Son Hyegyo, Byun Eunjeong, Yoon Yeon Ju, Nam JuHong, Song Seung Hyun, Yoon ChangKyu
Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, 04310, South Korea.
Department of Electronics Engineering, Sookmyung Women's University, Seoul, 04310, South Korea.
ACS Macro Lett. 2020 Dec 15;9(12):1766-1772. doi: 10.1021/acsmacrolett.0c00702. Epub 2020 Nov 20.
Stimuli-responsive hydrogels that exhibit reversible volume changes in response to stimulus cues such as heat, pH, and light have been utilized in soft robotics, microfluidics, electronics, and biomedical surgical tools. While the development of the soft robotics has widely expanded, most external triggering systems still have limited utilities due to the low selectivity. We present a hybrid gripper capable of undergoing preprogrammed shape transformation utilizing ultrasound energy on-off processes as the external triggering system, which can be utilized in invisible and nonselective environments. Furthermore, we describe the magnetic locomotion of the soft gripper enabled by the introduction of iron oxide (FeO) ferrogel. By integrating these dual ultrasonic and magnetic control systems, we demonstrate the soft gripper could actively and safely perform pick-and-place tasks on a biological salmon roe in the aqueous maze environment. We expect that this study can provide the groundwork for the further important advances to the creation of ultrasound-responsive shape programmable and multifunctional smart soft robots.
对热、pH值和光等刺激线索表现出可逆体积变化的刺激响应水凝胶已被应用于软机器人技术、微流体、电子和生物医学手术工具中。虽然软机器人技术的发展已广泛扩展，但由于选择性低，大多数外部触发系统的用途仍然有限。我们展示了一种混合夹具，它能够利用超声能量的开启-关闭过程作为外部触发系统进行预编程的形状转换，该系统可用于不可见和非选择性环境。此外，我们描述了通过引入氧化铁（FeO）铁凝胶实现的软夹具的磁驱动。通过集成这两种超声和磁控制系统，我们证明了软夹具能够在水迷宫环境中的生物鲑鱼卵上主动且安全地执行抓取和放置任务。我们期望这项研究能够为创建超声响应形状可编程和多功能智能软机器人的进一步重要进展奠定基础。
