Name: four-dimensional printing of stimuli-responsive hydrogel-based soft robots
Uploaded: 2023-01-13T13:10:00
Description: Watch this Scientific Journal Video about Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots at JoVE.com

作者非常感谢韩国政府（MSIT）资助的韩国国家研究基金会（NRF）资助的支持（No.2022R1F1A1074266）。

刺激响应软夹具由三种不同类型的水凝胶组成：非刺激响应丙烯酰胺（AAm）基水凝胶，热响应N-异丙基丙烯酰胺（NIPAM）基水凝胶和 磁性响应铁凝胶（图1）。这三种水凝胶油墨是通过修改先前发表的方法29、30、31制备的。本研究中提供的数据可应通讯作者的要求获得。
1. ?...

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在软混合夹持器的材料选择方面，首先制备了由非刺激响应AAm基水凝胶、热响应NIPAM基水凝胶和磁响应铁凝胶组成的多响应材料体系，使软混合夹持器表现出可编程的运动和形状转换。由于其热响应溶胀-溶胀特性，基于NIPAM的水凝胶在用具有不同溶胀特性的水凝胶（例如AAm基水凝胶1）制造为双层或双条结构时表现出弯曲，折叠或起皱。此外，水凝胶可以通过嵌入氧化铁（Fe2</...

从技术和智力的角度来看，刺激响应软机器人的开发都很重要。术语刺激响应软机器人通常是指由水凝胶、聚合物、弹性体或混合体组成的设备/系统，这些设备/系统响应外部线索（如热量、pH 值和光）而表现出形状变化1，2，3，4。在众多刺激响应软机器人中，基于N-异丙基丙烯酰胺（NIPAM）水凝胶的软机器人使用自发形状转换5，6，7，8执行所需的任务或相互作用。通常，基于NIPAM的水凝胶表现出低临界溶液温度（LCST），并且在32°C和36°C之间的生理温度附近的水凝胶系统内发生溶胀（亲水性低于LCST）和脱胀（疏水性高于LCST）性能变化9，10。LCST尖锐临界过渡点附近的这种可逆溶胀机制可以产生基于NIPAM的水凝胶软机器人2的形状转变。因此，基于热响应NIPAM的水凝胶软机器人具有改进的操作，例如行走，抓取，爬行和传感，这在多功能机械手，医疗保健系统和智能传感器中非常重要2，3，4，11，12，13，14，15，16，17， 18，19，20，21.
在制造刺激响应软机器人时，三维（3D）打印方法已广泛使用，使用直接逐层加法工艺22。各种材料，如塑料和软水凝胶，可以用3D打印23，24打印。最近，4D打印被广泛强调为一种用于创建形状可编程软机器人25，26，27，28的创新技术。这种4D打印基于3D打印，4D打印的关键特征是3D结构可以随着时间的推移改变其形状和属性。4D打印和刺激响应水凝胶的结合提供了另一种创新途径，以创建智能3D设备，当暴露于适当的外部刺激触发器（如热，pH，光以及磁场和电场）时，这些设备会随着时间的推移而改变形状25，26，27，28.这种使用各种刺激响应水凝胶的4D打印技术的发展为形状可变形的软机器人的出现提供了机会，这些机器人具有更高的响应速度和反馈灵敏度，可以显示多功能性。
本研究描述了3D打印驱动的热响应软夹持器的创建，该夹具显示形状转换和运动。值得注意的是，所描述的特定程序可用于制造各种多功能软机器人，其整体尺寸范围从毫米到厘米长度尺度。最后，预计该协议可以应用于多个领域，包括软机器人（例如，智能执行器和运动机器人），柔性电子（例如，光电传感器和芯片实验室）和医疗保健系统（例如，药物输送胶囊，活检工具和手术设备）。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>2-Hydroxy-4&#39;-(2-hydroxyethoxy)-2-methylpropiophenone</td>
			<td>Sigma Aldrich</td>
			<td>410896-50G</td>
			<td>Irgacure 2959, photoinitiator</td>
		</tr>
		<tr>
			<td>3D WOX 2X</td>
			<td>sindoh</td>
			<td>n/a</td>
			<td>3D printer for fabricating a maze</td>
		</tr>
		<tr>
			<td>Acrylamide</td>
			<td>Sigma-Aldrich</td>
			<td>29-007</td>
			<td>&#8805;99%</td>
		</tr>
		<tr>
			<td>Airbrush compressor</td>
			<td>WilTec</td>
			<td>AF18-2</td>
			<td></td>
		</tr>
		<tr>
			<td>Ammonium persulfate</td>
			<td>Sigma Aldrich</td>
			<td>A4418</td>
			<td></td>
		</tr>
		<tr>
			<td>Auto CAD</td>
			<td>Autodesk</td>
			<td>n/a</td>
			<td>software for computer-aided-design file</td>
		</tr>
		<tr>
			<td>BLX UV crosslinker</td>
			<td>BIO-LINK</td>
			<td>U01-133-565</td>
			<td></td>
		</tr>
		<tr>
			<td>Cartridge</td>
			<td>CELLINK</td>
			<td>CSC010300102</td>
			<td></td>
		</tr>
		<tr>
			<td>Digital stirring Hot Plates</td>
			<td>Corning</td>
			<td>6798-420D</td>
			<td></td>
		</tr>
		<tr>
			<td>Fluorescein O-methacrylate</td>
			<td>Sigma Aldrich</td>
			<td>568864</td>
			<td>dye of AAm gel</td>
		</tr>
		<tr>
			<td>INKREDIBLE+ bioprinter</td>
			<td>CELLINK</td>
			<td>n/a</td>
			<td></td>
		</tr>
		<tr>
			<td>Iron(III) Oxide red</td>
			<td>DUKSAN general science</td>
			<td>I0231</td>
			<td></td>
		</tr>
		<tr>
			<td>Laponite RD</td>
			<td>BYK</td>
			<td>n/a</td>
			<td>nanoclay</td>
		</tr>
		<tr>
			<td>Microcentrifuge tube</td>
			<td>SPL</td>
			<td>60615</td>
			<td></td>
		</tr>
		<tr>
			<td>Micro stirrer bar</td>
			<td>Cowie</td>
			<td>27-00360-08</td>
			<td>&#934;3&#215;<img alt="Equation 1" src="/files/ftp_upload/64870/64870img01.png" />0&#160;</td>
		</tr>
		<tr>
			<td>N, N, N&#39;, N&#39;-tetramethylethylenediamine</td>
			<td>Sigma Aldrich</td>
			<td>T7024-100ML</td>
			<td></td>
		</tr>
		<tr>
			<td>N, N&#39;-methylenebisacrylamide</td>
			<td>Sigma Aldrich</td>
			<td>M7279</td>
			<td>&#8805;99.5%</td>
		</tr>
		<tr>
			<td>N-isopropylacrylamide</td>
			<td>Sigma-Aldrich</td>
			<td>415324-50G</td>
			<td></td>
		</tr>
		<tr>
			<td>Poly(N-isopropylacrylamide)</td>
			<td>Sigma-Aldrich</td>
			<td>535311</td>
			<td></td>
		</tr>
		<tr>
			<td>Rhodamine 6G</td>
			<td>Sigma Aldrich</td>
			<td>R4127</td>
			<td>dye of NIPAM gel</td>
		</tr>
		<tr>
			<td>Slic3r software (v1.2.9)</td>
			<td>Slic3r</td>
			<td>n/a</td>
			<td>open-source software to convert .stl file to gcode</td>
		</tr>
		<tr>
			<td>Sodium hydroxide beads</td>
			<td>Sigma Aldrich</td>
			<td>S5881</td>
			<td></td>
		</tr>
		<tr>
			<td>Sterile high-precision conical bioprinting nozzles</td>
			<td>CELLINK</td>
			<td>NZ3270005001</td>
			<td>22 G, 25 G</td>
		</tr>
		<tr>
			<td>Syringe</td>
			<td>Korea vaccine</td>
			<td>K07415389</td>
			<td>10 CC 21 G (1-1/4 INCH)</td>
		</tr>
		<tr>
			<td>Vortex mixer</td>
			<td>DAIHAN</td>
			<td>DH.WVM00030</td>
			<td></td>
		</tr>
	</tbody>
</table>

four-dimensional printing of stimuli-responsive hydrogel-based soft robots

本协议描述了使用三维（3D）生物打印方法创建四维（4D），时间依赖性，形状可变，刺激响应软机器人。最近，4D打印技术被广泛提出作为开发形状可变形软机器人的创新新方法。特别是，4D随时间变化的形状转换是软机器人中的一个重要因素，因为它允许在由外部线索（如热，pH和光）触发时在正确的时间和地点发生有效的功能。根据这一观点，可以打印刺激响应材料，包括水凝胶、聚合物和杂化材料，以实现智能形状可变形的软机器人系统。目前的协议可用于制造由 N-异丙基丙烯酰胺（NIPAM）基水凝胶组成的热响应软夹具，整体尺寸从毫米到厘米不等。预计本研究将为智能机械手（如抓手、执行器和拾取和放置机）、医疗保健系统（如药物胶囊、活检工具和显微手术）和电子（如可穿戴传感器和流体）等各种应用的智能软机器人系统提供新的方向。

在设计热响应软夹具时主要考虑基于NIPAM的水凝胶，因为它具有锋利的LCST，这使其表现出显着的溶胀性能9，10。此外，基于AAm的水凝胶被认为是一种非刺激响应系统，以最大限度地提高软混合夹具的形状转换，同时减少多次加热和冷却过程中界面的分层。此外，铁凝胶被集成到该混合系统中，以创建磁场响应的软混合夹具，用于磁场驱动的运动的不受?...

Watch this Scientific Journal Video about Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots at JoVE.com

Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots

这份手稿描述了一种4D打印策略，用于制造智能刺激响应软机器人。这种方法可以为促进智能形状可变形软机器人系统的实现提供基础，包括智能机械手、电子和医疗保健系统。

刺激响应水凝胶软机器人的四维打印

The present protocol describes the creation of four-dimensional (4D), time-dependent, shape-changeable, stimuli-responsive soft robots using a ...

所提出的协议有望为实现各种应用的智能、形状可变形、软机器人系统提供新的方向。4D时间依赖性打印工艺可以创建各种刺激响应软机器人，尺寸范围很广，从毫米到厘米。这种4D生物打印技术可以扩展到医疗保健工程中的靶向药物输送，显微手术和微创活检。纯文本信息可能会给读者带来歧义，因此视觉演示对于帮助实现预期结果至关重要。为了制备非刺激响应性丙烯酰胺基水凝胶油墨，请使用磁力搅拌器在去离子水中稀释丙烯酰胺、交联剂和光引发剂 24 小时。为了制备刺激响应的N-异丙基丙烯酰胺类水凝胶油墨，将稀释的N-异丙基丙烯酰胺、丙基N-异丙基丙烯酰胺和光引发剂，在去离子水中，使用磁力搅拌器24小时。然后将染料加入丙烯酰胺凝胶和N-异丙基丙烯酰胺凝胶中，并以每分钟1150转或至少六小时的速度涡旋剪切剂Laponite RD，直到它们完全稀释。然后按照文本中提供的说明制备水凝胶墨水。为了制备铁凝胶油墨，首先，根据文中描述的方案制备A溶液和B溶液。要进行聚合，将200微升A溶液和5微升B溶液转移到微量离心管中，并将混合物涡旋20秒。使用切片器软件，为先前通过优化夹具设计创建的每个结构生成G代码。指定 0.4 毫米的图层高度。填充密度为75%，打印速度为每秒10毫米。使用双打印头编辑 G 代码文件。将 G 代码文件保存在安全的数字或 SD 卡上，然后再将其连接到 3D 打印机。将丙烯酰胺基和N-异丙基丙烯酰胺基水凝胶墨盒连接到相应的喷嘴后，检查墨盒的两个打印头是否在Z轴上的相同位置。然后精确校准 X 和 Y 坐标，以避免两个喷嘴之间的错位。现在，将丙烯酰胺基水凝胶的打印压力设置为20至25千帕，将N-异丙基丙烯酰胺基水凝胶的印刷压力设置为10至15千帕。在每个样品完全打印后重复这些步骤，以打印下一个样品。在UV光固化之前，使用注射器将磁场响应铁凝胶油墨注入3D打印软夹具的目标薄孔区域。注射铁凝胶后，将夹持器结构置于波长为365纳米的紫外源室内六分钟。紫外光固化后，将夹持器结构转移到去离子水浴中，至少24小时，直到其达到完全膨胀的平衡状态。软混合夹持器通过热响应驱动和磁力运动执行拾取和放置任务。当温度升高到低于临界溶液温度或LCST以上时，N-异丙基丙烯酰胺基水凝胶脱胀并收缩，关闭夹持器尖端。相反，当温度降至LCST以下时，由于N-异丙基丙烯酰胺基水凝胶的膨胀，夹持器尖端打开。夹持器还演示了在充满去离子水的3D打印样品迷宫内的拾取和放置任务。夹持器处于尖端打开状态，由外部磁铁从其起始位置引导至目标鲑鱼卵。当温度达到40摄氏度时，夹具的尖端关闭以夹住鲑鱼子。夹持鲑鱼子时被引导出迷宫，在25摄氏度的室温下，它成功地将完整的鲑鱼子以尖端打开状态释放到目标区域。在校准两个喷嘴之间的坐标点时，必须小心实验。这个过程需要大量的练习。该特定协议为实现精确可控、高灵敏度和多功能智能刺激响应软机器人的进一步重大进展奠定了基础。

Research

JoVE Journal

Engineering

Micro 3D Printing Using a Digital Projector and its Application in the Study of Soft Materials Mechanics

微三维打印使用数字投影机和软材料力学的研究及其应用

Buckling is a classical topic in mechanics. While buckling has long been studied as one of the major structural failure modes1, it has recently drawn new ...

科研

工程学

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

SSVEP基础实验步骤与人形机器人脑机器人互动

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in ...

Digital Printing of Titanium Dioxide for Dye Sensitized Solar Cells

钛白粉用于染料敏化太阳能电池的数码印刷

Silicon solar cell manufacturing is an expensive and high energy consuming process. In contrast, dye sensitized solar cell production is less ...

3D Printing of Biomolecular Models for Research and Pedagogy

生物分子模型的3D打印技术的研究与教学

The construction of physical three-dimensional (3D) models of biomolecules can uniquely contribute to the study of the structure-function relationship. 3D ...

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

斜腔软气动网络驱动器的研制

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending ...

Scalable Stamp Printing and Fabrication of Hemiwicking Surfaces

可缩放邮票印刷及不堪砌面的制作

Hemiwicking is a process where a fluid wets a patterned surface beyond its normal wetting length due to a combination of capillary action and imbibition. ...

Hybrid Printing for the Fabrication of Smart Sensors

用于智能传感器制造的混合打印

A method to combine additively manufactured substrates or foils and multilayer inkjet printing for the fabrication of sensor devices is presented. First, ...

Studying Large Amplitude Oscillatory Shear Response of Soft Materials

软材料大振幅振荡剪切响应的研究

We investigate the sequence of physical processes exhibited during large amplitude oscillatory shearing (LAOS) of polyethylene oxide (PEO) in dimethyl ...

Multimodal 3D Printing of Phantoms to Simulate Biological Tissue

幻影的多模态3D打印模拟生物组织

Biomedical optical imaging is playing an important role in diagnosis and treatment of various diseases. However, the accuracy and the reproducibility of ...

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

快速制造薄软气动执行器和机器人

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a ...