3D bioprinting has emerged as a technology that can produce biologically relevant structures in defined geometries with microscale resolution. Techniques for fabrication of free-standing structures by printing into granular gel media has been demonstrated previously, however, these methods require crosslinking agents and post-processing steps on printed structures. Our method utilizes one-step gelation of silk fibroin within a suspension of synthetic nanoclay (Laponite), with no need for additional crosslinking compounds or post processing of the material. This new method allows for in situ physical crosslinking of pure aqueous silk fibroin into defined geometries produced through freeform 3D printing.
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape, soft materials also store and release elastic energy, a feature that can be exploited for effective robot movement. However, design and control of these moving soft robots are non-trivial. The research presents design methodology for a 3D-printed, motortendon actuated soft robot capable of locomotion. The modular design of the robot facilitates rapid fabrication, deployment and repair. In addition to shape change, the robot uses friction manipulation mechanisms to effect locomotion. The motor-tendon actuators comprise of nylon tendons embedded inside the soft body structure along a given path with one end fixed on the body and the other attached to a motor. These actuators directly control the deformation of the soft body which influences the robot locomotion behavior. Static stress analysis is used as a tool for designing the shape of the paths of these tendons embedded inside the body. The research also presents a novel model-free learning-based control approach for soft robots which interact with the environment at discrete contact points. This approach involves discretization of factors dominating robot-environment interactions as states, learning of the results as robot transitions between these robot states and evaluation of desired periodic state control sequences optimizing a cost function corresponding to a locomotion task (rotation or translation). The clever discretization allows the framework to exist in robot's task space, hence, facilitating calculation of control sequences without modeling the actuator, body material or details of the friction mechanisms. The flexibility of the framework is experimentally explored by applying it to robots with different friction mechanisms and different shapes of tendon paths.
The physical connection between motoneurons and skeletal muscle targets is responsible for the creation of neuromuscular junctions (NMJs), which allow electrical signals to be translated to mechanical work. NMJ pathology contributes to the spectrum of neuromuscular, motoneuron, and dystrophic disease. Improving in vitro tools that allow for recapitulation of the physiology of the neuromuscular connection will enable researchers to better understand the development and maturation of NMJs, and will help to decipher mechanisms leading to NMJ degeneration. In this work, we first describe robust differentiation of bungarotoxin-positive human myotubes, as well as a reproducible method for encapsulating and aligning human myoblasts in three-dimensional (3D) suspended culture using bioprinted silk fibroin cantilevers as cell culture supports. Further analysis with coculture of motoneuron-like cells demonstrates feasibility of fully human coculture using two-dimensional and 2.5-dimensional culture methods, with appropriate differentiation of both cell types. Using these coculture differentiation conditions with motoneuron-like cells added to monocultures of 3D suspended human myotubes, we then demonstrate synaptic colocalization in coculture as well as acetylcholine and glutamic acid stimulation of human myocytes. This method represents a unique platform to coculture suspended human myoblast-seeded 3D hydrogels with integrated motoneuron-like cells derived from human induced neural stem cells. The platform described is fully customizable using 3D freeform printing into standard laboratory tissue culture materials, and allows for human myoblast alignment in 3D with precise motoneuron integration into preformed myotubes. The coculture method will ideally be useful in observation and analysis of neurite outgrowth and myogenic differentiation in 3D with quantification of several parameters of muscle innervation and function.
A pressure-sensitive adhesive (PSA) is an adhesive system that is permanently tacky and adheres to a variety of surfaces with light pressure without phase changes. These adhesives are most commonly found in adhesive tapes such as the Scotch® tape or Post-it® notes. The majority of PSAs are petroleum-based products and usually not biodegradable. The amount of waste generated from these products is quite large as these products are considered disposable. The present review focuses on biodegradable elastomers and how they can be useful in PSAs. This review also covers some novel PSA systems that are biobased or biodegradable.
SummaryA design and manufacturing method is described for creating a motor tendon–actuated soft foam robot. The method uses a castable, light, and easily compressible open-cell polyurethane foam, producing a structure capable of large (~70% strain) deformations while requiring low torques to operate (<0.2 N·m). The soft robot can change shape, by compressing and folding, allowing for complex locomotion with only two actuators. Achievable motions include forward locomotion at 13 mm/s (4.3% of body length per second), turning at 9◦/s, and end-over-end flipping. Hard components, such as motors, are loosely sutured into cavities after molding. This reduces unwanted stiffening of the soft body. This work is the first demonstration of a soft open-cell foam robot locomoting with motor tendon actuators. The manufacturing method is rapid (~30 min per mold), inexpensive (under $3 per robot for the structural foam), and flexible, and will allow a variety of soft foam robotic devices to be produced.
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