Aaron D. Mazzeo

Multigait soft robot

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.

A multi-gait soft robot

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.

Soft Robotics for Chemists

In areas from assembly of machines to surgery, and from deactivation of improvised explosive devices (IEDs) to unmanned flight, robotics is an important and rapidly growing field of science and technology. It is currently dominated by robots having hard body plans—constructions largely of metal structural elements and conventional joints—and actuated by electrical motors, or pneumatic or hydraulic systems. Handling fragile objects—from the ordinary (fruit) to the important (internal organs)—is a frequent task whose importance is often overlooked and is difficult for conventional hard robots; moving across unknown, irregular, and shifting terrain is also. Soft robots may provide solutions to both of these classes of problems, and to others. Methods of designing and fabricating soft robots are, however, much less developed than those for hard robots. We wish to expand the methods and materials of chemistry and soft-materials science into applications in fully soft robots. A robot is an automatically controlled, programmable machine. The limbs of animals or insects—structures typically based on rigid segments connected by joints with constrained ranges of motion—often serve as models for mobile elements of robots. Although mobile hard robots sometimes have limb-like structures similar to those of animals (an example is “Big Dog” by Boston Robotics), more often, robots use structures not found in organisms—for example, wheels and treads. The robotics community defines “soft robots” as: 1) machines made of soft—often elastomeric—materials, or 2) machines composed of multiple hard-robotic actuators that operate in concert, and demonstrate soft-robot-like properties; here, we consider only the former. Soft animals offer new models for manipulation and mobility not found, or generated only with difficulty and expense, using hard robots. Because materials from which this class of devices will be fabricated will usually be polymers (especially elastomers), they fall into the realm of organic materials science. The use of soft materials allows for continuous deformation. This type of deformation, in turn, enables structures with ranges of motion limited only by the properties of the materials. Soft robots have the potential to exploit types of structures found, for example, in marine organisms, and in non-skeletal parts of land animals. The tentacles of squid, trunks of elephants, and tongues of lizards and mammals are such examples; their structures are muscular hydrostats. Squid and starfish 14] are highly adept locomotors; their modes of movement have not been productively used, and permit solutions of problems in manipulation, locomotion, and navigation, that are different from those used in conventional hard robotics. The prototypical soft actuator—muscle—developed through the course of evolution. There is currently no technology that can replicate the balanced performance of muscle: it is simultaneously strong and fast, and enables a remarkable range of movements (such as those of a tongue). Muscle-like contraction and dilation occur in ionic polymeric gels on changes in the acidity or salinity of a surrounding ionic solution, but actuation in macroscopic structures is masstransport limited, and typically slow. Other electroactive polymers (EAPs) include dielectric elastomers, electrolytically active polymers, polyelectrolyte gels, and gel-metal composites. Pneumatically-driven McKibben-type actuators are among the most highly developed soft actuators, and have existed for more than fifty years; they consist of a bladder covered in a shell of braided, strong, inextensible fibers. These actuators can be fast, and have a length-load dependence similar to that of muscle but possess only one actuation mode—contraction and extension when pressurization changes. They are, in a sense, an analogue to a single muscle fibril ; using them for complex movements requires multiple actuators acting in series or parallel. Pneumaticallydriven flexible microactuators (FMAs) have been shown to be capable of bending, gripping, and manipulating objects. Roboticists have explored scalable methods for gripping and manipulating objects at the micro and nano scales. The use of compliant materials allows grippers to manipulate objects such as fruit with varied geometry. The field of robotics has not yet caught the attention of soft-materials scientists and chemists. Developing new materials, techniques for fabrication, and principles of design will create new types of soft robots. The objective of this work is to demonstrate a type of design that provides a range of behaviors, and that offers chemists a test bed for new materials and methods of fabrication for soft robots. Our designs use embedded pneumatic networks (PneuNets) of channels in elastomers [*] Prof. G. M. Whitesides Wyss Institute for Biologically Inspired Engineering Harvard University, 3 Blackfan Circle, Boston, MA 02115 (USA) Fax: (+ 1)617-495-9857 and Kavli Institute for Bionano Science & Technology 29 Oxford Street, Cambridge MA (USA) E-mail: gwhitesides@gmwgroup.harvard.edu Homepage: http://gmwgroup.harvard.edu/

Paper‐Based, Capacitive Touch Pads

Metallized paper is patterned to create touch pads of arrayed buttons that are sensitive to contact with both bare and gloved fingers. The paper-based keypad detects the change in capacitance associated with the touch of a finger to one of its buttons. Mounted on an alarmed cardboard box, the keypad requires the appropriate sequence of touches to disarm the system.

Using Explosions to Power a Soft Robot

grasping and walking. Despite their advantages(simplicity of fabrication, actuation, and control; low cost;light weight), pneu-nets have the disadvantage that actuationusing them is slow, in part because the viscosity of air limitsthe rate at which the gas can be delivered through tubes to filland expand the microchannels. Herein, we demonstrate therapid actuation of pneu-nets using a chemical reaction (thecombustion of methane) to generate explosive bursts ofpressure.Althoughthecombustionofhydrocarbonsisubiquitousinthe actuation of hard systems (e.g., in the metal cylinder ofa diesel or spark-ignited engine

Polymer-based mesh as supports for multi-layered 3D cell culture and assays

Three-dimensional (3D) culture systems can mimic certain aspects of the cellular microenvironment found in vivo, but generation, analysis and imaging of current model systems for 3D cellular constructs and tissues remain challenging. This work demonstrates a 3D culture system-Cells-in-Gels-in-Mesh (CiGiM)-that uses stacked sheets of polymer-based mesh to support cells embedded in gels to form tissue-like constructs; the stacked sheets can be disassembled by peeling the sheets apart to analyze cultured cells-layer-by-layer-within the construct. The mesh sheets leave openings large enough for light to pass through with minimal scattering, and thus allowing multiple options for analysis-(i) using straightforward analysis by optical light microscopy, (ii) by high-resolution analysis with fluorescence microscopy, or (iii) with a fluorescence gel scanner. The sheets can be patterned into separate zones with paraffin film-based decals, in order to conduct multiple experiments in parallel; the paraffin-based decal films also block lateral diffusion of oxygen effectively. CiGiM simplifies the generation and analysis of 3D culture without compromising throughput, and quality of the data collected: it is especially useful in experiments that require control of oxygen levels, and isolation of adjacent wells in a multi-zone format.

InfoBiology by printed arrays of microorganism colonies for timed and on-demand release of messages

This paper presents a proof-of-principle method, called InfoBiology, to write and encode data using arrays of genetically engineered strains of Escherichia coli with fluorescent proteins (FPs) as phenotypic markers. In InfoBiology, we encode, send, and release information using living organisms as carriers of data. Genetically engineered systems offer exquisite control of both genotype and phenotype. Living systems also offer the possibility for timed release of information as phenotypic features can take hours or days to develop. We use growth media and chemically induced gene expression as cipher keys or “biociphers” to develop encoded messages. The messages, called Steganography by Printed Arrays of Microbes (SPAM), consist of a matrix of spots generated by seven strains of E. coli, with each strain expressing a different FP. The coding scheme for these arrays relies on strings of paired, septenary digits, where each pair represents an alphanumeric character. In addition, the photophysical properties of the FPs offer another method for ciphering messages. Unique combinations of excited and emitted wavelengths generate distinct fluorescent patterns from the Steganography by Printed Arrays of Microbes (SPAM). This paper shows a new form of steganography based on information from engineered living systems. The combination of bio- and “photociphers” along with controlled timed-release exemplify the capabilities of InfoBiology, which could enable biometrics, communication through compromised channels, easy-to-read barcoding of biological products, or provide a deterrent to counterfeiting.

Control of Soft Machines using Actuators Operated by a Braille Display

One strategy for actuating soft machines (e.g., tentacles, grippers, and simple walkers) uses pneumatic inflation of networks of small channels in an elastomeric material. Although the management of a few pneumatic inputs and valves to control pressurized gas is straightforward, the fabrication and operation of manifolds containing many (>50) independent valves is an unsolved problem. Complex pneumatic manifolds-often built for a single purpose-are not easily reconfigured to accommodate the specific inputs (i.e., multiplexing of many fluids, ranges of pressures, and changes in flow rates) required by pneumatic systems. This paper describes a pneumatic manifold comprising a computer-controlled Braille display and a micropneumatic device. The Braille display provides a compact array of 64 piezoelectric actuators that actively close and open elastomeric valves of a micropneumatic device to route pressurized gas within the manifold. The positioning and geometries of the valves and channels in the micropneumatic device dictate the functionality of the pneumatic manifold, and the use of multi-layer soft lithography permits the fabrication of networks in a wide range of configurations with many possible functions. Simply exchanging micropneumatic devices of different designs enables rapid reconfiguration of the pneumatic manifold. As a proof of principle, a pneumatic manifold controlled a soft machine containing 32 independent actuators to move a ball above a flat surface.

Reconfigurable Self-Assembly of Mesoscale Optical Components at a Liquid-Liquid Interface

Sindy K.Y. Tang , Ratmir Derda , Aaron D. Mazzeo , and George M. Whitesides * IO N A method that uses magnetic fi elds to template the self-assembly and reconfi guration of 2D optical components with engineered surface wettabilities at a liquid–liquid interface is described. The optical components are mesoscale tiles of diffraction gratings each fabricated to contain a magnetic strip. Application of a magnetic fi eld to the tiles, suspended at the interface between two immiscible liquids, assembles them into an array of gratings. The orientations of the tiles and the resulting optical effects are reconfi gurable by a change in the magnetic fi eld. It is possible to preserve the assembled patterns, if desired, by transferring them onto solid substrates. This procedure can be useful for generating coatings or fi lms with interesting optical effects and for visualizing magnetic fi elds. Self-assembly methods allow the distribution and alignment of small, preformed objects into desired patterns. [ 1–4 ] It is a potential alternative to conventional top-down techniques (e.g., photolithography) and serial processing steps (e.g., pick-andplace robotics) for scalable and low-cost fabrication of a wide range of structures with length scales from nanometers (e.g., self-assembly of diblock copolymers, [ 5–8 ] templated self-assembly using immunoglobulins, [ 9 ] DNA, and viruses [ 10–14 ] ) to centimeters. [ 1 , 15 ] Self-assembly can generate materials with unique and useful optical properties: for example, 3D-assembly of colloids can form photonic crystals, [ 16,17 ] suspensions of silver nanoparticles [ 18 ] and gold-coated silicon hexagons [ 19 ] provide the refl ective element for liquid mirrors, and selective wetting of polymers on long hydrophobic strips forms optical waveguides. [ 20 ] The organization of mesoscale (millimeter to centimeter) optical modules is less explored than that of nanoscale structures. Mesoscale structures offer the potential to generate regular arrays of functional optical elements over large areas. Some functions (e.g., diffraction, lensing) cannot be obtained easily (or at all) from the direct assembly of nanostructures. The self-assembly of mesoscale plates into various arrays and porous structures using lateral capillary interactions between menisci at the edges of the plates has been previously demonstrated. [ 21–31 ] Most of these assemblies were static: once assembled, it was diffi cult to reconfi gure the assembled pattern. There are few strategies that allow real-time reconfi guration of self-assembled mesoscale structures without requiring a change in the design and fabrication of individual components. Mao et. al. showed the reconfi guration of assembled structures by

Review of production of microfluidic devices: material, manufacturing and metrology

Microfluidic devices play a crucial role in biology, life sciences and many other fields. Three aspects have to be considered in production of microfluidic devices: (i) material properties before and after processing, (ii) tooling and processing methodologies, and (iii) measurements for process control. This paper presents a review of these three areas. The key properties of materials are reviewed from both the production and device performance point of views in this paper. The tooling and processing methodologies considered include both the direct tooling methods and the mold based processing methods. The response of material on the production parameters during hot embossing process are simulated for process control and product quality prediction purpose. Finally, the measurements for process control aspect discuss different measurement approaches, especially the defect inspection, critical dimensional measurements, bonding quality characterization and checking functionality. Simulation and experimental results are used throughout the paper to illustrate the effectiveness of such approaches.