{"title":"从扑腾不稳定性中实现对软水凝胶游泳器的最小驱动和控制","authors":"Ariel Surya Boiardi, Giovanni Noselli","doi":"10.1016/j.jmps.2024.105753","DOIUrl":null,"url":null,"abstract":"<div><p>Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization of such coordinated beating in biomimetic flagella requires complex actuation modulated in space and time. We prove through experiments on polyelectrolyte hydrogel samples that directed undulatory locomotion of a soft robotic swimmer can be achieved by untethered actuation from a uniform and static electric field. A minimal mathematical model is sufficient to reproduce, and thus explain, the observed behavior. The periodic beating of the swimming hydrogel robot emerges from flutter instability thanks to the interplay between its active and passive reconfigurations in the viscous environment. Interestingly, the flutter-driven soft robot exhibits a form of electrotaxis whereby its swimming trajectory can be controlled by simply reorienting the electric field. Our findings trace the route for the embodiment of mechanical intelligence in soft robotic systems by the exploitation of flutter instability to achieve complex functional responses to simple stimuli. While the experimental study is conducted on millimeter-scale hydrogel swimmers, the design principle we introduce requires simple geometry and is hence amenable for miniaturization via micro-fabrication techniques. We believe it may also be transferred to a wider class of soft active materials.</p></div>","PeriodicalId":17331,"journal":{"name":"Journal of The Mechanics and Physics of Solids","volume":null,"pages":null},"PeriodicalIF":5.0000,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Minimal actuation and control of a soft hydrogel swimmer from flutter instability\",\"authors\":\"Ariel Surya Boiardi, Giovanni Noselli\",\"doi\":\"10.1016/j.jmps.2024.105753\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization of such coordinated beating in biomimetic flagella requires complex actuation modulated in space and time. We prove through experiments on polyelectrolyte hydrogel samples that directed undulatory locomotion of a soft robotic swimmer can be achieved by untethered actuation from a uniform and static electric field. A minimal mathematical model is sufficient to reproduce, and thus explain, the observed behavior. The periodic beating of the swimming hydrogel robot emerges from flutter instability thanks to the interplay between its active and passive reconfigurations in the viscous environment. Interestingly, the flutter-driven soft robot exhibits a form of electrotaxis whereby its swimming trajectory can be controlled by simply reorienting the electric field. Our findings trace the route for the embodiment of mechanical intelligence in soft robotic systems by the exploitation of flutter instability to achieve complex functional responses to simple stimuli. While the experimental study is conducted on millimeter-scale hydrogel swimmers, the design principle we introduce requires simple geometry and is hence amenable for miniaturization via micro-fabrication techniques. We believe it may also be transferred to a wider class of soft active materials.</p></div>\",\"PeriodicalId\":17331,\"journal\":{\"name\":\"Journal of The Mechanics and Physics of Solids\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":5.0000,\"publicationDate\":\"2024-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of The Mechanics and Physics of Solids\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0022509624002199\",\"RegionNum\":2,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"MATERIALS SCIENCE, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Mechanics and Physics of Solids","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022509624002199","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MATERIALS SCIENCE, MULTIDISCIPLINARY","Score":null,"Total":0}
Minimal actuation and control of a soft hydrogel swimmer from flutter instability
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization of such coordinated beating in biomimetic flagella requires complex actuation modulated in space and time. We prove through experiments on polyelectrolyte hydrogel samples that directed undulatory locomotion of a soft robotic swimmer can be achieved by untethered actuation from a uniform and static electric field. A minimal mathematical model is sufficient to reproduce, and thus explain, the observed behavior. The periodic beating of the swimming hydrogel robot emerges from flutter instability thanks to the interplay between its active and passive reconfigurations in the viscous environment. Interestingly, the flutter-driven soft robot exhibits a form of electrotaxis whereby its swimming trajectory can be controlled by simply reorienting the electric field. Our findings trace the route for the embodiment of mechanical intelligence in soft robotic systems by the exploitation of flutter instability to achieve complex functional responses to simple stimuli. While the experimental study is conducted on millimeter-scale hydrogel swimmers, the design principle we introduce requires simple geometry and is hence amenable for miniaturization via micro-fabrication techniques. We believe it may also be transferred to a wider class of soft active materials.
期刊介绍:
The aim of Journal of The Mechanics and Physics of Solids is to publish research of the highest quality and of lasting significance on the mechanics of solids. The scope is broad, from fundamental concepts in mechanics to the analysis of novel phenomena and applications. Solids are interpreted broadly to include both hard and soft materials as well as natural and synthetic structures. The approach can be theoretical, experimental or computational.This research activity sits within engineering science and the allied areas of applied mathematics, materials science, bio-mechanics, applied physics, and geophysics.
The Journal was founded in 1952 by Rodney Hill, who was its Editor-in-Chief until 1968. The topics of interest to the Journal evolve with developments in the subject but its basic ethos remains the same: to publish research of the highest quality relating to the mechanics of solids. Thus, emphasis is placed on the development of fundamental concepts of mechanics and novel applications of these concepts based on theoretical, experimental or computational approaches, drawing upon the various branches of engineering science and the allied areas within applied mathematics, materials science, structural engineering, applied physics, and geophysics.
The main purpose of the Journal is to foster scientific understanding of the processes of deformation and mechanical failure of all solid materials, both technological and natural, and the connections between these processes and their underlying physical mechanisms. In this sense, the content of the Journal should reflect the current state of the discipline in analysis, experimental observation, and numerical simulation. In the interest of achieving this goal, authors are encouraged to consider the significance of their contributions for the field of mechanics and the implications of their results, in addition to describing the details of their work.