Compliant Metamaterials for Resonantly Enhanced Infrared Absorption Spectroscopy and Refractive Index Sensing

Metamaterials can be designed to operate at frequencies from the visible to the mid-IR, making these structures useful for both refractive index sensing and surface-enhanced infrared absorption spectroscopy. Here we investigate how the mechanical deformation of compliant metamaterials can be used to create new types of tunable sensing surfaces. For split ring resonator based metamaterials on polydimethylsiloxane we demonstrate refractive index sensing with figures of merit of up to 10.1. Given the tunability of the resonance of these structures through the infrared after fabrication, they are well suited for detection of the absorption signal of many typical vibrational modes. The results highlight the promise of postfabrication tunable sensors and the potential for integration

Myosin V passing over Arp2/3 junctions: branching ratio calculated from the elastic lever arm model

Myosin V is a two-headed processive motor protein that walks in a hand-over-hand fashion along actin filaments. When it encounters a filament branch, formed by the Arp2/3 complex, it can either stay on the straight mother filament, or switch to the daughter filament. We study both probabilities using the elastic lever arm model for myosin V. We calculate the shapes and bending energies of all relevant configurations in which the trail head is bound to the actin filament before Arp2/3 and the lead head is bound either to the mother or to the daughter filament. Based on the assumption that the probability for a head to bind to a certain actin subunit is proportional to the Boltzmann factor obtained from the elastic energy, we calculate the mother/daughter filament branching ratio. Our model predicts a value of 27% for the daughter and 73% for the mother filament. This result is in good agreement with recent experimental data.Comment: 9 pages, 7 figures, to appear in Biophysical Journa

Patterning nonisometric origami in nematic elastomer sheets

Nematic elastomers dramatically change their shape in response to diverse stimuli including light and heat. In this paper, we provide a systematic framework for the design of complex three dimensional shapes through the actuation of heterogeneously patterned nematic elastomer sheets. These sheets are composed of \textit{nonisometric origami} building blocks which, when appropriately linked together, can actuate into a diverse array of three dimensional faceted shapes. We demonstrate both theoretically and experimentally that: 1) the nonisometric origami building blocks actuate in the predicted manner, 2) the integration of multiple building blocks leads to complex multi-stable, yet predictable, shapes, 3) we can bias the actuation experimentally to obtain a desired complex shape amongst the multi-stable shapes. We then show that this experimentally realized functionality enables a rich possible design landscape for actuation using nematic elastomers. We highlight this landscape through theoretical examples, which utilize large arrays of these building blocks to realize a desired three dimensional origami shape. In combination, these results amount to an engineering design principle, which we hope will provide a template for the application of nematic elastomers to emerging technologies

Macrobend optical sensing for pose measurement in soft robot arms

This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic tracking system (NDI Aurora) for validation

Flagellar Radial Spoke Protein 2 Is a Calmodulin Binding Protein Required for Motility in \u3cem\u3eChlamydomonas reinhardtii\u3c/em\u3e

Genetic and morphological studies have revealed that the radial spokes regulate ciliary and flagellar bending. Functional and biochemical analysis and the discovery of calmodulin in the radial spokes suggest that the regulatory mechanism involves control of axonemal protein phosphorylation and calcium binding to spoke proteins. To identify potential regulatory proteins in the radial spoke, in-gel kinase assays were performed on isolated axonemes and radial spoke fractions. The results indicated that radial spoke protein 2 (RSP2) can bind ATP and transfer phosphate in vitro. RSP2 was cloned and mapped to the PF24 locus, a gene required for motility. Sequencing revealed that pf24 contains a point mutation converting the first ATG to ATA, resulting in only trace amounts of RSP2 and confirming the RSP2 mapping. Surprisingly, the sequence does not include signature domains for conventional kinases, indicating that RSP2 may not perform as a protein kinase in vivo. However, the predicted RSP2 protein sequence contains Ca2+-dependent calmodulin binding motifs and a GAF domain, a domain found in diverse signaling proteins for binding small ligands including cyclic nucleotides. As predicted from the sequence, recombinant RSP2 binds calmodulin in a calcium-dependent manner. We postulate that RSP2 is a regulatory subunit of the radial spoke involved in localization of calmodulin for control of motility

Auxetic two-dimensional lattice with Poisson's Ratio arbitrarily close to -1

In this paper we propose a new lattice structure having macroscopic Poisson's ratio arbitrarily close to the stability limit -1. We tested experimentally the effective Poisson's ratio of the micro-structured medium; the uniaxial test has been performed on a thermoplastic lattice produced with a 3d printing technology. A theoretical analysis of the effective properties has been performed and the expression of the macroscopic constitutive properties is given in full analytical form as a function of the constitutive properties of the elements of the lattice and on the geometry of the microstructure. The analysis has been performed on three micro-geometry leading to an isotropic behaviour for the cases of three-fold and six-fold symmetry and to a cubic behaviour for the case of four-fold symmetry.Comment: 26 pages, 12 figures (26 subfigures

SIMBA: Tendon-Driven Modular Continuum Arm with Soft Reconfigurable Gripper

In this paper, we describe the conceptual design and implementation of the Soft Compliant Manipulator for Broad Applications (SIMBA) manipulator, which is designed and developed for participating in the RoboSoft Grand Challenge 2016. In our novel design, we have proposed (1) a modular continuum arm with independent actuation units for each module, to increase maintainability; (2) a soft reconfigurable hand, for a better adaptation of the fingers to objects of different shapes and size; (3) a moving base for increasing the workspace. We used a hybrid approach in designing and manufacturing by integrating soft and hard components, in both materials and actuation, providing high lateral stiffness in the arm through flat springs, soft joints in fingers for more compliancy and tendon-motor actuation mechanism providing flexibility but at the same time precision and speed. The SIMBA manipulator has demonstrated excellent grasping and manipulation capabilities by being able to grasp objects with different fragility, geometry, and size; and by lifting objects with up to 2 kg of weight it demonstrate also to be robust and reliable. The experimental results pointed out that our design and approach can lead to the realization of robots able to act in unknown and unstructured environments in synergy with humans, for a variety of applications where compliancy is fundamental, preserving robustness and safety

Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators

This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices