Highly Integrated Multi‐Material Fibers for Soft Robotics

• Published in: Advanced science Vol. 10; no. 2; pp. e2204016 - n/a
• Main Authors: Leber, Andreas, Dong, Chaoqun, Laperrousaz, Stella, Banerjee, Hritwick, Abdelaziz, Mohamed E. M. K., Bartolomei, Nicola, Schyrr, Bastien, Temelkuran, Burak, Sorin, Fabien
• Format: Journal Article
• Language: English
• Published: Germany John Wiley & Sons, Inc 01.01.2023; John Wiley and Sons Inc
• Subjects: Elasticity; Materials selection; Mechanical properties; Microfluidics; Motion; multi‐material fibers; Rheology; Robotics; Robotics - methods; Robots; sensing and actuation; Sensors; soft robotics; steerable catheters and endoscopes; Tendons; thermal drawing; Viscosity; multi-material fibers; steerable catheters and endoscopes; soft robotics; sensing and actuation; thermal drawing
• ISSN: 2198-3844; 2198-3844
• DOI: 10.1002/advs.202204016

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect‐ratio, manufacturing throughput, as well as, the design complexity and hence capabilities of soft robots. Multi‐material thermal drawing is introduced as a material and processing platform to create soft robotic fibers imparted with multiple actuations and sensing modalities. Several thermoplastic and elastomeric material options for the fibers are presented, which all exhibit the rheological processing attributes for thermal drawing but varying mechanical properties, resulting in adaptable actuation performance. Moreover, numerous different fiber designs with intricate internal architectures, outer diameters of 700 µm, aspect ratios of 103, and a fabrication at a scale of 10s of meters of length are demonstrated. A modular tendon‐driven mechanism enables 3‐dimensional (3D) motion, and embedded optical guides, electrical wires, and microfluidic channels give rise to multifunctionality. The fibers can perceive and autonomously adapt to their environments, as well as, probe electrical properties, and deliver fluids and mechanical tools to spatially distributed targets. The preform‐to‐fiber thermal drawing of thermoplastic elastomers enables the fabrication of soft robots with extreme aspect ratios and intricate internal multi‐material structures, resulting in diverse functionalities. The soft robotic fibers can perceive their environments and autonomously adapt to changes thereof, as well as, probe electrical properties, and deliver fluids and mechanical tools to spatially distributed targets.