Polymer Coils Research Articles

Twisted and coiled polymer muscle actuated soft 3D printed robotic hand with Peltier cooler for drug delivery in medical management

Many robotic hands have been proposed to have unique designs and capabilities, focusing on sensing, actuation, and control. This paper presents experimental studies on a soft 3D-printed robotic hand whose fingers are actuated by twisted and coiled polymer (TCP<sub>FL</sub>) muscles, driven by resistive heating, and cooled by water and Peltier mechanism (thermoelectric cooling) for increasing the actuation frequency. The hand can be utilized for pick and place applications of drugs in clinical settings, which may be repetitive for humans. A combination of ABS plastic and thermoplastic polyurethane material is used to additively manufacture the robotic hand. The hand along with a housing tank for the muscles and Peltier coolers has a length of 380 mm and weighs 560 gm. The fabrication process of the TCP<sub>FL</sub> actuators coiled with 160 µm diameter nichrome wires is presented. The actuation frequency in the air for TCP<sub>FL </sub>is around 0.01 Hz. This study shows the effect of water and Peltier cooling on improving the actuation frequency of the muscles to 0.056 Hz. Experiments have been performed with a flex sensor integrated at the back of each finger to calculate its bend-extent while being actuated by the TCP<sub>FL</sub> muscles. All these experiments are also used to optimize the TCP<sub>FL</sub> actuation. Overall, a low-cost and lightweight 3D printed robotic hand is presented in this paper, which significantly increases the actuation performance with the help of cooling methods, that can be used in applications in medical management.

Healing Strategy Based on Space Adjustment for Cross-Linked Polymer Networks

Healable materials are notable for their ability to recover from mechanical damage. Most methods for preparing cross-linked healable materials require the introduction of healing agents or supramolecular interactions in solvent environments. Hence, a strategy without the addition of functional component remains a key challenge. Herein, a healing strategy based on space adjustment is proposed with cross-linked poly(octadecyl acrylate) as a model, and this strategy demonstrates that the predesigned holes in cross-linked networks can supply the possibility for polymer coils to move and decrease the space density of the networks during the annealing process. As a result, the motilities of coils are enhanced, which allows them to easily penetrate and entangle in fracture sites. In contrast with the untreated cross-linked poly(octadecyl acrylate), which cannot heal, the space-adjusted poly(octadecyl acrylate) readily heals, and the highest healing efficiency is 96%. The ways in which the extent of space adjustment and the content of the cross-linking agent affect the healing efficiency are discussed, and the mechanism of the space adjustment strategy is studied through rheology research. This strategy concentrates on adjusting the spatial density of the network without the need for any functional design, which may be applied in various polymer systems.

Enhanced Host-Guest Association and Fluorescence in Copolymers from Copper Salphen Complexes by Supramolecular Internalization of Anions.

We describe the synthesis, crystallographic characterization of a new Cu-Salphen compound and its use as a host Lewis-acid against guest anions in two versions: a) free molecule, b) copolymerized with methyl methacrylate:n-butyl acrylate (1 : 4-wt.) as protective co-monomers. Higher contents in Cu-Salphen yielded larger and more homogeneous polymer sizes. Polymer size together with glass transitions, heat capacity, thermal degradation, guest-saturation degrees and host-guest species distribution profiles from spectrophotometric titrations explained growths of up to 630-fold in K11 and 180000-fold in K12 for the host's binding site attributable to a solvophobic protection from the macromolecular structure. Spectrofluorimetry revealed blue-shifted×13-16 larger luminescence for Cu-Salphen in the polymers (λem =488-498 nm) than that of the non-polymerized counterpart (λem =510-543 nm) and "turn-on" blue-shifted enhanced fluorescence upon guest association. We propose a cooperative incorporation of the guests occurring from the outer medium toward internally protected binding site pockets in the random coil polymer conformations.

A 3D-printed soft orthotic hand actuated with twisted and coiled polymer muscles triggered by electromyography signals

<p class="Abstract">Various wearable robotic hands, prosthetic hands, and orthotic exoskeletons developed in the last decade aim to rehabilitate patients whose daily quality of life is affected from hand impairments – however, a majority of these devices are controlled by bulky, expensive, noisy, and uncomfortable actuators. Twisted and coiled polymer (TCP) muscles are novel smart actuators that address these key drawbacks. They have been utilized in soft robotics, hand orthosis exoskeletons, and powered hand orthotic devices; they are also light- weight, high-performance, and inexpensive to manufacture. Previously, TCP muscles have been controlled via power supplies with mechanical switches that are not portable, hence making it unfeasible for long term applications. In this work, a portable control system for TCP muscles via electromyography (EMG) signals that are captured through electrodes placed on the arm of the user and processed through a channel of electrical components to actuate 4-ply TCP muscles, which is demonstrated on a 3D-Printed soft orthotic hand. With portable EMG control, orthotic devices can become more independently accessible to the user, making these devices novel instruments for measuring, aiding, and expediting the progress of hand impairment rehabilitation.</p>

Jelly-Z: Twisted and coiled polymer muscle actuated jellyfish robot for environmental monitoring

Silent underwater actuation and object detection are desired for certain applications in environmental monitoring. However, several challenges need to be faced when addressing simultaneously the issues of actuation and object detection using vision system. This paper presents a swimming underwater soft robot inspired by the moon jellyfish (Aurelia aurita) species and other similar robots; however, this robot uniquely utilizes novel artificial muscles and incorporates camera for visual information processing. The actuation characteristics of the novel artificial muscles in water are presented which can be used for any other applications. The bio-inspired robot, Jelly-Z, has the following characteristics: (1) The integration of three 60 mm-long twisted, and coiled polymer fishing line (TCPFL) muscles in a silicone bell to achieve contraction and expansion motions for swimming; (2) A Jevois camera is mounted on Jelly-Z to perform object detection while swimming using a pre-trained neural network; (3) Jelly-Z weighs a total of 215 g with all its components and is capable of swimming 360 mm in 63 seconds. The present work shows, for the first time, the integration of camera detection and TCPFL actuators in an underwater soft jellyfish robot, and the associated performance characteristics. This kind of robot can be a good platform for monitoring of aquatic environment either for detection of objects by estimating the percentage of similarity to pre-trained network or by mounting sensors to monitor water quality when fully developed.

Effect of Twisted and Coiled Polymer Actuator (TCPA) on Crack Dispersion Properties of HPFRCC.

To achieve high durability and excellent mechanical performances of cementitious materials, research on fiber-reinforced cementitious composites (FRCC) containing various fibers has been actively conducted. On the other hand, in robotics and other fields, research on artificial muscles using Twisted and Coiled Polymer Actuator (TCPA), which have similar functions to human muscle fibers, has attracted much attention. In this study, use of this TCPA as a reinforcing fiber in high performance FRCC (HPFRCC) was proposed. The employed TCPA has a structure of coiled nylon fibers with wrapping stainless-steel fibers. The effect of the TCPA and its shrinkage motion on the crack dispersion properties of HPFRCC was investigated. The experimental results showed that the strain-hardening with multiple cracks in HPFRCC continued up to more than 7% of the ultimate strain when the TCPA was electrically stimulated to shrinkage motion. This information indicates that the TCPA has high potential to further improve HPFRCC performance.

Machine-learning effective many-body potentials for anisotropic particles using orientation-dependent symmetry functions.

Spherically symmetric atom-centered descriptors of atomic environments have been widely used for constructing potential or free energy surfaces of atomistic and colloidal systems and to characterize local structures using machine learning techniques. However, when particle shapes are non-spherical, as in the case of rods and ellipsoids, standard spherically symmetric structure functions alone produce imprecise descriptions of local environments. In order to account for the effects of orientation, we introduce two- and three-body orientation-dependent particle-centered descriptors for systems composed of rod-like particles. To demonstrate the suitability of the proposed functions, we use an efficient feature selection scheme and simple linear regression to construct coarse-grained many-body interaction potentials for computationally efficient simulations of model systems consisting of colloidal particles with an anisotropic shape: mixtures of colloidal rods and non-adsorbing polymer coils, hard rods enclosed by an elastic microgel shell, and ligand-stabilized nanorods. We validate the machine-learning (ML) effective many-body potentials based on orientation-dependent symmetry functions by using them in direct coexistence simulations to map out the phase behavior of colloidal rods and non-adsorbing polymer coils. We find good agreement with the results obtained from simulations of the true binary mixture, demonstrating that the effective interactions are well described by the orientation-dependent ML potentials.

A novel self-expanding shape memory polymer coil for intracranial aneurysm embolization: 1 year follow-up in Chile

BackgroundAneurysm recurrence remains a challenge when coiling cerebral aneurysms. Development of next generation coils has focused on accelerating thrombus maturation and increasing coil packing density. Ultra low density shape memory...

Alignment of Colloidal Rods in Crowded Environments.

Understanding the hydrodynamic alignment of colloidal rods in polymer solutions is pivotal for manufacturing structurally ordered materials. How polymer crowding influences the flow-induced alignment of suspended colloidal rods remains unclear when rods and polymers share similar length scales. We tackle this problem by analyzing the alignment of colloidal rods suspended in crowded polymer solutions and comparing that to the case where crowding is provided by additional colloidal rods in a pure solvent. We find that the polymer dynamics govern the onset of shear-induced alignment of colloidal rods suspended in polymer solutions, and the control parameter for the alignment of rods is the Weissenberg number, quantifying the elastic response of the polymer to an imposed flow. Moreover, we show that the increasing colloidal alignment with the shear rate follows a universal trend that is independent of the surrounding crowding environment. Our results indicate that colloidal rod alignment in polymer solutions can be predicted on the basis of the critical shear rate at which polymer coils are deformed by the flow, aiding the synthesis and design of anisotropic materials.

Aggregation Behavior of Nonsymmetrically End-Capped Thermoresponsive Block Copolymers in Aqueous Solutions: Between Polymer Coils and Micellar States

Aggregation Behavior of Nonsymmetrically End-Capped Thermoresponsive Block Copolymers in Aqueous Solutions: Between Polymer Coils and Micellar States

Synthesis of poly(N-vinyl pyrrolidone) (PVP) nanogels by gamma irradiation using different saturation atmospheres

Nanogels are internally crosslinked particles of nanometric size used in various fields e.g. as such as carriers in drug delivery systems. They can be produced using ionizing radiation in dilute aqueous solutions. This method is carried out in a pure polymer-solvent system, avoiding the addition of any additives such as monomers, surfactants, catalysts and crosslinking agents and no further purification step is necessary. Poly(N-vinyl pyrrolidone) (PVP K-90) nanogels were prepared by gamma irradiation in an aqueous solution. The samples were prepared in triplicate in multipurpose cobalt-60 gamma irradiator using 1, 10, 25 and 100 mM PVP solutions. Samples were irradiated in argon and nitrous oxide conditions with doses from 1 kGy up to 25 kGy with 10 kGy/h dose rate. The mean particle size (Rh) was determined by Dynamic Light Scattering (DLS) and radius of gyration (Rg) and weight-average molecular weight (Mw) by Static Light Scattering (SLS). These samples were morphologically characterized using Atomic Force Microscopy (AFM) and Transmission Electron Microscopy (TEM). Samples prepared with 100 mM PVP K-90 solution formed macroscopic gels, in the samples obtained with 25 mM PVP K-90 solution there was a prevalence of intermolecular crosslinking. On the other hand, in the samples generated with 10 mM PVP K-90 solution, there was a predominance of intramolecular crosslinking demonstrated in the tendency to: decrease in the radius of gyration (Rg), in the constancy of the weight-average molecular weight (Mw), in the increase in polymer coil density (ρcoil), in the Rg/Rh ratio (shape factor) around 1.0 indicating homogenous, internally cross-linked spheres, in the high relief spherical structures observed in the AFM images and in the spherical particles with high contrast observed in the TEM images. The saturation of the samples with nitrous oxide doubled formation of hydroxyl radicals, favoring the generation of polymeric radicals. Higher average number of radicals in each macromolecule contributed to the higher number of intramolecular crosslinks.

Interlaminar shear strength of vacuum pressure impregnated coils with epoxy resin for high field magnet at cryogenic temperature

The interlaminar shear properties of epoxy impregnated coils are critical parameter to the design of the high field superconducting magnets. The existing test methods of the interlaminar shear strength of the composite insulation systems for the superconducting magnet coils in cryogenic temperature were discussed. The insulation system of the niobium titanium superconductor coated with woven glass fiber reinforced polymer coil were fabricated by vacuum pressure impregnation with IR-3 and CTD-101K resins. Short beam shear tests of the impregnated coil were performed at room temperature and liquid nitrogen temperature (77K). The results show that the interlaminar shear strength of the samples used IR-3 resin are better than CTD-101K both at room and cryogenic temperature. A detailed observation of the failed specimens was also investigated to verify the failure mechanisms by optical microscopy.

Selective Transport in the Nuclear Pore Complex

Nuclear pore complexes (NPCs) mediate nucleocytoplasmic exchange controlling the flow of molecules into and out of the nucleus. The selective filter properties of NPCs enable translocation of specific molecules known as nuclear transport factors (NTRs) and their cargo. Central to this selectivity barrier is a group of largely intrinsically disordered nucleoporins (Nups) that contain multiple phenylalanine‐glycine repeats, termed FG Nups. The interactions between FG Nups and NTRs enable NTRs to translocate rapidly yet selectively through the NPC in what is referred to as the “transport paradox”. FG Nups in the NPC have a small folded anchor region tethering them to the NPC outer ring and otherwise are fully disordered, random coil polymers that remain predominantly disordered while engaged to NTRs. FG Nups interact with NTRs using mainly their FG motifs and minimally their intervening spacer residues. The overall enthalpy of the interaction increases as multivalency increases the frequency of individually weak FG‐NTR contacts. Tight binding is limited by an entropy penalty that disfavors simultaneous engagements of FG motifs. Small angle neutron scattering (SANS) shows that the entropy loss is partly due to the local rigidity of an FG motif in the interacting state(Fig 1). All‐atom molecular dynamics (MD) simulation indicates that spacers between the FG motifs behave as “entropic springs”, disfavoring any static binding of the FG repeats. The dynamics of FG Nups enables the FG motifs to slide along the hydrophobic patches of NTRs enabling FG motifs to be easily displaced by other competing FG motifs (Fig. 2). This explanation provides a simple hypothesis for the rapid exchange of FG motif contacts during transport, focusing on the entropic exclusion of non‐NTRs, and ‘solubilization’ of NTR complexes, in contrast to possible condensate formation which would provide a compartmentalization of components. These results reveal fundamental aspects of the functioning mechanisms underlying NPC transport at high structural resolution, something lacking in current models of nuclear transport.1. Sparks, S., et al., Analysis of Multivalent IDP Interactions: Stoichiometry, Affinity, and Local Concentration Effect Measurements. Methods Mol Biol, 2020. 2141: p. 463‐475.2. Sparks, S., et al., Deciphering the “Fuzzy” Interaction of FG Nucleoporins and Transport Factors Using Small‐Angle Neutron Scattering. Structure, 2018. 26(3): p. 477‐484 e4.3. Hayama, R., et al., Thermodynamic characterization of the multivalent interactions underlying rapid and selective translocation through the nuclear pore complex. J Biol Chem, 2018. 293(12): p. 4555‐4563.4. Hough, L.E., et al., The molecular mechanism of nuclear transport revealed by atomic‐scale measurements. Elife, 2015. 4.5. Raveh, B., et al., Slide‐and‐exchange mechanism for rapid and selective transport through the nuclear pore complex. Proc Natl Acad Sci U S A, 2016. 113(18): p. E2489‐97.

Hydrodynamic mobilities in a bar-chain polymer model

We consider hydrodynamic interactions in a novel polymer model, in which classic beads are replaced by cylindrical segments corresponding to a fraction of a persistence length. Each segment is modeled as a line of spherical beads. The effect of a neighboring bead or segment on the mobility of the segment of interest is calculated. Hydrodynamic interactions are treated with generalizations, developed by Kynch (1959) and by Mazur and van Saarloos (1982) of the Oseen and Rotne–Prager hydrodynamic interaction tensors. We find that the hydrodynamic interactions between two segments, as they affect the mobility of a given segment, are with a minor exception not very different from the interactions between two beads, especially when the two segments are even modestly separated. At the level of approximation of bead–spring models of polymer coils, we thus do not find evidence that it is advantageous to replace sphere–sphere hydrodynamic interaction tensors with more elaborate segment–segment hydrodynamic interaction tensors. • Polymer hydrodynamic units were modeled as cylinders...rigid lines of spheres. • Hydrodynamic interactions were included through the (a/r) 7 level. • Modeling hydrodynamic units as cylinders rather than spheres gives little advantage.

Prediction of thickening efficiency of olefin copolymers and kinematic viscosities of the blended base oils by determining intrinsic viscosities of the copolymers in cyclohexane

The engine oil contains various performance additives along with polymer-based viscosity index improver, which are made from special types of flexible long chain polymers whose functionality is derived from their thickening efficiency, viscosity-temperature relationship, and shear stability. Olefin copolymers of the type ethylene/propylene copolymer are extensively used as viscosity index improver for engine oil formulations whose performance is a function of their composition, co-monomer sequence distribution and molar mass. Polymer coils interact with base oil and make it increasingly resistant to flow which accounts for substantial changes in viscosity parameters i.e. kinematic viscosities and viscosity index of blended base oils. Intrinsic viscosity of a polymeric solution is an important “dilute solution viscosity” parameter, which is easily measurable using Ubbelohde viscometer.In the present work, intrinsic viscosity of twenty samples of laboratory synthesized olefin copolymer in cyclohexane at 30 °C were correlated with their thickening efficiencies, kinematic viscosities of the olefin copolymer blended base oils at 40 °C and 100 °C. These correlation studies enable prediction of performance of olefin copolymer in blended base oil based on an easily and quickly measurable intrinsic viscosity parameter, leading to faster screening of large number of olefin copolymers for their utility as viscosity index improver in lubricants, in a short span of time with limited resources.

Pyrene Excimer Formation (PEF) and Its Application to the Study of Polypeptide Dynamics.

This Perspective describes how the fluorescence blob model (FBM) has been developed and applied over the past 30 years to characterize the long-range backbone dynamics (LRBD) of polymers in solution. In these experiments, the polymers are randomly labeled with the dye pyrene, which forms an excimer upon the encounter between an excited and a ground-state pyrenyl label inside a finite subvolume of the polymer coil referred to as a blob representing the volume probed by the excited pyrene. By compartmentalizing the polymer coil into a cluster of identical blobs, FBM analysis of the fluorescence decays acquired with the polymers yields the number Nblob of structural units inside a blob. Since a flexible or rigid backbone will result in an Nblob that is either large or small, Nblob can be used as a measure of the flexibility of a given polymer. After having established that these experiments based on pyrene excimer formation (PEF) yielded quantitative information about the LRBD of a variety of polymers in solution, control experiments were carried out to characterize the effects that different molecular variables, such as the side-chain size (SCS) of a structural unit or the length of the linker connecting pyrene to the polymeric backbone, had on the parameters retrieved with the FBM. At this point, the FBM was applied to study the LRBD of polypeptides prepared from racemic mixtures of amino acids (aa's). These studies led to the establishment of simple rules that could be developed into mathematical equations to describe the LRBD of polypeptides. The Nblob values retrieved from the FBM analysis of the fluorescence decays acquired with the pyrene-labeled polypeptides could then be employed to predict the total conformational search time (τtcs) of any polypeptide based on their sequence. Strong correlations were found between the predicted τtcs and the experimental folding times of 145 proteins. The good quality of these correlations suggests that the blob-based approach described in this report might represent an interesting mathematical means for studying protein folding.

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Twisted and coiled polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication. This paper presents a soft crawling robot with spike-inspired robot feet which can deform and crawl like an inchworm. The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators. A system level model of a soft crawling robot is presented for flexible and effective locomotion. Such a model can offer high-efficiency design and flexible locomotion of the crawling robot. Results show that the soft crawling robot can move at a speed of 0.275 mm/s when TCP is powered at 24 V.

Poly(Lactic-co-glycolic) Acid and Phospholipids Hybrid Nanoparticles for Regeneration of Biological Tissue

In tissue regeneration, biomaterials facilitate biological processes. However, a treatment with biomaterials will be successful only if supported by simple and inexpensive technologies which stimulate the regenerative processes. The present study focused on the possibility of creating formulations from which then to obtain suitable materials for the regeneration of heart tissue. The experimental procedure for precipitation of polymer- nanoparticles was modified ad hoc to obtain hybrid poly lactic-co-glycolic acid (PLGA)-phospholipid nanoparticles. The properties of the formulations produced by direct PLGA-phospholipid co-precipitation depend on the mass ratio R= polymer mass/phospholipid mass. The value of this parameter allows us to modulate the properties of the formulations. Formulations with R = 1.5, 2.3, 4, and 9 were prepared, and for each of them the particle-size distribution obtained by dynamic light scattering was studied. All samples showed that the hydrodynamic diameter decreases with increasing R value. This behavior is interpreted as polymer coil shrinkage due to contacts with the non-solvent. The spreadability and ease of obtaining thin sheets were evaluated for each formulation. The formulation with R=4 resulted in a homogeneous and easily workable material in thin sheets.

A NIR-Light-Driven Twisted and Coiled Polymer Actuator with a PEDOT-Tos/Nylon-6 Composite for Durable and Remotely Controllable Artificial Muscle.

In this paper, we proposed a novel light-driven polymer actuator that could produce remotely controllable tensile stroke in response to near infrared (NIR) light. The light-driven polymer actuator was composed of a twisted and coiled nylon-6 fiber (TCN) and a thin poly(3,4-ethylenedioxythiophene) doped with p-toluenesulfonate (PEDOT-Tos) layer. By adopting dip-coating methodology with thermal polymerization process, we constructed a thin and uniform PEDOT-Tos layer on the surface of the three-dimensional TCN structure. Thanks to the PEDOT-Tos layer with excellent NIR light absorption characteristic, the NIR light illumination via a small LEDs array allowed the multiple PEDOT-Tos coated TCN actuators to be photo-thermally heated to a fairly consistent temperature and to simultaneously produce a contractile strain that could be modulated as high as 8.7% with light power. The actuation performance was reversible without any significant hysteresis and highly durable during 3000 cyclic operations via repetitive control of the LEDs. Together with its simple structure and facile fabrication, the light-driven actuator can lead to technical advances in artificial muscles due to its attractive benefits from remote controllability without complex coupled instruments and electromagnetic interference.

SAXS study of the formation and structure of polynuclear thorium(IV) colloids and thorium dioxide nanoparticles.

Stable actinide colloids and nanoparticles are of interest because of their potential to affect the transportation of radionuclides in the near-field of a nuclear waste repository. At high concentrations, thorium(IV) can precipitate to form intrinsic colloids. In the present study, polynuclear thorium colloids and thorium dioxide crystallites, formed by the condensation of hydrolyzed Th4+ solutions (3 mM; initial pH 5.5) aged for up to 18 months, were studied using small-angle X-ray scattering. Scattering profiles were fitted using a unified Guinier/power-law model (Beaucage model) to extract the radii of gyration and Porod exponents. Analysis of the scattering profiles from a dispersion aged for 5 months indicated that both polymer coils and more compacted structures (radius of gyration Rg ≃ 10 nm) were present, which translated in the Kratky plots as a plateau and a peak maximum, respectively. After 18 months, the SAXS data were consistent with the presence of agglomerates of ThO2 particles suspended in aqueous solution (pH 3.2; [Th] = 1.45 mM). The measured radius of gyration (Rg) of the agglomerates was 5.8 nm, whereas the radius of the ThO2 particles was 2.5 nm.