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Structurally isolated photoactuation of graphene-mixed temperature-responsive hydrogels in soft-rigid series structure
ROBOMECH Journal ( IF 1.5 ) Pub Date : 2019-09-18 , DOI: 10.1186/s40648-019-0140-3
Tomoki Watanabe , Yoshiyuki Yokoyama , Takeshi Hayakawa

This paper presents fabrication and actuation methods for a soft microrobot with a hybrid structure composed of soft microactuators and a rigid supporting body. This hybrid structure enables actuation of the microrobot with independent driving of multiple actuators to provide complex movement like that of living microorganisms. We use the temperature-responsive hydrogel poly(N-isopropylacrylamide) (PNIPAAm) as a soft microactuator. PNIPAAm swells with water at low temperature but shrinks at high temperature. This volume change thus allows PNIPAAm to be used as an actuator by controlling its temperature. We successfully fabricated the microrobot with its soft-rigid hybrid structure composed of PNIPAAm and rigid photoresist using a multilayered microfabrication process. In addition, we used a sacrificial layer process to release the fabricated microrobot from the substrate to allow it to move freely. To actuate the microrobot, we mixed PNIPAAm with graphene, which has a high photothermal conversion efficiency. The temperature of the soft actuator when mixed with graphene can be increased by irradiating it with light. Therefore, actuation of the microrobot is achieved by sequentially irradiating the microactuators with focused light. We present the fabrication, release and partial actuation of the microrobot to demonstrate the feasibility of the proposed microrobot with the soft-rigid hybrid structure in this paper.

中文翻译:

刚性串联结构中石墨烯混合的温度响应水凝胶的结构隔离光致活化

本文提出了一种具有混合结构的软微型机器人的制造和驱动方法,该混合结构由软微型致动器和刚性支撑体组成。这种混合结构能够通过独立驱动多个致动器来致动微型机器人,从而提供类似于活微生物的复杂运动。我们使用温度响应水凝胶聚(N-异丙基丙烯酰胺)(PNIPAAm)作为软微致动器。PNIPAAm在低温下会溶胀,但在高温下会收缩。因此,这种体积变化可通过控制其温度将PNIPAAm用作执行器。我们使用多层微细加工工艺成功地制造了具有由PNIPAAm和刚性光刻胶组成的软刚性混合结构的微型机器人。此外,我们使用了牺牲层工艺将制造的微型机器人从基板上释放出来,以使其自由移动。为了启动微型机器人,我们将PNIPAAm与石墨烯混合,该石墨烯具有很高的光热转换效率。当与石墨烯混合时,可以通过照射光来提高软致动器的温度。因此,通过依次用聚焦光照射微型致动器来实现微型机器人的致动。我们介绍了微型机器人的制造,释放和部分致动,以证明本文提出的具有软刚性混合结构的微型机器人的可行性。当与石墨烯混合时,可以通过照射光来提高软致动器的温度。因此,通过依次用聚焦光照射微型致动器来实现微型机器人的致动。我们介绍了微型机器人的制造,释放和部分致动,以证明本文提出的具有软刚性混合结构的微型机器人的可行性。当与石墨烯混合时,可以通过照射光来提高软致动器的温度。因此,通过依次用聚焦光照射微型致动器来实现微型机器人的致动。我们介绍了微型机器人的制造,释放和部分致动,以证明本文提出的具有软刚性混合结构的微型机器人的可行性。
更新日期:2019-09-18
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