydraulic Fluid for Independent Control Over Isometric and Isotonic Actuation.

Elastomer-granule composites have been used to switch between soft and stiff states by applying negative pressure differentials that cause the membrane to squeeze the internal grains, inducing dilation and jamming. Applications of this phenomenon have ranged from universal gripping to adaptive mobility. Previously, the combination of this jamming phenomenon with the ability to transport grains across multiple soft actuators for shape morphing has not yet been demonstrated. In this paper, the authors demonstrate the use of hollow glass spheres as granular media that functions as a jammable "quasi-hydraulic" fluid in a fluidic elastomeric actuator that better mimics a key featur of animal musculature: independent control over i) isotonic actuation for motion; and ii) isometric actuation for stiffening without shape change. To best implement the quasi-hydraulic fluid, the authors design and build a fluidic device. Leveraging this combination of physical properties creates a new option for fluidic actuation that allows higher specific stiffness actuators using lower volumetric flow rates in addition to independent control over shape and stiffness. These features are showcased in a robotic catcher's mitt by stiffening the fluid in the glove's open configuration for catching, unjamming the media, then pumping additional fluid to the mitt to inflate and grasp.

Temperature-insensitive silicone composites as ballistic witness materials: the impact of water content on the thermophysical properties.

In this work, different formulations of a room-temperature silicone composite backing material (SCBM) composed of polydimethylsiloxane (PDMS), fumed silica and corn starch were investigated using different characterization techniques, i.e., differential scanning calorimetry, thermogravimetry analysis, X-ray diffraction (XRD) and small-angle X-ray scattering, as a function of controlled relative humidity. At ambient relative humidities in the range of about 20-80%, the equilibrium water content in the SCBM ranges from approximately 4-10%, which is predominantly absorbed by the corn starch. This amount of water content has been shown to have minimal effect on thermal transition temperatures (melting and glass transition) of the SCBMs. The enthalpy of melting increases with increasing relative humidity, which reflects the heterogeneous semicrystalline structure of starch granules and the role of moisture in facilitating the formation of amylopectin double helices mainly in the imperfect crystalline regions. The thermal degradation of SCBM exhibits three major mass loss steps that correspond to dehydration, decomposition of corn starch and decomposition of PDMS. The XRD patterns reveal a characteristic diffuse peak for amorphous PDMS and an A-type crystallinity for the corn starch. The XRD results show no observable changes in the crystal type and crystallinity as a function of moisture content. Results from this work help clarify the fundamental structure-property relationships in SCBMs, which are important for future development of documentary standards, especially the handling and storage specifications of next-generation ballistic witness materials for body armor testing.

Rheological Characterization of Next-Generation Ballistic Witness Materials for Body Armor Testing.

Roma Plastilina No. 1 (RP1), an artist modeling clay that has been used as a ballistic clay, is essential for evaluation and certification in standards-based ballistic resistance testing of body armor. It serves as a ballistic witness material (BWM) behind the armor, where the magnitude of the plastic deformation in the clay after a ballistic impact is the figure of merit (known as "backface signature"). RP1 is known to exhibit complex thermomechanical behavior that requires temperature conditioning and frequent performance-based evaluations to verify that its deformation response satisfies requirements. A less complex BWM formulation that allows for room-temperature storage and use as well as a more consistent thermomechanical behavior than RP1 is desired, but a validation based only on ballistic performance would be extensive and expensive to accommodate the different ballistic threats. A framework of lab-scale metrologies for measuring the effects of strain, strain rate, and temperature dependence on mechanical properties are needed to guide BWM development. The current work deals with rheological characterization of a candidate BWM, i.e., silicone composite backing material (SCBM), to understand the fundamental structure⁻property relationships in comparison to those of RP1. Small-amplitude oscillatory shear frequency sweep experiments were performed at temperatures that ranged from 20 °C to 50 °C to map elastic and damping contributions in the linear elastic regime. Large amplitude oscillatory shear (LAOS) experiments were conducted in the non-linear region and the material response was analyzed in the form of Lissajous curve representations with the values of perfect plastic dissipation ratio reported to identify the degree of plasticity. The results show that the SCBM exhibits dynamic properties that are similar in magnitude to those of temperature-conditioned RP1, but with minimal temperature sensitivity and weaker frequency dependence than RP1. Both SCBM and RP1 are identified as elastoviscoplastic materials, which is particularly important for accurate determination of backface signature in body armor evaluation. The mechanical properties of SCBM show some degree of aging and work history effects. The results from this work demonstrate that the rheological properties of SCBM, at small and large strains, are similar to RP1 with substantial improvements in BWM performance requirements in terms of temperature sensitivity and thixotropy.

Mechanical properties of silicone based composites as a temperature insensitive ballistic backing material for quantifying back face deformation.

This paper describes a new witness material for quantifying the back face deformation (BFD) resulting from high rate impact of ballistic protective equipment. Accurate BFD quantification is critical for the assessment and certification of personal protective equipment, such as body armor and helmets, and ballistic evaluation. A common witness material is ballistic clay, specifically, Roma Plastilina No. 1 (RP1). RP1 must be heated to nearly 38°C to pass calibration, and used within a limited time frame to remain in calibration. RP1 also exhibits lot-to-lot variability and is sensitive to time, temperature, and handling procedures, which limits the BFD accuracy and reproducibility. A new silicone composite backing material (SCBM) was developed and tested side-by-side with heated RP1 using quasi-static indentation and compression, low velocity impact, spherical projectile penetration, and both soft and hard armor ballistic BFD measurements to compare their response over a broad range of strain rates and temperatures. The results demonstrate that SCBM mimics the heated RP1 response at room temperature and exhibits minimal temperature sensitivity. With additional optimization of the composition and processing, SCBM could be a drop-in replacement for RP1 that is used at room temperature during BFD quantification with minimal changes to the current RP1 handling protocols and infrastructure. It is anticipated that removing the heating requirement, and temperature-dependence, associated with RP1 will reduce test variability, simplify testing logistics, and enhance test range productivity.

Carbon nanofiber-filled conductive silicone elastomers as soft, dry bioelectronic interfaces.

Soft and pliable conductive polymer composites hold promise for application as bioelectronic interfaces such as for electroencephalography (EEG). In clinical, laboratory, and real-world EEG there is a desire for dry, soft, and comfortable interfaces to the scalp that are capable of relaying the µV-level scalp potentials to signal processing electronics. A key challenge is that most material approaches are sensitive to deformation-induced shifts in electrical impedance associated with decreased signal-to-noise ratio. This is a particular concern in real-world environments where human motion is present. The entire set of brain information outside of tightly controlled laboratory or clinical settings are currently unobtainable due to this challenge. Here we explore the performance of an elastomeric material solution purposefully designed for dry, soft, comfortable scalp contact electrodes for EEG that is specifically targeted to have flat electrical impedance response to deformation to enable utilization in real world environments. A conductive carbon nanofiber filled polydimethylsiloxane (CNF-PDMS) elastomer was evaluated at three fill ratios (3, 4 and 7 volume percent). Electromechanical testing data is presented showing the influence of large compressive deformations on electrical impedance as well as the impact of filler loading on the elastomer stiffness. To evaluate usability for EEG, pre-recorded human EEG signals were replayed through the contact electrodes subjected to quasi-static compressive strains between zero and 35%. These tests show that conductive filler ratios well above the electrical percolation threshold are desirable in order to maximize signal-to-noise ratio and signal correlation with an ideal baseline. Increasing fill ratios yield increasingly flat electrical impedance response to large applied compressive deformations with a trade in increased material stiffness, and with nominal electrical impedance tunable over greater than 4 orders of magnitude. EEG performance was independent of filler loading above 4 vol % CNF (< 103 ohms).

New Flexible Silicone-Based EEG Dry Sensor Material Compositions Exhibiting Improvements in Lifespan, Conductivity, and Reliability.

This study investigates alternative material compositions for flexible silicone-based dry electroencephalography (EEG) electrodes to improve the performance lifespan while maintaining high-fidelity transmission of EEG signals. Electrode materials were fabricated with varying concentrations of silver-coated silica and silver flakes to evaluate their electrical, mechanical, and EEG transmission performance. Scanning electron microscope (SEM) analysis of the initial electrode development identified some weak points in the sensors' construction, including particle pull-out and ablation of the silver coating on the silica filler. The newly-developed sensor materials achieved significant improvement in EEG measurements while maintaining the advantages of previous silicone-based electrodes, including flexibility and non-toxicity. The experimental results indicated that the proposed electrodes maintained suitable performance even after exposure to temperature fluctuations, 85% relative humidity, and enhanced corrosion conditions demonstrating improvements in the environmental stability. Fabricated flat (forehead) and acicular (hairy sites) electrodes composed of the optimum identified formulation exhibited low impedance and reliable EEG measurement; some initial human experiments demonstrate the feasibility of using these silicone-based electrodes for typical lab data collection applications.

The relationship between mechanical properties and ballistic penetration depth in a viscoelastic gel.

The fundamental material response of a viscoelastic material when impacted by a ballistic projectile has important implication for the defense, law enforcement, and medical communities particularly for the evaluation of protective systems. In this paper, we systematically vary the modulus and toughness of a synthetic polymer gel to determine their respective influence on the velocity-dependent penetration of a spherical projectile. The polymer gels were characterized using tensile, compression, and rheological testing taking special care to address the unique challenges associated with obtaining high fidelity mechanical data on highly conformal materials. The depth of penetration data was accurately described using the elastic Froude number for viscoelastic gels ranging in Young's modulus from ~60 to 630 kPa. The minimum velocity of penetration was determined to scale with the gel toughness divided by the gel modulus, a qualitative estimate for the zone of deformation size scale upon impact. We anticipate that this work will provide insight into the critical material factors that control ballistic penetration behavior in soft materials and aid in the design and development of new ballistic testing media.

Tunable mechanical behavior of synthetic organogels as biofidelic tissue simulants.

Solvent-swollen polymer gels can be utilized as mechanical simulants of biological tissues to evaluate protective systems and assess injury mechanisms. However, a key challenge in this application of synthetic materials is mimicking the rate-dependent mechanical response of complex biological tissues. Here, we characterize the mechanical behavior of tissue simulant gel candidates comprising a chemically crosslinked polydimethylsiloxane (PDMS) network loaded with a non-reactive PDMS solvent, and compare this response with that of tissue from murine heart and liver under comparable loading conditions. We first survey the rheological properties of a library of tissue simulant candidates to investigate the effects of solvent loading percentage, reactive functional group stoichiometry, and solvent molecular weight. We then quantify the impact resistance, energy dissipation capacities, and energy dissipation rates via impact indentation for the tissue simulant candidates, as well as for the murine heart and liver. We demonstrate that by tuning these variables the silicone gels can be engineered to match the impact response of biological tissues. These experiments inform the design principles required for synthetic polymer gels that are optimized to predict the response of specific biological tissues to impact loading, providing insight for further tuning of this gel system to match the impact response of other "soft tissues".