An official website of the United States government
Periodic spin–orbit motion is ubiquitous in nature, observed from electrons orbiting nuclei to spinning planets orbiting the Sun. Achieving autonomous periodic orbiting motions, along circular and noncircular paths, in soft mobile robotics is crucial for adaptive and intelligent exploration of unknown environments—a grand challenge yet to be accomplished. Here, we report leveraging a closed-loop twisted ring topology with a defect for an autonomous soft robot capable of achieving periodic spin-orbiting motions with programmed circular and re-programmed irregular-shaped trajectories. Constructed by bonding a twisted liquid crystal elastomer ribbon into a closed-loop ring topology, the robot exhibits three coupled periodic self-motions in response to constant temperature or constant light sources: inside-out flipping, self-spinning around the ring center, and self-orbiting around a point outside the ring. The coupled spinning and orbiting motions share the same direction and period. The spinning or orbiting direction depends on the twisting chirality, while the orbital radius and period are determined by the twisted ring geometry and thermal actuation. The flip–spin and orbiting motions arise from the twisted ring topology and a bonding site defect that breaks the force symmetry, respectively. By utilizing the twisting-encoded autonomous flip–spin–orbit motions, we showcase the robot’s potential for intelligently mapping the geometric boundaries of unknown confined spaces, including convex shapes like circles, squares, triangles, and pentagons and concaves shapes with multi-robots, as well as health monitoring of unknown confined spaces with boundary damages.
more »
« less
This content will become publicly available on April 23, 2027
Programming touch-me-not knot topologies for rapid and diverse leaping and flying motions
Miniature leaping robots are desired to perform fast, programmable, and versatile motions. In this study, we present our approach for harnessing the impulsive unknotting process triggered upon heating millimeter-sized knots made from Kevlar-reinforced liquid crystal elastomer (LCE) composite fibers. The LCE shell with twisted mesogens undergoes torsional deformation, generating an actuation force that overcomes friction, converting the stored elastic energy into kinetic energy for launching tall and rapid leaps with diverse posttakeoff motions depending on the knot topology. By manipulating the bending-twisting coupling and the unknotting numbers, we realize flipping, spinning, and sequential gymnastic in-air motions. We further program posttakeoff flight, including self-return and vertical descent by integrating a wing. Encoding topology and anisotropy provides a rich design space to program soft robots for rapid, agile, and highly efficient motions.
more »
« less
- PAR ID:
- 10704315
- Publisher / Repository:
- Science
- Date Published:
- Journal Name:
- Science
- Volume:
- 392
- Issue:
- 6796
- ISSN:
- 0036-8075
- Page Range / eLocation ID:
- 401 to 405
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
Soft robots promise improved safety and capability over rigid robots when deployed near humans or in complex, delicate, and dynamic environments. However, infinite degrees of freedom and the potential for highly nonlinear dynamics severely complicate their modeling and control. Analytical and machine learning methodologies have been applied to model soft robots but with constraints: quasi-static motions, quasi-linear deflections, or both. Here, we advance the modeling and control of soft robots into the inertial, nonlinear regime. We controlled motions of a soft, continuum arm with velocities 10 times larger and accelerations 40 times larger than those of previous work and did so for high-deflection shapes with more than 110° of curvature. We leveraged a data-driven learning approach for modeling, based on Koopman operator theory, and we introduce the concept of the static Koopman operator as a pregain term in optimal control. Our approach is rapid, requiring less than 5 min of training; is computationally low cost, requiring as little as 0.5 s to build the model; and is design agnostic, learning and accurately controlling two morphologically different soft robots. This work advances rapid modeling and control for soft robots from the realm of quasi-static to inertial, laying the groundwork for the next generation of compliant and highly dynamic robots.more » « less
-
In this work, we present a method to pattern liquid crystal elastomers (LCEs) in the micrometer range without using any mechanical processing steps to prepare micron sized LCE actuators compatible with microelectromechanical system (MEMS) technology. Multi-layer spin-coating processes are developed to synthesise and structure 300–3500 nm thick LCE films. A water soluble sacrificial layer, a photoalignment layer and a LCE formulation, which is polymerised and crosslinked in its liquid crystal phase, are spin-coated successively onto a substrate. A fluorinated photoresist layer is used to structure LCE films with thicknesses up to 700 nm in a photolithographic and etching process. For thicker LCE films a hard mask process, using hydrogen silsesquioxane (HSQ) as hard mask, is used. Film thicknesses and homogeneities are analysed with profilometry. Actuation motions of LCE layers are investigated before and after patterning and LCE patterns are investigated via (polarised optical) microscopy (POM), scanning electron microscopy (SEM) and profilometry. A resolution of 1.5–2.0 microns is achieved with the described techniques, which make deformable micron sized LCE actuators of variable shape and director orientation accessible. The presented results demonstrate the potential of LCEs in MEMS devices.more » « less
-
A liquid crystalline elastomer (LCE) network consisting of dynamic covalent bonds (DCBs) is referred as a LCE vitrimer. The mesogen alignment and the network topology can be reprogrammed locally in the LCE vitrimer by activating the bond exchange reactions using an external stimulus. After removal of the external stress, a new network is formed and the reprogrammed shape can be fixed, leading to a different set of the physical properties of the LCE vitrimers. Herein, this type of emerging materials is reviewed by a brief introduction of the fundamentals of LCEs, followed by discussions of various DCBs and the design principles for LCE vitrimers. After a presentation of different strategies to improve the stability and reprogrammability of the registered mesogen alignment, approaches to prepare LCE vitrimers with complex shapes and their actuations are discussed. Potential applications such as self‐healing and recycling, mechanochromic effects, and post‐functionalization of nanopores are also reviewed, followed by the conclusion of the remaining challenges and opportunities.more » « less
-
Abstract Mechanotherapy has emerged as a promising treatment for tissue injury. However, existing robots for mechanotherapy are often designed on intuition, lack remote and wireless control, and have limited motion modes. Herein, through topology optimization and hybrid fabrication, wireless magneto‐active soft robots are created that can achieve various modes of programmatic deformations under remote magnetic actuation and apply mechanical forces to tissues in a precise and predictable manner. These soft robots can quickly and wirelessly deform under magnetic actuation and are able to deliver compressing, stretching, shearing, and multimodal forces to the surrounding tissues. The design framework considers the hierarchical tissue‐robot interaction and, therefore, can design customized soft robots for different types of tissues with varied mechanical properties. It is shown that these customized robots with different programmable motions can induce precise deformations of porcine muscle, liver, and heart tissues with excellent durability. The soft robots, the underlying design principles, and the fabrication approach provide a new avenue for developing next‐generation mechanotherapy.more » « less
