Stephen A. Morin

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.

Camouflage and Display for Soft Machines

Mechanical Chameleon A wide range of animals can adapt their color patterns as a means of camouflage or otherwise changing their appearance. This is accomplished through changes in coloration, contrast, patterning, or shape. Morin et al. (p. 828) show at a basic level that some of these features can be added as microfluidic layers attached to mobile, flexible, soft machines. By pumping different fluids through the channels, the robots were able to change their coloration or overall contrast and could thus blend into the background of the surface they were lying upon. Conversely, by pumping through fluids of different temperature, the infrared profile of the robot could be changed without changing its visible coloration. Soft robots with microfluidic channels in a skin layer show camouflaging abilities. Synthetic systems cannot easily mimic the color-changing abilities of animals such as cephalopods. Soft machines—machines fabricated from soft polymers and flexible reinforcing sheets—are rapidly increasing in functionality. This manuscript describes simple microfluidic networks that can change the color, contrast, pattern, apparent shape, luminescence, and surface temperature of soft machines for camouflage and display. The color of these microfluidic networks can be changed simultaneously in the visible and infrared—a capability that organisms do not have. These strategies begin to imitate the functions, although not the anatomies, of color-changing animals.

Mechanism and Kinetics of Spontaneous Nanotube Growth Driven by Screw Dislocations

Nanosynthesis Without a Twist The synthesis of many nanoscale materials occurs under conditions of changing saturation because generation of product decreases the concentration of reactants. Morin et al. (p. 476) used a flow reactor to maintain conditions of low supersaturation during the growth of zinc oxide nanotubes and nanowires. Under these conditions, growth of the tubes was controlled by the release of stress, which prevented the torquing of the crystals along their axis. Since growth at different saturation conditions matched predictions, this looks like a promising method to develop rational and controlled synthesis of nanomaterials at large scale and low cost. Low supersaturated conditions help control the growth of zinc oxide nanowires and nanotubes from defect sites. Single-crystal nanotubes are commonly observed, but their formation is often not understood. We show that nanotube growth can be driven by axial screw dislocations: Self-perpetuating growth spirals enable anisotropic growth, and the dislocation strain energy overcomes the surface energy required for creating a new inner surface forming hollow tubes spontaneously. This was demonstrated through solution-grown zinc oxide nanotubes and nanowires by controlling supersaturation using a flow reactor and confirmed using microstructural characterization. The agreement between experimental growth kinetics and those predicted from fundamental crystal growth theories confirms that the growth of these nanotubes is driven by dislocations.

Screw dislocation-driven growth of two-dimensional nanoplates.

We report the dislocation-driven growth of two-dimensional (2D) nanoplates. They are another type of dislocation-driven nanostructure and could find application in energy storage, catalysis, and nanoelectronics. We first focus on nanoplates of zinc hydroxy sulfate (3Zn(OH)(2)·ZnSO(4)·0.5H(2)O) synthesized from aqueous solutions. Both powder X-ray and electron diffraction confirm the zinc hydroxy sulfate (ZHS) crystal structure as well as their conversion to zinc oxide (ZnO). Scanning electron, atomic force, and transmission electron microscopy reveal the presence of screw dislocations in the ZHS nanoplates. We further demonstrate the generality of this mechanism through the growth of 2D nanoplates of α-Co(OH)(2), Ni(OH)(2), and gold that can also follow the dislocation-driven growth mechanism. Finally, we propose a unified scheme general to any crystalline material that explains the growth of nanoplates as well as different dislocation-driven nanomaterial morphologies previously observed through consideration of the relative crystal growth step velocities at the dislocation core versus the outer edges of the growth spiral under various supersaturations.

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

Rational Solution Growth of α-FeOOH Nanowires Driven by Screw Dislocations and Their Conversion to α-Fe2O3 Nanowires

We report the rational synthesis of α-FeOOH (goethite) nanowires following a dislocation-driven mechanism by utilizing a continuous-flow reactor and chemical equilibria to maintain constant low supersaturations. The existence of axial screw dislocations and the associated Eshelby twist in the nanowire product were confirmed using bright-/dark-field transmission electron microscopy imaging and twist contour analysis. The α-FeOOH nanowires can be readily converted into semiconducting single-crystal but porous α-Fe(2)O(3) (hematite) nanowires via topotactic transformation. Our results indicate that, with proper experimental design, many more useful materials can be grown in one-dimensional morphologies in aqueous solutions via the dislocation-driven mechanism.

Glycosaminoglycan-Binding Hydrogels Enable Mechanical Control of Human Pluripotent Stem Cell Self-Renewal

Reaping the promise of human embryonic stem (hES) cells hinges on effective defined culture conditions. Efforts to identify chemically defined environments for hES cell propagation would benefit from understanding the relevant functional properties of the substratum. Biological materials are often employed as substrata, but their complexity obscures a molecular level analysis of their relevant attributes. Because the properties of hydrogels can be tuned and altered systematically, these materials can reveal the impact of substratum features on cell fate decisions. By tailoring the peptide displayed to cells and the substrate mechanical properties, a hydrogel was generated that binds hES cell surface glycosaminoglycans (GAGs) and functions robustly in a defined culture medium to support long-term hES cell self-renewal. A key attribute of the successful GAG-binding hydrogels is their stiffness. Only stiff substrates maintain hES cell proliferation and pluripotency. These findings indicate that cells can respond to mechanical information transmitted via GAG engagement. Additionally, we found that the stiff matrices afforded activation of the paralogous proteins YAP/TAZ, which are transcriptional coactivators implicated in mechanosensing and hES cell pluripotency. These results indicate that the substratum mechanics can be tuned to activate specific pathways linked to pluripotency. Because several different hES and induced pluripotent stem cell lines respond similarly, we conclude that stiff substrata are more effective for the long-term propagation of human pluripotent stem cells.

Magnetic Assembly of Soft Robots with Hard Components

and multi-modal locomotion [ 14,22 ] —can be realized through the use of microfl uidics in robotic design. Previously reported soft robots and machines have not been reconfi gurable: Their structures, once generated, were fi xed and not amenable to reversible changes that modify capabilities. In addition, devices that are composed of multiple materials and contain networks of channels perpendicular to each other vertically and horizontally can be exceedingly diffi cult to produce in single step; soft lithography—an effi cient technique for rapid prototyping and replication of planar and quasi-two-dimensional elastomeric structures—is insuffi cient to tackle all challenges associated with the fabrication of complex 3D microfl uidic networks in advanced systems. As such, methods that impart re-confi gurability, simplify the fabrication of actuators with complex designs, or facilitate the integration of non-elastomeric materials (e.g., metals, thermoplastics) and electronics (e.g. sensors and communication units) will greatly accelerate the development of soft robotics. Reversible modular assembly has been a widely used strategy for fabricating complex hard robots as it enables reconfi guration to suit new tasks, rapid testing of new designs, and easy repair and replacement of damaged parts. This strategy, together with advances in the fabrication and miniaturization of sensors, actuators, power sources, and units for control and communications, has led to the emergence of autonomous, compact hard robots capable of self-assembly [ 23 ] and self-reconfi guration. [ 24,25 ] Although inter-modular connections made from mechanical joinery (e.g., hooks-and-grooves interlock [ 23 ] ) are sturdy and reversible, they require either manual orientation and assembly, or the precise alignment for docking of the matching pieces; the latter necessitates the use of elaborate systems of sensors, with feedback and control, for the remote or automated assembly and disassembly of the components. [ 23 ] In contrast, magnetic connectors can self-align and assemble; [ 26–28 ]

Electrochemical oxidation of catecholamines and catechols at carbon nanotube electrodes

The differences in the electrochemical oxidation of two commonly known catecholamines, dopamine and norepinephrine, and one catechol, dihydroxyphenylacetic acid (DOPAC), at three different types of carbon based electrodes comprising conventionally polished glassy carbon (GC), nitrogen-doped carbon nanotubes (N-CNTs), and non-doped CNTs were assessed. Raman microscopy and X-ray photoelectron spectroscopy (XPS) were employed to evaluate structural and compositional properties. Raman measurements indicate that N-CNT electrodes have ca. 2.4 times more edge plane sites over non-doped CNTs. XPS data show no evidence of oxygen functionalities at the surface of either CNT type. N-CNTs possess 4.0 at. % nitrogen as pyridinic, pyrrolic, and quaternary nitrogen functionalities that result in positively charged carbon surfaces in neutral and acidic solutions. The electrochemical behavior of the various carbon electrodes were investigated by cyclic voltammetry conducted in pH 5.8 acetate buffer. Semiintegral analysis of the voltammograms reveals a significant adsorptive character of dopamine and norepinephrine oxidation at N-CNT electrodes. Larger peak splittings, DeltaE(p), for the cyclic voltammograms of both catecholamines and a smaller DeltaE(p) for the cyclic voltammogram for DOPAC at N-CNT electrodes suggest that electrostatic interactions hinder oxidation of cationic dopamine and norepinephrine, but facilitate anionic DOPAC oxidation. These observations were supported by titrimetry of solid suspensions to determine the pH of point of zero charge (pH(pzc)) and estimate the number of basic sites for both CNT varieties. This study demonstrates that carbon purity, the presence of exposed edge plane sites, surface charge, and basicity of CNTs are important factors for influencing adsorption and enhancing the electrochemical oxidation of catecholamines and catechols.