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1. Multi-material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

   Tian, Jiawei; Gu, Xianfeng David; Chen, Shikui (August 2021, Proceedings of the International Design Engineering Technical Conferences & Computers and Information in Engineering Conference)

   null (Ed.)

   Ferromagnetic soft materials can generate flexible mobility and changeable configurations under an external magnetic field. They are used in a wide variety of applications, such as soft robots, compliant actuators, flexible electronics, and bionic medical devices. The magnetic field enables fast and biologically safe remote control of the ferromagnetic soft material. The shape changes of ferromagnetic soft elastomers are driven by the ferromagnetic particles embedded in the matrix of a soft elastomer. The external magnetic field induces a magnetic torque on the magnetized soft material, causing it to deform. To achieve the desired motion, the soft active structure can be designed by tailoring the layouts of the ferromagnetic soft elastomers. This paper aims to optimize multi-material ferromagnetic actuators. Multi-material ferromagnetic flexible actuators are optimized for the desired kinematic performance using the reconciled level set method. This type of magnetically driven actuator can carry out more complex shape transformations by introducing ferromagnetic soft materials with more than one magnetization direction. Whereas many soft active actuators exist in the form of thin shells, the newly proposed extended level set method (X-LSM) is employed to perform conformal topology optimization of ferromagnetic soft actuators on the manifolds. The objective function comprises two sub-objective functions, one for the kinematic requirement and the other for minimal compliance. Shape sensitivity analysis is derived using the material time derivative and the adjoint variable method. Three examples are provided to demonstrate the effectiveness of the proposed framework. 

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2. Photothermally and magnetically controlled reconfiguration of polymer composites for soft robotics

   https://doi.org/10.1126/sciadv.aaw2897  

   Liu, Jessica A.-C.; Gillen, Jonathan H.; Mishra, Sumeet R.; Evans, Benjamin A.; Tracy, Joseph B. (August 2019, Science Advances)

   New materials are advancing the field of soft robotics. Composite films of magnetic iron microparticles dispersed in a shape memory polymer matrix are demonstrated for reconfigurable, remotely actuated soft robots. The composite films simultaneously respond to magnetic fields and light. Temporary shapes obtained through combined magnetic actuation and photothermal heating can be locked by switching off the light and magnetic field. Subsequent illumination in the absence of the magnetic field drives recovery of the permanent shape. In cantilevers and flowers, multiple cycles of locking and unlocking are demonstrated. Scrolls show that the permanent shape of the film can be programmed, and they can be frozen in intermediate configurations. Bistable snappers can be magnetically and optically actuated, as well as biased, by controlling the permanent shape. Grabbers can pick up and release objects repeatedly. Simulations of combined photothermal heating and magnetic actuation are useful for guiding the design of new devices. 

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3. Observation of Quantum Anomalous Hall Effect and Exchange Interaction in Topological Insulator/Antiferromagnet Heterostructure

   https://doi.org/10.1002/adma.202001460  

   Pan, Lei; Grutter, Alexander; Zhang, Peng; Che, Xiaoyu; Nozaki, Tomohiro; Stern, Alex; Street, Mike; Zhang, Bing; Casas, Brian; He, Qing Lin; et al (July 2020, Advanced Materials)

   Abstract Integration of a quantum anomalous Hall insulator with a magnetically ordered material provides an additional degree of freedom through which the resulting exotic quantum states can be controlled. Here, an experimental observation is reported of the quantum anomalous Hall effect in a magnetically‐doped topological insulator grown on the antiferromagnetic insulator Cr₂O₃. The exchange coupling between the two materials is investigated using field‐cooling‐dependent magnetometry and polarized neutron reflectometry. Both techniques reveal strong interfacial interaction between the antiferromagnetic order of the Cr₂O₃and the magnetic topological insulator, manifested as an exchange bias when the sample is field‐cooled under an out‐of‐plane magnetic field, and an exchange spring‐like magnetic depth profile when the system is magnetized within the film plane. These results identify antiferromagnetic insulators as suitable candidates for the manipulation of magnetic and topological order in topological insulator films. 

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4. Designing Programmable Ferromagnetic Soft Metastructures for Minimally Invasive Endovascular Therapy

   Zhuang, Ran; Tian, Jiawei; Tassiopoulos, Apostolos; Sadasivan, Chander; Gu, Xianfeng; Chen, Shikui (August 2023, Proceedings of the International Design Engineering Technical Conferences & Computers & Information in Engineering Conference)

   Minimally invasive endovascular therapy (MIET) is an innovative technique that utilizes percutaneous access and transcatheter implantation of medical devices to treat vascular diseases. However, conventional devices often face limitations such as incomplete or suboptimal treatment, leading to issues like recanalization in brain aneurysms, endoleaks in aortic aneurysms, and paravalvular leaks in cardiac valves. In this study, we introduce a new metastructure design for MIET employing re-entrant honeycomb structures with negative Poisson's ratio (NPR), which are initially designed through topology optimization and subsequently mapped onto a cylindrical surface. Using ferromagnetic soft materials, we developed structures with adjustable mechanical properties called magnetically activated structures (MAS). These magnetically activated structures can change shape under noninvasive magnetic fields, letting them fit against blood vessel walls to fix leaks or movement issues. The soft ferromagnetic materials allow the stent design to be remotely controlled, changed, and rearranged using external magnetic fields. This offers accurate control over stent placement and positioning inside blood vessels. We performed magneto-mechanical simulations to evaluate the proposed design's performance. Experimental tests were conducted on prototype beams to assess their bending and torsional responses to external magnetic fields. The simulation results were compared with experimental data to determine the accuracy of the magneto-mechanical simulation model for ferromagnetic soft materials. After validating the model, it was used to analyze the deformation behavior of the plane matrix and cylindrical structure designs of the Negative Poisson's Ratio (NPR) metamaterial. The results indicate that the plane matrix NPR metamaterial design exhibits concurrent vertical and horizontal expansion when subjected to an external magnetic field. In contrast, the cylindrical structure demonstrates simultaneous axial and radial expansion under the same conditions. The preliminary findings demonstrate the considerable potential and practicality of the proposed methodology in the development of magnetically activated MIET devices, which offer biocompatibility, a diminished risk of adverse reactions, and enhanced therapeutic outcomes. Integrating ferromagnetic soft materials into mechanical metastructures unlocks promising opportunities for designing stents with adjustable mechanical properties, propelling the field towards more sophisticated minimally invasive vascular interventions. 

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5. Surface Functionalization of 4D Printed Substrates Using Polymeric and Metallic Wrinkles

   https://doi.org/10.3390/polym15092117  

   Agyapong, Johnson N.; Van Durme, Bo; Van Vlierberghe, Sandra; Henderson, James H. (May 2023, Polymers)

   Wrinkle topographies have been studied as simple, versatile, and in some cases biomimetic surface functionalization strategies. To fabricate surface wrinkles, one material phenomenon employed is the mechanical-instability-driven wrinkling of thin films, which occurs when a deforming substrate produces sufficient compressive strain to buckle a surface thin film. Although thin-film wrinkling has been studied on shape-changing functional materials, including shape-memory polymers (SMPs), work to date has been primarily limited to simple geometries, such as flat, uniaxially-contracting substrates. Thus, there is a need for a strategy that would allow deformation of complex substrates or 3D parts to generate wrinkles on surfaces throughout that complex substrate or part. Here, 4D printing of SMPs is combined with polymeric and metallic thin films to develop and study an approach for fiber-level topographic functionalization suitable for use in printing of arbitrarily complex shape-changing substrates or parts. The effect of nozzle temperature, substrate architecture, and film thickness on wrinkles has been characterized, as well as wrinkle topography on nuclear alignment using scanning electron microscopy, atomic force microscopy, and fluorescent imaging. As nozzle temperature increased, wrinkle wavelength increased while strain trapping and nuclear alignment decreased. Moreover, with increasing film thickness, the wavelength increased as well. 

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