Ren Ziyu, Zhang Mingchao, Song Shanyuan, Liu Zemin, Hong Chong, Wang Tianlu, Dong Xiaoguang, Hu Wenqi, Sitti Metin
Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany.
Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland.
Sci Adv. 2022 Aug 26;8(34):eabq2345. doi: 10.1126/sciadv.abq2345.
The fluid manipulation capabilities of current artificial cilia are severely handicapped by the inability to reconfigure near-surface flow on various static or dynamically deforming three-dimensional (3D) substrates. To overcome this challenge, we propose an electrically driven soft-robotic ciliated epidermis with multiple independently controlled polypyrrole bending actuators. The beating kinematics and the coordination of multiple actuators can be dynamically reconfigured to control the strength and direction of fluid transportation. We achieve fluid transportation along and perpendicular to the beating directions of the actuator arrays, and toward or away from the substrate. The ciliated epidermises are bendable and stretchable and can be deployed on various static or dynamically deforming 3D surfaces. They enable previously difficult to obtain fluid manipulation functionalities, such as transporting fluid in tubular structures or enhancing fluid transportation near dynamically bending and expanding surfaces.
当前人造纤毛的流体操控能力因无法在各种静态或动态变形的三维（3D）基底上重新配置近表面流而受到严重限制。为了克服这一挑战，我们提出了一种具有多个独立可控聚吡咯弯曲致动器的电驱动软机器人纤毛表皮。多个致动器的跳动运动学和协调可以动态重新配置，以控制流体输送的强度和方向。我们实现了沿致动器阵列的跳动方向以及垂直于该方向、朝向或远离基底的流体输送。这种纤毛表皮可弯曲、可拉伸，能够部署在各种静态或动态变形的3D表面上。它们实现了以前难以获得的流体操控功能，例如在管状结构中输送流体或增强在动态弯曲和扩张表面附近的流体输送。
