Fluidic Circuit Research Articles

Frequency-Controlled Fluidic Oscillators for Soft Robots.

Electronic-free controls have recently emerged as one of the main topics in soft robotics. However, electronic-free fluidic circuits still lack controllability and reconfigurability to achieve different functions. Here, reconfigurable pneumatic valves that widen the design space of fluidic circuits are presented. The significance of two parameters on the valve's operation: a pre-defined manufacturing parameter that sets the initial operational range of the valve, and a second, on-the-fly modifiable geometric parameter that shifts the behavior of the valve during operation is shown. It is demonstrated that equipping the valve with these reconfigurable features enables the tuning of fluidic oscillatory circuits as illustrated by two examples: a frequency-controlled relaxation oscillator and a reconfigurable ring oscillator. The relaxation oscillator is employed to control the actuation frequency of a soft hopper, which is able to achieve 80 to 125 hops min-1 and a hopping speed ranging from ≈1 to ≈1.185 BL s-1. Additionally, the reconfigurable ring oscillator is used to demonstrate how each output frequency can be controlled independently, via a soft robotic crawler that can navigate in three directions, and a volume-controlled fluidic pump able to achieve mixing of solutions in environments where electronic components cannotoperate.

Current Advances and Applications of Diagnostic Microfluidic Chip: A Review

Background: As a developed technology, microfluidics now offers a great toolkit for handling and manipulating suspended samples, fluid samples, and particles. A regular chip is different from a microfluidic chip. A microfluidic chip is made of a series of grooves or microchannels carved on various materials. This arrangement of microchannels contained within the microfluidic chip is connected to the outside by inputs and outputs passing through the chip. Objective: This review includes the current progress in the field of microfluidic chips, their advantages and their biomedical applications in diagnosis. Methods: The various manuscripts were collected in the field of microfluidic chip that have biomedical applications from the different sources like Pubmed,Science direct and Google Scholar, out of which some were relevant and considered for the present manuscript. Results: Microfluidic channels inside the chip allow for the processing of the fluid, such as blending and physicochemical reactions. Aside from its practical, technological, and physical benefits, microscale fluidic circuits also improve researchers' capacity to do more accurate quantitative measurements while researching biological systems. Microfluidic chips, a developing type of biochip, were primarily focused on miniaturising analytical procedures, especially to enhance analyte separation. Since then, the procedures for device construction and operation have gotten much simpler. Conclusion: For bioanalytical operations, microfluidic technology has many advantages. As originally intended, a micro total analysis system might be built using microfluidic devices to integrate various functional modules (or operational units) onto a single platform. More researchers were able to design, produce, and use microfluidic devices because of increased accessibility, which quickly demonstrated the probability of wide-ranging applicability in all branches of biology.

A Stretchable Soft Pump Driven by a Heterogeneous Dielectric Elastomer Actuator

AbstractElectrically driven soft pumps act as ideal “hearts” for flexible fluidic systems in soft robots and wearable devices. Dielectric elastomers (DEs) are promising for soft pump fabrication owing to their features of fast response, large strain, high energy density, and low power consumption. However, conventional dielectric elastomer actuators (DEAs) using single DE material usually exhibit poor pumping performance due to electromechanical instability or insulating problems. Herein, a multilayer structured heterogeneous dielectric elastomer actuator (H‐DEA) is fabricated based on thin films of processable, high‐performance dielectric elastomer (PHDE) and silicones, and is integrated onto silicone pump body to build a fully soft pump. The pump achieves a flow rate of 3.25 mL min−1 and a blocked pressure of 2.75 kPa with a mass of less than 1 g and a power consumption of 0.21 W. It maintains pumping functions when being bent or stretched and after twisted. It works for viscous liquids and is demonstrated to drive a soft robotic fluidic circuit.

Low‐Volume Cores for Fabrication of Compact, Versatile, and Intelligent Soft Systems

AbstractThis study introduces the low‐volume core (LVC) fabrication method, which enables the monolithic molding of compact, complex, versatile, and intelligent soft robotic systems. This method uses thin and flexible thermoplastic sheets to mold internal chambers in soft fluidic actuators, valves, and circuits. The LVC fabrication method creates low‐volume networks in soft actuators (LV‐net actuators) that can be made with compact and complex geometries, enabling both low actuation volume input and multi‐degree‐of‐freedom actuators. LVC fabrication can also be used for compact, completely soft, and monolithic logic components (valves with low‐volume core, also called as LV valves) to provide directional resistance as well as a switching mechanism that enables fluidic logic in soft systems. The compatibility of the fabrication methods for both soft actuators and valves facilitates the creation of compact, integrated, and versatile soft robotic systems with embodied intelligence. This study introduces two examples of such intelligent soft robotic systems that integrate both LV‐net actuators and LV valves to demonstrate capability for complex system fabrication.

A Microfluidic Paper-Based Lateral Flow Device for Quantitative ELISA

This study presents an innovative lateral flow microfluidic paper-based analytical device (μPAD) designed for conducting quantitative paper-based enzyme-linked immunosorbent assays (p-ELISA), seamlessly executing conventional ELISA steps in a paper-based format. The p-ELISA device utilizes a passive fluidic circuit with functional elements such as a multi-bi-material cantilever (B-MaC) assembly, delay channels, and a buffer zone, all enclosed within housing for autonomous, sequential loading of critical reagents onto the detection zone. This novel approach not only demonstrates a rapid assay completion time of under 30 min, but also boasts reduced reagent requirements, minimal equipment needs, and broad applicability across clinical diagnostics and environmental surveillance. Through detailed descriptions of the design, materials, and fabrication methods for the multi-directional flow assay (MDFA), this manuscript highlights the device’s potential for complex biochemical analyses in a user-friendly and versatile format. Analytical performance evaluation, including a limit of detection (LOD) of 8.4 pM for Rabbit IgG, benchmarks the device’s efficacy compared to existing p-ELISA methodologies. This pioneering work lays the groundwork for future advancements in autonomous diagnostics, aiming to enhance global health outcomes through accessible and reliable testing solutions.

Programmed Internal Reconfigurations in a 3D-Printed Mechanical Metamaterial Enable Fluidic Control for a Vertically Stacked Valve Array.

Microfluidic valves play a key role within microfluidic systems by regulating fluid flow through distinct microchannels, enabling many advanced applications in medical diagnostics, lab-on-chips, and laboratory automation. While microfluidic systems are often limited to planar structures, 3D printing enables new capabilities to generate complex designs for fluidic circuits with higher densities and integrated components. However, the control of fluids within 3D structures presents several difficulties, making it challenging to scale effectively and many fluidic devices are still often restricted to quasi-planar structures. Incorporating mechanical metamaterials that exhibit spatially adjustable mechanical properties into microfluidic systems provides an opportunity to address these challenges. Here, we have performed systematic computational and experimental characterization of a modified re-entrant honeycomb structure to generate a modular metamaterial for an active device that allows us to directly regulate flow through integrated, multiplexed fluidic channels "one-at-a-time," in a manner that is highly scalable. We present a design algorithm so that this architecture can be extended to arbitrary geometries, and we expect that by incorporation of mechanical metamaterial designs into 3D printed fluidic systems, which themselves are readily expandable to any complex geometries, will enable new biotechnological and biomedical applications of 3D printed devices.

High-speed fluidic processing circuits for dynamic control of haptic and robotic systems.

Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits while maintaining flow rates of liters per minute. A ring oscillator using three fluidic transistors achieves oscillation frequencies up to a kilohertz with full signal propagation, tolerating billions of cycles without failure. Fundamental processor circuits like a full adder and a 3-bit analog-to-digital converter require just seven transistors each. A decode circuit drives a high-resolution soft haptic display with refresh times below the human perception threshold for latency, and an electronics-free control circuit performs closed-loop position control of a pneumatic actuator with disturbance rejection, demonstrating the value across domains.

Soft Robots with Plant-Inspired Gravitropism Based on Fluidic Liquid Metal.

Plants can autonomously adjust their growth direction based on the gravitropic response to maximize energy acquisition, despite lacking nerves and muscles. Endowing soft robots with gravitropism may facilitate the development of self-regulating systems free of electronics, but remains elusive. Herein, acceleration-regulated soft actuators are described that can respond to the gravitational field by leveraging the unique fluidity of liquid metal in its self-limiting oxide skin. The soft actuator is obtained by magnetic printing of the fluidic liquid metal heater circuit on a thermoresponsive liquid crystal elastomer. The Joule heat of the liquid metal circuit with gravity-regulated resistance can be programmed by changing the actuator's pose to induce the flow of liquid metal. The actuator can autonomously adjust its bending degree by the dynamic interaction between its thermomechanical response and gravity. A gravity-interactive soft gripper is also created with controllable grasping and releasing by rotating the actuator. Moreover, it is demonstrated that self-regulated oscillation motion can be achieved by interfacing the actuator with a monostable tape spring, allowing the electronics-free control of a bionic walker. This work paves the avenue for the development of liquid metal-based reconfigurable electronics and electronics-free soft robots that can perceive gravity or acceleration.

A Modular Microfluidic Organoid Platform Using LEGO-Like Bricks.

The convergence of organoid and organ-on-a-chip (OoC) technologies is urgently needed to overcome limitations of current 3D in vitro models. However, integrating organoids in standard OoCs faces several technical challenges, as it is typically laborious, lacks flexibility, and often results in even more complex and less-efficient cell culture protocols. Therefore, specifically adapted and more flexible microfluidic platforms need to be developed to facilitate the incorporation of complex 3D in vitro models. Here, a modular, tubeless fluidic circuit board (FCB) coupled with reversibly sealed cell culture bricks for dynamic culture of embryonic stem cell-derived thyroid follicles is developed. The FCB is fabricated by milling channels in a polycarbonate (PC) plate followed by thermal bonding against another PC plate. LEGO-like fluidic interconnectors allow plug-and-play connection between a variety of cell culture bricks and the FCB. Lock-and-play clamps are integrated in the organoid brick to enable easy (un)loading of organoids. A multiplexed perfusion experiment is conducted with six FCBs, where thyroid organoids are transferred on-chip within minutes and cultured up to 10 d without losing their structure and functionality, thus validating this system as a flexible, easy-to-use platform, capable of synergistically combining organoids with advanced microfluidic platforms.

Enabling continuous immune cell recirculation on a microfluidic array to study immunotherapeutic interactions in a recapitulated tumour microenvironment.

The effects of immunotherapeutics on interactions between immune and cancer cells are modulated by multiple components in the tumour microenvironment (TME), including endothelium and tumour stroma, which provide both a physical barrier and immunosuppressive stimuli. Herein, we report a recirculating chip to enable continuous immune cell recirculation through a microfluidic cell array to include these crucial players. This system consists of a three-layered cell array (μFCA) spatially emulating the TME, with tailored fluidic circuits establishing T cell recirculation. This platform enables the study of dynamics among the TME, immune cells in a circulatory system and cancer cell responses thereof. Through this system, we found that tumour endothelium hindered T cell infiltration into the reconstructed breast cancer tumour compartment. This negative effect was alleviated when treated with anti-human PD-L1 (programmed cell death ligand 1) antibody. Another key stromal component - cancer associated fibroblasts - attenuated T cell infiltration, compared against normal fibroblasts, and led to reduced apoptotic activity in cancer cells. These results confirm the capability of our tumour-on-a-chip system in identifying some key axes to target in overcoming barriers to immunotherapy by recapitulating immune cell interactions with the reconstructed TME. Our results also attest to the feasibility of scaling up this system for high-throughput cancer immunotherapeutic screening.

Stopping Microfluidic Flow.

A cross-comparison of three stop-flow configurations-such as low-pressure (LSF), high-pressure open-circuit (OC-HSF), and high-pressure short-circuit (SC-HSF) stop-flow-is presented to rapidly bring a high velocity flow O(m s-1) within a microchannel to a standstill O(µm s-1). The performance of three stop-flow configurations is assessed by measuring residual flow velocities within microchannels having three orders of magnitude different flow resistances. The LSF configuration outperforms the OC-HSF and SC-HSF configurations within a high flow resistance microchannel and results in a residual velocity of <10µms-1. The OC-HSF configuration results in a residual velocity of <150µms-1 within a low flow resistance microchannel. The SC-HSF configuration results in a residual velocity of <200µms-1 across the three orders-of-magnitude different flow resistance microchannels, and <100µms-1 for the low flow resistance channel. It is hypothesized that residual velocity results from compliance in fluidic circuits, which is further investigated by varying the elasticity of microchannel walls and connecting tubing. A numerical model is developed to estimate the expanded volumes of the compliant microchannel and connecting tubings under a pressure gradient and to calculate the distance traveled by the sample fluid. A comparison of the numerically and experimentally obtained traveling distances confirms the hypothesis that the residual velocities are an outcome of the compliance in the fluidic circuit.

Microfluidic viscometer using capillary pressure sensing

Blood viscosity is considered as a vital determinant of the efficiency of blood flow in blood-vessel networks. The coflowing method is considered as a promising technique for measuring blood viscosity. However, it requires two precise syringe pumps to supply two fluids (i.e., the reference fluid and blood), calibration in advance, and long waiting time for securing steady blood flow. To solve these problems, a single syringe pump is adopted to supply blood into a microfluidic device without requiring a reference fluid. Two key parameters—fluidic resistance and compliance coefficient—are suggested and obtained by analyzing the fluid velocities in a microfluidic channel and calculating the air pressure in the air compliance unit. Using a discrete fluidic circuit model, the pressure difference is analytically derived and utilized as the nonlinear regression formula. The two key parameters are then obtained through nonlinear regression analysis. According to experimental results, the air cavity and flow rate contribute to increasing the compliance coefficient. The fluidic resistance increases significantly at higher concentrations of glycerin solution ranging from 20% to 50%. The proposed method underestimates the values by approximately 27.5% compared with the previous method. Finally, the proposed method is adopted to detect the effects of hematocrit and red blood cell sedimentation in the driving syringe based on two vital parameters. Regarding the fluidic resistance, the normalized difference between the proposed and previous methods is less than 10%. Therefore, two key parameters can be considered as effective for quantitatively monitoring the hematocrit variation in blood flow. In conclusion, from a biomechanical perspective, the proposed method is highly promising for quantifying blood flow in a microfluidic channel.

High-throughput screening and clinical importance of autophagy-associated genes in basal cell carcinoma

Autophagy is a type II programmed cell death mechanism that plays a critical role in preserving cellular homeostasis through the regulation of protein, lipid, and organelle quality control. It has become gradually evident that autophagy plays a fundamental role in the initiation and progression of various types of human cancers. Nevertheless, its significance in non-melanoma skin cancers, particularly in basal cell carcinoma, has not been well documented and remains largely elusive. In this study, we aimed to illuminate the role of autophagy-associated signaling signatures during development and progression of basal cell carcinoma. For the study, a total of 72 autophagy-related genes were screened using a high-throughput qPCR approach integrating Fluidigm 96.96 Dynamic Array™ integrated fluidic circuits (IFC) and BioMark™ HD Real-Time PCR system, which enabled efficient and precise analysis of gene expression patterns. Results were analyzed using Fluidigm’s Real-Time PCR Analysis software and 2-ΔΔCt formula was used for the calculation of expression changes. Notably, expression levels of INS, TMEM74 and IFNA2 genes were identified to be prominently altered in BCC comparted to adjacent healthy tissues. However, only IFNA2 expression showed statistically significant change in BCC. Consequently, these findings suggest that IFNA2 might play significant role in the regulation of autophagy in BCC development and progression and can be therapeutically targeted.

Blood and liver telomere length, mitochondrial DNA copy number, and hepatic gene expression of mitochondrial dynamics in mid-lactation cows supplemented with l-carnitine under systemic inflammation

The current study was conducted to examine the effect of l-carnitine (LC) supplementation on telomere length and mitochondrial DNA copy number (mtDNAcn) per cell in mid-lactation cows challenged by lipopolysaccharide (LPS) in blood and liver. The mRNA abundance of 31 genes related to inflammation, oxidative stress, and the corresponding stress response mechanisms, the mitochondrial quality control and the protein import system, as well as the phosphatidylinositol 3-kinase/protein kinase B pathway, were assessed using microfluidics integrated fluidic circuit chips (96.96 dynamic arrays). In addition to comparing the responses in cows with or without LC, our objectives were to characterize the oxidative and inflammatory status by assessing the circulating concentration of lactoferrin (Lf), haptoglobin (Hp), fibrinogen, derivates of reactive oxygen metabolites (dROM), and arylesterase activity (AEA), and to extend the measurement of Lf and Hp to milk. Pluriparous Holstein cows were assigned to either a control group (CON, n = 26) or an LC-supplemented group (CAR; 25 g LC/cow per day; d 42 ante partum to d 126 postpartum (PP), n = 27). On d 111 PP, each cow was injected intravenously with LPS (Escherichia coli O111:B4, 0.5 µg/kg). The mRNA abundance was examined in liver biopsies of d -11 and +1 relative to LPS administration. Plasma and milk samples were frequently collected before and after the challenge. After LPS administration, circulating plasma fibrinogen and serum dROM concentrations increased, whereas AEA decreased. Moreover, serum P4 initially increased by 3 h after LPS administration and declined thereafter irrespective of grouping. The Lf concentrations increased in both groups after LPS administration, with the CAR group showing greater concentrations in serum and milk than the CON group. After LPS administration, telomere length in blood increased, whereas mtDNAcn per cell decreased; however, both remained unaffected in liver. For mitochondrial protein import genes, the hepatic mRNA abundance of the translocase of the mitochondrial inner membrane (TIM)-17B was increased in CAR cows. Moreover, TIM23 increased in both groups after LPS administration. Regarding the mRNA abundance of genes related to stress response mechanisms, 7 out of 14 genes showed group × time interactions, indicating a (local) protective effect due to the dietary LC supplementation against oxidative stress in mid-lactating dairy cows. For mtDNAcn and telomere length, the effects of the LPS-induced inflammation were more pronounced than the dietary supplementation of LC. Dietary LC supplementation affected the response to LPS primarily by altering mitochondrial dynamics. Regarding mRNA abundance of genes related to the mitochondrial protein import system, the inner mitochondrial membrane translocase (TIM complex) seemed to be more sensitive to dietary LC than the outer mitochondrial membrane translocase (TOM complex).

Desktop fabrication of monolithic soft robotic devices with embedded fluidic control circuits.

Most soft robots are pneumatically actuated and fabricated by molding and assembling processes that typically require many manual operations and limit complexity. Furthermore, complex control components (for example, electronic pumps and microcontrollers) must be added to achieve even simple functions. Desktop fused filament fabrication (FFF) three-dimensional printing provides an accessible alternative with less manual work and the capability of generating more complex structures. However, because of material and process limitations, FFF-printed soft robots often have a high effective stiffness and contain a large number of leaks, limiting their applications. We present an approach for the design and fabrication of soft, airtight pneumatic robotic devices using FFF to simultaneously print actuators with embedded fluidic control components. We demonstrated this approach by printing actuators an order of magnitude softer than those previously fabricated using FFF and capable of bending to form a complete circle. Similarly, we printed pneumatic valves that control a high-pressure airflow with low control pressure. Combining the actuators and valves, we demonstrated a monolithically printed electronics-free autonomous gripper. When connected to a constant supply of air pressure, the gripper autonomously detected and gripped an object and released the object when it detected a force due to the weight of the object acting perpendicular to the gripper. The entire fabrication process of the gripper required no posttreatment, postassembly, or repair of manufacturing defects, making this approach highly repeatable and accessible. Our proposed approach represents a step toward complex, customized robotic systems and components created at distributed fabricating facilities.

Association Between VDR and CYP24A1 Polymorphisms, Atopic Dermatitis, and Biochemical Lipid and Vitamin D Profiles in Spanish Population: Case-Control Study.

Atopic dermatitis (AD) is the most prevalent inflammatory skin disorder, characterized by impaired epidermal barrier function and an altered immune response, both of which are influenced by vitamin D deficiency. Single-nucleotide polymorphisms (SNPs) in VDR and CYP24A1 have been previously associated with AD. We sought to characterize the associations betweenthe VDRand CYP24A1 polymorphisms and the vitamin D and lipid biochemical profile in children diagnosed with AD. A total of 246 participants (143 patients with AD and 103 healthy controls) were enrolled in this study. Genotyping for polymorphisms in VDR (rs2239185, rs1544410, rs7975232, rs2238136, rs3782905, rs2239179, rs1540339, rs2107301, rs2239182, and rs731236) and CYP24A1 (rs2248359 and rs2296241) was performed by allele-specific polymerase chain reaction using integrated fluidic circuit technology. Serum levels of calcium, phosphorus, and vitamin D were measured, and the biochemical lipid profile was determined. Among VDR SNPs, rs2239182 exerted a protective effect against the development of AD, whereas rs2238136 was identified as a risk factor for AD. The GCC haplotype (rs2239185-G, rs1540339-C, and rs2238136-C) appeared to protect against the development of AD. rs2239182-CC was associated with higher 25(OH)D concentrations, whereas rs2238136-TT, rs2239185-GA, and rs2248359-TT were present in a large proportion of patients with serum vitamin D deficiency. rs2239185-AA, rs2239182-CC, and rs1540339-CC were associated with higher serum total cholesterol; rs2239182-TT was associated with lower low-density lipoprotein cholesterol; and rs2239182-TC with lower high-density lipoprotein cholesterol. Both CYP24A1 SNPs (rs2296241-AA and rs2248359-TT) were associated with higher high-density lipoprotein cholesterol levels. The VDR SNP rs2238136 is a risk factor for AD and other SNPs in VDR and CYP24A1, which may lead to alterations in biochemical parameters that influence the risk of AD. Our findings highlight the complex genetic basis to AD and indicate that interrelationships between different genetic factors can lead to alterations in vitamin D metabolism or lipid profiles, which in turn may influence the development of AD.

Soft Perfusable Device to Culture Skeletal Muscle 3D Constructs in Air.

Devices for in vitro culture of three-dimensional (3D) skeletal muscle tissues have multiple applications, including tissue engineering and muscle-powered biorobotics. In both cases, it is crucial to recreate a biomimetic environment by using tailored scaffolds at multiple length scales and to administer prodifferentiative biophysical stimuli (e.g., mechanical loading). On the contrary, there is an increasing need to develop flexible biohybrid robotic devices capable of maintaining their functionality beyond laboratory settings. In this study, we describe a stretchable and perfusable device to sustain cell culture and maintenance in a 3D scaffold. The device mimics the structure of a muscle connected to two tendons: Tendon-Muscle-Tendon (TMT). The TMT device is composed of a soft (E ∼ 6 kPa) porous (pore diameter: ∼650 μm) polyurethane scaffold, encased within a compliant silicone membrane to prevent medium evaporation. Two tendon-like hollow channels interface the scaffold with a fluidic circuit and a stretching device. We report an optimized protocol to sustain C2C12 adhesion by coating the scaffold with polydopamine and fibronectin. Then, we show the procedure for the soft scaffold inclusion in the TMT device, demonstrating the device's ability to bear multiple cycles of elongations, simulating a protocol for cell mechanical stimulation. By using computational fluid dynamic simulations, we show that a flow rate of 0.62 mL/min ensures a wall shear stress value safe for cells (<2 Pa) and 50% of scaffold coverage by an optimal fluid velocity. Finally, we demonstrate the effectiveness of the TMT device to sustain cell viability under perfusion for 24 h outside of the CO2 incubator. We believe that the proposed TMT device can be considered an interesting platform to combine several biophysical stimuli, aimed at boosting skeletal muscle tissue differentiation in vitro, opening chances for the development of muscle-powered biohybrid soft robots with long-term operability in real-world environments.

Scalable Fluidic Matrix Circuits for Controlling Large Arrays of Individually Addressable Actuators

A fundamental challenge of pneumatically powered soft robotic devices is the scalability of fluidic control systems to address each actuated degree of freedom, as the required electromechanical valves are bulky and expensive. Previous solutions have compromised the reprogrammability and/or the bandwidth of the fluidic system. This article describes and models a fluidic subsystem, a fluidic matrix circuit (FMC), that enables the independent control of many () actuators using a limited number () of electromechanical valves. The fundamental unit, a fluidic logic module (FLM), generates a bidirectional pressure signal (vacuum or positive pressure) based on the state of the mass flow through it. Thus and array of pneumatic actuators can be addressed individually using an array of FLMs integrated into a matrix (i.e., an FMC), with electromechanical valves to switch the mass flow through each row and column of the matrix. The resulting refresh rates are an order of magnitude faster than previous approaches. This concept with a prototype FMC able to control 25 actuators using 10 electromechanical valves for applications including a fluidic shape display and a wearable haptic vest is demonstrated. This approach could enable more complex and sophisticated soft robotic devices with scalable control hardware.

Soft Mini Fuse Valve for Resilient Fluidically-Actuated Robots

Lately, soft fluidic actuation has gained widespread interest in all fields where compliance and adaptability are the main keywords. Despite their well-known advantages, soft fluidic actuators frequently present problems related to the elastomeric chambers' durability, affecting the overall system robustness and safety. Indeed, if a robot relies on the parallel pressurisation of multiple actuators, the burst of a single chamber leads to the failure of the entire fluidic circuit, with consequent potentially hazardous leaks. Here, we present the development of a Soft Mini-Fuse (SMIF) valve able to secure and maintain the system functionality even in case of burst failure of single components without affecting their overall bulkiness. By modelling the valve through both analytical and finite element tools, we defined the correlation between main geometrical features, material properties and a selected range of blocking pressures (0.1-1.0 bar). Finally, after validating the modelling tools, we characterised the device behaviour in a range of commonly employed actuation flows (0-15 l/min). The compact dimensions, the ease of integration and the demonstrated performances underline that the SMIF valve represents a novel valuable ally that guarantees stable actuation, limits human intervention and paves the way towards more resilient and autonomous soft fluidic robotic systems.

Quantification of Blood Viscoelasticity under Microcapillary Blood Flow.

Blood elasticity is quantified using a single compliance model by analyzing pulsatile blood flow. However, one compliance coefficient is influenced substantially by the microfluidic system (i.e., soft microfluidic channels and flexible tubing). The novelty of the present method comes from the assessment of two distinct compliance coefficients, one for the sample and one for the microfluidic system. With two compliance coefficients, the viscoelasticity measurement can be disentangled from the influence of the measurement device. In this study, a coflowing microfluidic channel was used to estimate blood viscoelasticity. Two compliance coefficients were suggested to denote the effects of the polydimethylsiloxane (PDMS) channel and flexible tubing (C1), as well as those of the RBC (red blood cell) elasticity (C2), in a microfluidic system. On the basis of the fluidic circuit modeling technique, a governing equation for the interface in the coflowing was derived, and its analytical solution was obtained by solving the second-order differential equation. Using the analytic solution, two compliance coefficients were obtained via a nonlinear curve fitting technique. According to the experimental results, C2/C1 is estimated to be approximately 10.9-20.4 with respect to channel depth (h = 4, 10, and 20 µm). The PDMS channel depth contributed simultaneously to the increase in the two compliance coefficients, whereas the outlet tubing caused a decrease in C1. The two compliance coefficients and blood viscosity varied substantially with respect to homogeneous hardened RBCs or heterogeneous hardened RBCs. In conclusion, the proposed method can be used to effectively detect changes in blood or microfluidic systems. In future studies, the present method can contribute to the detection of subpopulations of RBCs in the patient's blood.