Soft, worm-like robots show promise in complex and constrained environments due to their robust, yet simple movement patterns. Although many such robots have been developed, they either rely on tethered power supplies and complex designs or cannot move external loads. To address these issues, we here introduce a novel, maggot-inspired, magnetically driven “mag-bot” that utilizes shape memory alloy-induced, thermoresponsive actuation and surface pattern-induced anisotropic friction to achieve locomotion inspired by fly larvae. This simple, untethered design can carry cargo that weighs up to three times its own weight with only a 17% reduction in speed over unloaded conditions thereby demonstrating, for the first time, how soft, untethered robots may be used to carry loads in controlled environments. Given their small scale and low cost, we expect that these mag-bots may be used in remote, confined spaces for small objects handling or as components in more complex designs.
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Abstract -
We present a statistically-based theoretical framework to describe the mechanical response of dynamically crosslinked semi-flexible polymer networks undergoing finite deformation. The theory starts from a statistical description, via a distribution function, of the chain conformation and orientation. Assuming a so-called tangent affine deformation of the chains, this distribution is then allowed to evolve in time due to a combination of elastic network distortion and a permanent chain reconfiguration enabled by dynamic crosslinks. After presenting the evolution law for the chain distribution function, we reduce the theory to the evolution of the network conformation tensor in both its natural and current state. With this model, we use classical thermodynamics to determine how the stored elastic energy, energy dissipation, and true stress evolve in terms of the network conformation. We show that the model degenerates to classical anisotropic hyperelastic models when crosslinks are permanent, while we recover the classical form of the transient network theory (that describes hyper-viscoelasticity) when chains are fully flexible. Theoretical predictions are then illustrated and compared to the literature for both basic model problems and biomechanically relevant situationsmore » « lessFree, publicly-accessible full text available September 1, 2025
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We develop a physically-motivated mechanical theory for predicting the behavior of nematic elastomers – a subset of liquid crystal elastomers (LCEs). We begin with a statistical description of network geometry that naturally incorporates independent descriptors for the mesogens, which create the nematic phase, and the polymer chains, which are assumed to not deform affinely with global deformations. From here, we develop thermodynamically consistent constitutive laws based on classical continuum mechanics principles and ultimately provide simple governing equations that have a transparent physical interpretation. We found that our framework converges identically to two previously developed mechanical theories, including the well-known neo-classical theory when considering the extreme ends of our parametric space. We then explore the new predictive capabilities of our model inside these two extremes and illustrate its unique predictions at finite strains, which are distinct in form from other theories. We validate our model using published experimental data from four monodomain nematic liquid crystal elastomers.more » « lessFree, publicly-accessible full text available September 1, 2025
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Despite hundreds of studies involving slide-ring gels derived from cyclodextrin (CD)-based polyrotaxanes (PRs), their covalent cross-linking kinetics are not well characterized. We employ chemorheology as a tool to measure the gelation kinetics of a model slide-ring organogel derived from α -cyclodextrin/poly (ethylene glycol) PRs cross-linked with hexamethylenediisocyanate (HMDI) in DMSO. The viscoelastic properties of the gels were monitored in situ by small-amplitude oscillatory shear (SAOS) rheology, enabling us to estimate the activation barrier and rate law for cross-linking while mapping experimental parameters to kinetics and mechanical properties. Gelation time, gel point, and final gel elasticity depend on cross-linker concentration, but polyrotaxane concentration only affects gelation time and elasticity (not gel point), while temperature only affects gelation time and gel point (not final elasticity). These measurements facilitate the rational design of slide-ring networks by simple parameter selection (temperature, cross-linker concentration, PR concentration, reaction time).more » « less
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Ring-sliding behavior in polyrotaxanes imbues gels, elastomers, and glasses with remarkable stress-dissipation and actuation properties. Since these properties can be modulated and tuned by structural parameters, many efforts have been devoted to developing synthetic protocols that define the structures and properties of slide-ring materials. We introduce post-synthetic modifications of slide-ring gels derived from unmodified α-cyclodextrin and poly(ethylene glycol) polyrotaxanes that enable (i) actuation and control of the thermo-responsive lower critical solution temperature (LCST) behavior of ring-modified slide-ring hydrogels, and (ii) chemically bonding separate gels into hybrid or shape-reconfigured macro-structures with a slide-ring adhesive solution. The mechanical properties of the post-modified gels have been characterized by shear rheology and uniaxial tensile tests, while the corresponding xerogels were characterized by wide-angle X-ray scattering. These demonstrations show that post-synthetic modification offers a practical solution for re-configuring the properties and shapes of slide-ring gels.more » « less