Optically controlled grasping-slipping robot moving on tubular surfaces

Stimuli-responsive polymers provide unmatched opportunities for remotely controlled soft robots navigating in complex environments. Many of the responsive-material-based soft robots can walk on open surfaces, with movement directionality dictated by the friction anisotropy at the robot-substrate interface. Translocation in one-dimensional space such as on a tubular surface is much more challenging due to the lack of efficient friction control strategies. Such strategies could in long term provide novel application prospects in, e.g. overhaul at high altitudes and robotic operation within confined environments. In this work, we realize a liquid-crystal-elastomer-based soft robot that can move on a tubular surface through optical control over the grasping force exerted on the surface. Photoactuation allows for remotely switched gripping and friction control which, together with cyclic body deformation, enables light-fueled climbing on tubular surfaces of glass, wood, metal, and plastic with various cross-sections. We demonstrate vertical climbing, moving obstacles along the path, and load-carrying ability (at least 3 × body weight). We believe our design offer new prospects for wirelessly driven soft micro-robotics in confined spacing.publishedVersionPeer reviewe

Optically Controlled Latching and Launching in Soft Actuators

Snapping is an abrupt reaction, in which mechanical instability allows the structure to rapidly switch from one stabilized form to another. Snapping is attained through a sudden release of prestored elastic energy. It is perfected by natural species to enhance their preying, locomotion, and reproduction abilities. Recent developments in responsive materials research has allowed the realization of bioinspired snappers and rapidly moving soft robots triggered by external stimuli. However, it remains a grand challenge to reversibly and accurately control the snapping dynamics in terms of, e.g., onset timing and speed of motion. Here, a facile method to obtain light-fueled snapping-like launching with precise control over the elastic energy released and the onset timing is reported. The elastic energy is prestored in a light-responsive liquid crystal elastomer actuator, and the launching event is dictated by releasing the energy through a photothermally induced crystal-to-liquid transition of a liquid-crystalline adhesive latch. The method provides manual control over the amount of prestored energy, motion speed upon multiple launching events, and enables demonstrations such as jumping and catapult motions in soft robots and concerted motions of multiple launchers. The results provide a practical solution for controlled fast motions in soft small-scale robotics.publishedVersionPeer reviewe

Liquid Crystal Networks Meet Water : It's Complicated!

Soft robots are composed of compliant materials that facilitate high degrees of freedom, shape-change adaptability, and safer interaction with humans. An attractive choice of material for soft robotics is crosslinked networks of liquid crystal polymers (LCNs), as they are responsive to a wide variety of external stimuli and capable of undergoing fast, programmable, complex shape morphing, which allows for their use in a wide range of soft robotic applications. However, unlike hydrogels, another popular material in soft robotics, LCNs have limited applicability in flooded or aquatic environments. This can be attributed not only to the poor efficiency of common LCN actuation methods underwater but also to the complicated relationship between LCNs and water. In this review, the relationship between water and LCNs is elaborated and the existing body of literature is surveyed where LCNs, both hygroscopic and non-hygroscopic, are utilized in aquatic soft robotic applications. Then the challenges LCNs face in widespread adaptation to aquatic soft robotic applications are discussed and, finally, possible paths forward for their successful use in aquatic environments are envisaged.Peer reviewe

Halogen-bonded shape memory polymers

Halogen bonding (XB), a non-covalent interaction between an electron-deficient halogen atom and a Lewis base, is widely adopted in organic synthesis and supramolecular crystal engineering. However, the roadmap towards materials applications is hindered by the challenges in harnessing this relatively weak intermolecular interaction to devise human-commanded stimuli-responsive soft materials. Here, we report a liquid crystalline network comprising permanent covalent crosslinks and dynamic halogen bond crosslinks, which possess reversible thermo-responsive shape memory behaviour. Our findings suggest that I···N halogen bond, a paradigmatic motif in crystal engineering studies, enables temporary shape fixation at room temperature and subsequent shape recovery in response to human body temperature. We demonstrate versatile shape programming of the halogen-bonded polymer networks through human-hand operation and propose a micro-robotic injection model for complex 1D to 3D shape morphing in aqueous media at 37 °C. Through systematic structure-property-performance studies, we show the necessity of the I···N crosslinks in driving the shape memory effect. The halogen-bonded shape memory polymers expand the toolbox for the preparation of smart supramolecular constructs with tailored mechanical properties and thermoresponsive behaviour, for the needs of, e.g., future medical devices.publishedVersionPeer reviewe

Feedback-controlled hydrogels with homeostatic oscillations and dissipative signal transduction

We thank Henri Savolainen for the help with AuNPs synthesis, Jaakko Timonen for the help with numerical simulation, Olena Khoruzhenko for the help with figure illustrations, Haotian Pi for the discussion on heat transfer processes, and the provision of facilities and technical support by Aalto University at OtaNano - Nanomicroscopy Center (Aalto-NMC). We acknowledge funding from Academy of Finland (Postdoctoral Researcher No. 331015 to H. Zhang, Research Fellow No. 340263 to H. Zeng, Center of Excellence in Life-Inspired Hybrid Materials - LIBER No. 346107 to A.P. and No. 346108 to O.I. the PREIN Flagship Programme No. 320165), and the European Research Council (Advanced Grant DRIVEN No. 742829 to O.I. and Starting Grant PHOTOTUNE No. 679646 to A.P.) | openaire: EC/H2020/742829/EU//DRIVENDriving systems out of equilibrium under feedback control is characteristic for living systems, where homeostasis and dissipative signal transduction facilitate complex responses. This feature not only inspires dissipative dynamic functionalities in synthetic systems but also poses great challenges in designing novel pathways. Here we report feedback-controlled systems comprising two coupled hydrogels driven by constant light, where the system can be tuned to undergo stable homeostatic self-oscillations or damped steady states of temperature. We demonstrate that stable temperature oscillations can be utilized for dynamic colours and cargo transport, whereas damped steady states enable signal transduction pathways. Here mechanical triggers cause temperature changes that lead to responses such as bending motions inspired by the single-touch mechanoresponse in Mimosa pudica and the frequency-gated snapping motion inspired by the plant arithmetic in the Venus flytrap. The proposed concepts suggest generalizable feedback pathways for dissipative dynamic materials and interactive soft robotics.Peer reviewe

Force-induced ion generation in zwitterionic hydrogels for a sensitive silent-speech sensor

The development of sensitive hydrogel sensor without additional mobile ionic species is challenging. Here, the authors demonstrate force-induced ion generation in a skin sensor based on zwitterionic hydrogel, and build a throat-worn silent-speech recognition system with high recognition accuracy

Combined Metabolome and Transcriptome Analysis Highlights the Host’s Influence on <i>Cistanche deserticola</i> Metabolite Accumulation

The medicinal plant Cistanche deserticola Ma (Orobanchaceae) is a holoparasitic angiosperm that takes life-essential materials from Haloxylon ammodendron (C. A. Mey.) Bunge (Amaranthaceae) roots. Although many experiments have been conducted to improve the quality of C. deserticola, little attention has been paid to the host’s influence on metabolite accumulation. In this study, transcriptomic and metabolomic analyses were performed to unveil the host’s role in C. deserticola’s metabolite accumulation, especially of phenylethanoid glycosides (PhGs). The results indicate that parasitism by C. deserticola causes significant changes in H. ammodendron roots in relation to metabolites and genes linked to phenylalanine metabolism, tryptophan metabolism and phenylpropanoid biosynthesis pathways, which provide precursors for PhGs. Correlation analysis of genes and metabolites further confirms that C. deserticola’s parasitism affects PhG biosynthesis in H. ammodendron roots. Then we found specific upregulation of glycosyltransferases in haustoria which connect the parasites and hosts. It was shown that C. deserticola absorbs PhG precursors from the host and that glycosylation takes place in the haustorium. We mainly discuss how the host resists C. deserticola parasitism and how this medicinal parasite exploits its unfavorable position and takes advantage of host-derived metabolites. Our study highlights that the status of the host plant affects not only the production but also the quality of Cistanches Herba, which provides a practical direction for medicinal plant cultivation

Integrated Transcriptome and Metabolome Dynamic Analysis of Galls Induced by the Gall Mite <i>Aceria pallida</i> on <i>Lycium barbarum</i> Reveals the Molecular Mechanism Underlying Gall Formation and Development

Galls have become the best model for exploring plant–gall inducer relationships, with most studies focusing on gall-inducing insects but few on gall mites. The gall mite Aceria pallida is a major pest of wolfberry, usually inducing galls on its leaves. For a better understanding of gall mite growth and development, the dynamics of the morphological and molecular characteristics and phytohormones of galls induced by A. pallida were studied by histological observation, transcriptomics and metabolomics. The galls developed from cell elongation of the epidermis and cell hyperplasia of mesophylls. The galls grew quickly, within 9 days, and the mite population increased rapidly within 18 days. The genes involved in chlorophyll biosynthesis, photosynthesis and phytohormone synthesis were significantly downregulated in galled tissues, but the genes associated with mitochondrial energy metabolism, transmembrane transport, carbohydrates and amino acid synthesis were distinctly upregulated. The levels of carbohydrates, amino acids and their derivatives, and indole-3-acetic acid (IAA) and cytokinins (CKs), were markedly enhanced in galled tissues. Interestingly, much higher contents of IAA and CKs were detected in gall mites than in plant tissues. These results suggest that galls act as nutrient sinks and favor increased accumulation of nutrients for mites, and that gall mites may contribute IAA and CKs during gall formation

Selection and Validation of Reference Genes for Gene Expression in <i>Bactericera gobica</i> Loginova under Different Insecticide Stresses

Insecticide resistance has long been a problem in crop pest control. Bactericera gobica is a major pest on the well-known medicinal plants Lycium barbarum L. Investigating insecticide resistance mechanisms of B. gobica will help to identify pesticide reduction strategies to control the pest. Gene expression normalization by RT-qPCR requires the selection and validation of appropriate reference genes (RGs). Here, 15 candidate RGs were selected from transcriptome data of B. gobica. Their expression stability was evaluated with five algorithms (Delta Ct, GeNorm, Normfinder, BestKeeper and RefFinder) for sample types differing in response to five insecticide stresses and in four other experimental conditions. Our results indicated that the RGs RPL10 + RPS15 for Imidacloprid and Abamectin; RPL10 + AK for Thiamethoxam; RPL32 + RPL10 for λ-cyhalothrin; RPL10 + RPL8 for Matrine; and EF2 + RPL32 under different insecticide stresses were the most suitable RGs for RT-qPCR normalization. EF1α + RPL8, EF1α + β-actin, β-actin + EF2 and β-actin + RPS15 were the optimal combination of RGs under odor stimulation, temperature, developmental stages and both sexes, respectively. Overall, EF2 and RPL8 were the two most stable RGs in all conditions, while α-TUB and RPL32 were the least stable RGs. The corresponding suitable RGs and one unstable RG were used to normalize a target cytochrome P450 CYP6a1 gene between adult and nymph stages and under imidacloprid stress. The results of CYP6a1 expression were consistent with transcriptome data. This study is the first research on the most stable RG selection in B. gobica nymphs exposed to different insecticides, which will contribute to further research on insecticide resistance mechanisms in B. gobica