Soft Elastomer Research Articles

Minsight: A Fingertip‐Sized Vision‐Based Tactile Sensor for Robotic Manipulation

Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans. Therefore, robotic manipulators need high‐resolution touch sensors that are compact, robust, inexpensive, and efficient. The soft vision‐based haptic sensor presented herein is a miniaturized and optimized version of the previously published sensor Insight. Minsight has the size and shape of a human fingertip and uses machine learning methods to output high‐resolution maps of 3D contact force vectors at 60 Hz. Experiments confirm its excellent sensing performance, with a mean absolute force error of 0.07 N and contact location error of 0.6 mm across its surface area. Minsight's utility is shown in two robotic tasks on a 3‐DoF manipulator. First, closed‐loop force control enables the robot to track the movements of a human finger based only on tactile data. Second, the informative value of the sensor output is shown by detecting whether a hard lump is embedded within a soft elastomer with an accuracy of 98%. These findings indicate that Minsight can give robots the detailed fingertip touch sensing needed for dexterous manipulation and physical human–robot interaction.

A Conformable Ultrasound Patch for Cavitation-Enhanced Transdermal Cosmeceutical Delivery.

Increased consumer interest in healthy-looking skin demands a safe and effective method to increase transdermal absorption of innovative therapeutic cosmeceuticals. However, permeation of small-molecule drugs is limited by the innate barrier function of the stratum corneum. Here, a conformable ultrasound patch (cUSP) that enhances transdermal transport of niacinamide by inducing intermediate-frequency sonophoresis in the fluid coupling medium between the patch and the skin is reported. The cUSP consists of piezoelectric transducers embedded in a soft elastomer to create localized cavitation pockets (0.8 cm2 , 1mm deep) over larger areas of conformal contact (20 cm2 ). Multiphysics simulation models, acoustic spectrum analysis, and high-speed videography are used to characterize transducer deflection, acoustic pressure fields, and resulting cavitation bubble dynamics in the coupling medium. The final system demonstrates a 26.2-fold enhancement in niacinamide transport in a porcine model in vitro with a 10 min ultrasound application, demonstrating the suitability of the device for short-exposure, large-area application of sonophoresis for patients and consumers suffering from skin conditions and premature skin aging.

Self-consistent Sierpinski iteration of toughening mechanism in elastomer undergoing scaled segment-chain-network

Understanding working principles and toughening mechanisms of soft elastomers has been a huge challenge due to their significant scaling effects from molecules to bulk polymer. In this study, by combining Sierpinski fractal and scaling theory, an extended Kelvin model is developed to investigate the mechanical behaviour of the soft elastomer undergoing scaled segment-chain-network. According to the scaling theory, a radial distribution function was initially introduced to explain the diffusion and relaxation behaviours of molecular segments with the Sierpinski fractal features. The self-consistent iteration of the Sierpinski fractal is then used to describe the scaling effects of segments and networks. Rubber elasticity of the polymer network is further formulated based on the self-consistent iteration equation and scaling theory. A constitutive stress–strain relationship is also derived to explore the toughness mechanism and working principle in the polymer elastomer. Finally, the effectiveness of the proposed model is verified using finite-element analysis and experimental results reported in the literature, to explore a scaling insight into toughening mechanisms of elastomers governed by the self-consistent Sierpinski iteration.

Modelling the influence of magnetic fields to the viscoelastic behaviour of soft magnetorheological elastomers under finite strains

Isotropic soft magneto-rheological elastomers (s-MRE) are polymer-based composites where magnetically soft particles are randomly distributed in the elastomer matrix. Under a magnetic field, a strong modulus magnetic stiffening effect and a magnetostriction performance is exhibited for isotropic s-MRE, offering a wide application potential in vibration control, soft robotics and haptic displays. In the last decades, substantial theoretical work has focused on modelling the magnetostriction behaviour of isotropic s-MRE. Modelling the influence of magnetic fields to the viscoelastic behaviour of isotropic s-MRE has received less attention, despite the magnetic-dependent viscoelasticity is an essential component of the observed magneto-mechanical response and of great importance for the application of isotropic s-MRE. To predict the magneto-mechanical coupling behaviour accurately and provide guidance for the design of isotropic s-MRE-based applications, a multiplicatively-typed magneto-hyperelastic free energy and a new type of process-dependent viscosity evolution law is proposed in this work. Afterwards, the ability of the model to predict the modulus magnetic stiffening effect and magnetic-dependent nonlinear viscoelastic behaviour of isotropic s-MRE is examined. Finally, three sets of finite element case studies are presented to illustrate the feasibility of the model-based simulation and guide the design of isotropic s-MRE-related applications.

Dynamic modeling and residual vibration suppression of electrostatically driven soft dielectric elastomer minimum energy structures

Dielectric elastomers (DEs), a special class of soft electro-active polymers that undergo finite deformation under external electrical stimuli, offer a wide range of applications that include but are not limited to soft actuators, soft robots, and energy harvesters. Among the various configurations of dielectric elastomer-based soft mechanisms, DE-based minimum energy structures (DEMES) are elite due to their several advantageous characteristics, such as lightweight, an easy fabrication process, the ability to achieve a desirable complex 3-D shape, the capability of undergoing large out-of-plane actuation despite planar fabrication, fast response, and controllability. However, when a DEMES actuator is driven by an input voltage signal consisting of different Heaviside steps, the intrinsic residual vibrations exhibited by the actuator may restrict the motion precision required in real-world applications. In this work, a nonlinear dynamic model of the DEMES actuator is devised using the Euler–Lagrange equation of motion, and the neo-Hookean material model is utilized to describe the material behavior of the DE membrane. A feedforward control technique is developed to suppress the inherent residual vibrations exhibited by the DEMES actuator. The control technique relies on the balance of the electro-mechanical forces at the minimum point, characterized by zero velocity and minimum bending angle in an oscillation cycle. The capability of the proposed feedforward control technique is demonstrated by controlling the DEMES actuator to different desired positions without residual vibrations. A parametric study is performed to explore the dependence of the proposed control technique on several parameters, such as frame bending stiffness, pre-stretch of the membrane, and membrane damping. The feedforward control technique and the inferences obtained from the current research can be implemented effectively in the design and development of open loop controllers for electrostatically driven soft electro-active devices.

Revealing the coaction of viscous and multistability hysteresis in an adhesive, nominally flat punch: A combined numerical and experimental study

Viscoelasticity is well known to cause significant hysteresis of crack closure and opening when an elastomer is brought in and out of contact with a flat, rigid, adhesive counterface. A separate origin of adhesive hysteresis is small-scale, elastic multistability. Here, we study a system in which both mechanisms act concurrently. Specifically, we compare the simulated and experimentally measured time evolution of the interfacial force and the real contact area between a soft elastomer and a rigid, flat punch, to which small-scale, single-sinusoidal roughness is added. To this end, we further the Green’s function molecular dynamics method and extend recently developed imaging techniques to elucidate the rate- and preload-dependence of the pull-off process. Our results reveal that hysteresis is much enhanced when the saddle points of the topography come into contact, which, however, is impeded by viscoelastic forces and may require sufficiently large preloads. A similar coaction of viscous- and multistability effects is expected to occur in macroscopic polymer contacts and to be relevant, e.g., for pressure-sensitive adhesives and modern adhesive gripping devices.

Free and Forced Vibration Behaviors of Magnetodielectric Effect in Magnetorheological Elastomers

This paper is concerned with the free and forced vibration responses of a magneto/electroactive dielectric elastomer, emphasizing the chaotic phenomena. The dielectric elastomers under external magnetic and electrical excitations undergo large elastic deformation. The magnetodielectric elastomer is modeled based on the Gent–Gent strain energy function to incorporate the influence of the second invariant and the strain stiffening. The viscoelasticity of the active polymer is also considered in the form of Rayleigh’s dissipation function. The equation of motion is governed with the aid of the Lagrangian equation in terms of a physical quantity, namely, the stretch of the elastomer. An energy-based approach is utilized to re-evaluate the static and DC voltage instabilities of the resonator. Time-stretch response (time history behavior), phase plane diagram, Poincaré map, and fast Fourier transform are numerically obtained and presented to explore the chaotic oscillation behavior of the active polymer actuators. The results reveal that the magnetic field may tune the stability and instability regions of the active polymeric membrane. It has also been shown that the applied magnetic field may lead to chaotic vibration responses when a sinusoidal voltage is applied simultaneously to the system. The results presented in this paper can be effectively used to design magnetic and electrical soft robotic actuators and elastomer membranes under electrical and magnetic stimulants.

Bio‐Inspired Untethered Automatic Light Harvesting System Based on Liquid Crystal Elastomers Tubular Actuator

AbstractAn artificial phototropism system with autonomous intelligence is critical for the development of an autonomous light‐harvesting system. However, a current technology for artificial phototropism light‐harvesting system with the motor system is capable of accurate direction with high efficiency but still limited to bulky and expensive. Inspired by nature, artificial phototropism systems based on photo‐responsive smart soft material liquid crystal elastomer (LCE) are developed to follow the light direction but are still limited by a low payload that is not suitable for practical application. Herein, an untethered automatic light‐harvesting system with artificial phototropism is proposed. This system combines the advantages of the LCE actuator and electrical control system and is capable of adjusting the solar cell facing the sun automatically through controls of bending and rotation of the LCE tubular actuator to maximize the absorption of solar energy. Compared with the traditional mini photovoltaic panels, the absorption efficiency of solar energy by the light‐harvesting system is increased by 27.68% for the whole day and 230.15% in the morning or dawn sunlight with a small incident angle. The proposed untethered automatic light‐harvesting system is compact, inexpensive, and can provide a large payload, showing great application potential in solar automation and robot systems, and energy‐saving fields.

Mechanical response of a thick poroelastic gel in contactless colloidal-probe rheology

When a rigid object approaches a soft material in a viscous fluid, hydrodynamic stresses arise in the lubricated contact region and deform the soft material. The elastic deformation modifies in turn the flow, hence generating a soft-lubrication coupling. Moreover, soft elastomers and gels are often porous. These materials may be filled with solvent or uncrosslinked polymer chains, and might be permeable to the surrounding fluid, which further complexifies the description. Here, we derive the point-force response of a semi-infinite and permeable poroelastic substrate. Then, we use this fundamental solution in order to address the specific poroelastic lubrication coupling associated with contactless colloidal-probe methods. In particular, we derive the conservative and dissipative components of the force associated with the oscillating vertical motion of a sphere close to the poroelastic substrate. Our results may be relevant for dynamic surface force apparatus and contactless colloidal-probe atomic force microscopy experiments on soft, living and/or fragile materials, such as swollen hydrogels and biological membranes.

Design of squeezing-tube-driven pump for soft pneumatic robotics based on spiral spring winding

Aiming at the demand for high-speed, easy-controllability, and integration of pneumatic soft robots and elastomer actuators, this study presents a squeezing-tube-driven pump (STDP) for soft pneumatic robotics based on spiral spring winding. This concept contains a customized spiral spring and a pneumatic tube with high-elasticity. The spiral spring is driven by an electric motor and coerced into winding deformation. Furthermore, the pneumatic tube is extruded by the spring and then the air in the tube is fast compressed to drive soft pneumatic grippers. The mechanical model and simulation are utilized to explain the operating principle of STDP. The air pressure and rotation angle of the spring under various rotation speeds are in a close linear correlation verified by the experimental results, which provides feasibility for easy controlling and rapid actuation. Finally, fast-gripping tests with an integrated gripper–pump system and a pneumatic muscle actuation test are presented to show the advantages of the proposed pump, respectively.

Recent Progresses in Liquid‐Free Soft Ionic Conductive Elastomers†

Comprehensive SummaryWith the rapid growth of soft electronic and ionotronic devices such as artificial tissues, soft luminescent devices, soft robotics, and human‐machine interfaces, there is a demanding need to accelerate the development of soft ionic conductive materials. To date, the first‐generation ionotronic devices are mainly based on hydrogels or ionogels. However, due to their intrinsic drawbacks, such as freezing or volatilization at extreme temperatures, and the leakage problem under external mechanical forces, the reliability of ionotronic devices under harsh conditions remains a great challenge. The advent of liquid‐free ionic conductive elastomers (ICEs) has the potentials to solve the issues related to the gel‐type soft conductive materials. The free ions shuttling within the ion‐dissolvable polymer network enable liquid‐free ICEs to exhibit unparalleled ionic conductivity and elasticity. Moreover, by tuning the composition and structure of the polymeric network, it is also feasible to integrate other desirable properties, such as self‐healing ability, transparency, biocompatibility, and stimulus responsiveness, into liquid‐free ICE materials. In this review, we summarize the design strategies of recently reported liquid‐free ICEs, and further explore the methods to introduce multifunctionality, which originate from the rational molecular design and/or the synergy with other materials. Moreover, we highlight the representative applications of liquid‐free ICEs in soft ionotronics. It is believed that liquid‐free ICEs might provide a unique material platform for the next‐generation ionotronics.

Soft coring: How to get a clarinet out of a flute?

Cutting mozzarella with a dull blade results in poorly shaped slices: the process occurs in a configuration so deformed as to yield unexpectedly curved surfaces. We study the morphogenetics arising from such process through the example of coring: when a thin cylindrical hollow punch is pushed into a soft elastomer, the large transverse expansion occurring during the cutting is responsible for the “clarinet-shape” of the extracted core, which reaches diameters far smaller than those of the tool. With contributions from fracture mechanics and large strain theory, we build a simple yet quantitative understanding of the observed discrepancy, which is shown to occur when the size of the punch is smaller than a characteristic, tomo-elastic length scale. Moreover, material nonlinearity and friction appear to play a crucial role in this phenomenon.

Multiway Softness Polyurethane Elastomeric Composite with Enhanced Thermal Conductivity and Application as Thermal Interface Materials

AbstractThe ever‐increasing computing power in modern electronics comes with significant heat waste that can't be ignored. For microchips to dissipate heat efficiently, thermal interface materials (TIMs) are the most critical components in semiconductor packaging. Soft elastomer composites are often used as TIMs due to their large‐strain reversible deformability with a small external force. For TIMs to cushion between the microchip and heat spreader, they must have high thermal conductivity and temperature‐tunable softness to reduce thermal resistance and relieve the warpage failure caused by thermal stress. However, thermal conductivity and softness are interrelated and restrict each other. To address this challenge, a radical strategy of introducing dynamic covalent bonds in the polyurethane/aluminum composite is used. The reversible and low energy of dynamic imine bonds along with the lengthening of the Khun segment in the crosslinking network imbues the material with temperature‐tunable softness function while maintaining high thermal conductivity. The resulting polyurethane elastomer (PUE) composite exhibits remarkable thermal conductivity (6.90 W m−1 K−1), low thermal resistance (0.13 K cm2 W−1), and excellent softness (elastic modulus 759.50 kPa, and stretchability 140.30%). This work provides a practical method to design thermally conductive and temperature‐tunable soft elastomer composites as TIMs in semiconductor packaging.

Biomimetic Substrate to Probe Dynamic Interplay of Topography and Stiffness on Cardiac Fibroblast Activation.

Materials with the ability to change properties can expand the capabilities of in vitro models of biological processes and diseases as it has become increasingly clear that static, stiff materials with smooth surfaces fall short in recapitulating the in vivo cellular microenvironment. Here, we introduce a patterned material that can be rapidly stiffened and softened in situ in response to an external magnetic field through the addition of magnetic inclusions into a soft silicone elastomer with topographic surface patterning. This substrate can be used for cell culture to investigate short-term cellular responses to dynamic stiffening or softening and the interaction with topography that encourages cells to assume a specific morphology. We investigated short-term cellular responses to dynamic stiffening or softening in human ventricular cardiac fibroblasts. Our results indicate that the combination of dynamic changes in stiffness with and without topographic cues induces different effects on the alignment and activation or deactivation of myofibroblasts. Cells cultured on patterned substrates exhibited a more aligned morphology than cells cultured on flat material; moreover, cell alignment was not dependent on substrate stiffness. On a patterned substrate, there was no significant change in the number of activated myofibroblasts when the material was temporally stiffened, but temporal softening caused a significant decrease in myofibroblast activation (50% to 38%), indicating a competing interaction of these characteristics on cell behavior. This material provides a unique in vitro platform to observe the time-dependent dynamics of cells by better mimicking more complex behaviors and realistic microenvironments for investigating biological processes, such as the development of fibrosis.

Flexible and Stretchable Elastomer Composites Based on Lightweight Liquid Metal Foam Spheres with Pod-like Contacts

Liquid metal (LM) is increasingly employed as a conductive filler in soft and flexible elastomer composites owing to its favorable conductivity and liquid fluidity. However, the high density of LM inevitably increases the weight of composites, which brings limitations in large-area and weight-sensitive applications. This work reports a flexible and stretchable elastomer composite composed of pod-like contacting lightweight LM foam spheres and polydimethylsiloxane matrix (LMS/PDMS). The lightweight LMS reduces the amount of LM used in the preparation process while imparting good electrical conductivity and deformability to the composite. The different contact modes of LMS endow the final composites with diverse strain sensitivity. The mechanism of interfacial contact conduction between the LMS with different melting points has been systematically studied, and the result shows that the liquid-solid contact mode of LMS further improves the strain sensitivity of the composite. Moreover, the composite also has satisfactory electrothermal properties and the temperature can quickly reach 70 °C within 30 s, showing good applicability in electric heating. Finally, the composites containing LMS with different contact modes can be developed as multifunctional sensors to detect human activities, temperature variation, and even underwater vibration, demonstrating the great potential in next-generation sensors and electronics.

Vat 3D Printing of Bioderivable Photoresins – Toward Sustainable and Robust Thermoplastic Parts

Vat photopolymerization 3D printing (3DP) of thermoplastic materials is exceedingly difficult due to the typical reliance on cross-linking to form well-defined, solid objects on timescales relevant to 3DP. Additionally, photoresin build materials overwhelmingly rely upon nonrenewable feedstocks. To address these challenges, we report the vat 3DP of bioderivable photoresins that produced thermoplastic parts with highly tunable thermal and mechanical properties. The photoresins were formulated from two monomers that are easily obtainable from lignin deconstruction: 4-propylguaiacyl acrylate (4-pGA) and syringyl methacrylate (SMA). These bioderivable materials generated printed parts that ranged from soft elastomers to rigid plastics. For example, for 4-pGA-based materials, the breaking stresses varied from 0.20 to 20 MPa and breaking strains could be tuned from 4.7% up to 1700%, whereas 3D-printed SMA-based materials resulted in higher breaking stresses (∼30 MPa) and Tgs (∼132 °C). Notably, parts printed from these bioderivable formulations exhibited thermoplastic behavior and were largely soluble in common organic solvents─expanding the application and repurposing of the 3D-printed parts. We highlight this feature by reusing a 3DP part via solvent casting. Overall, the tunable properties and thermoplastic behavior of the lignin-derivable photoresins showcase renewable lignin resources as promising biofeedstocks for sustainable 3DP.

Three-Dimensional Force Decouping-Sensing Soft Sensor with Topological Elastomer

Sensing the deformation of soft sensor elastomer can realize the flexible operation of soft robot and enhance the perception of human-computer interaction. The structural configuration of elastomer and its elastic deformation force transfer path are crucial for decoupling sensing and studying the sensing performance of three-dimensional force soft sensor. In this article, we present a theoretical method for soft sensor with three-dimensional force decoupling-sensing. First, the constraint types of parallel manipulator with three translational motion characteristics are analyzed and used to set the constraint conditions for topology optimization. In addition, the differential kinematic modeling method is adopted to establish the differential kinematic equation of the three translations parallel manipulator, which is used as a pseudo-rigid body model for sensor information perception. Second, combining the kinematic Jacobi matrix with solid isotropic material with penalization the (SIMP), the topological model is built for designing of sensor elastomer. We optimized the composition of the material and evaluate the model’s sensing capabilities. The results validate a elastomer of soft sensor for unity between structural stiffness and perceived sensitivity.

Magnetic properties of a soft magnetic elastomer based on antioxidant magnetic composite particles and a water-soluble polymer matrix.

A soft magnetic elastomer, called a magnetorheological elastomer (MRE), based on a polyacrylamide (PAM) modified carbonyl iron particle (P-CIP) composite and a water-soluble PAM matrix was designed and prepared by the chemical polymerization and crosslinking method. P-CIPs were synthesized by the polymerization of an acrylamide monomer on the CIP surface to improve the oxidation resistance of CIPs and the interaction between the particles and polymer matrix in the MRE. The results obtained from infrared spectroscopy, scanning electron microscopy (SEM) and thermogravimetric analysis (TGA) (in a nitrogen atmosphere) show that the coating effect of the polymer on the particle surface is very good. TGA (in an air atmosphere) curves indicate that the P-CIPs show strong oxidation resistance. Meanwhile, the test results obtained for the magnetic properties show that the MRE with P-CIPs has a saturation magnetization (94.7 emu g-1), a relative magnetorheological effect (687.5%), and a Payne effect factor (92%) under the action of a strong magnetic field (1 T). It was also clearly found that these properties are enhanced with increasing magnetic field intensity. Furthermore, the chain effect of magnetic particles under a magnetic field, the strong particle-matrix interaction and its breakdown process with increasing shear strain were discussed in this work.

Energy based control of a bi-stable and underactuated soft robotic system based on dielectric elastomer actuators*

In this paper, we propose an energy based control approach for a class of underactuated soft robotic systems. The considered case study consists of an elastic structure driven by soft dielectric elastomer actuators, and is able to achieve large bending displacement thanks to a bi-stable design concept. The bi-stability feature, however, causes the system to exhibit an unstable behavior in open-loop. After providing a port-Hamiltonian description of the soft robotic system, sufficient conditions for the existence of an energy based stabilizing controller are provided. A linear matrix inequality approach is then proposed to practically address the design of the controller gain. The effectiveness of the method is verified by means of simulation studies, conducted on an experimentally validated model of the real-life device.

3D printable soft and solvent-free thermoplastic elastomer containing dangling bottlebrush chains.

Polymer networks containing bottlebrush chains are emerging materials with exceptionally soft and highly tunable mechanical properties. However, such materials have not been extensively implemented in functional processing techniques such as three-dimensional (3D) printing. Here, we introduce a new design of soft and solvent-free polydimethylsiloxane (PDMS)-based thermoplastic elastomer which contains dangling and space-filling bottlebrush chains, featuring a yield stress and a rapid recovery after stress removal; both required for high spatial fidelity 3D printing. The developed material is composed of two copolymers; the main building block is a diblock copolymer with linear polystyrene (PS) block and bottlebrush PDMS block (PS-b-bbPDMS) while the second component is PS-b-PDMS-b-PS triblock, self-assembling to a physical network. This design provides independent tunability of each structural parameter on the molecular level, hence, macroscopic control of the materials' mechanical properties. Multiple self-supportive 3D structures with spanning elements are 3D printed at elevated temperatures using a developed material with a low shear modulus of G' = 3.3 kPa containing 3 : 1 molar ratio of diblock to triblock copolymers without the need for volatile solvent, or post-treatment. This 3D printing compatible design opens new opportunities to utilize the distinctive mechanical properties of bottlebrush materials for applications such as soft tissue scaffolds, sensors, actuators, and soft robots.