Thermosets such as silicone are ubiquitous. However, existing manufacturing of thermosets involves either a prolonged manufacturing cycle (e.g., reaction injection molding), low geometric complexity (e.g., casting), or limited processable materials (e.g., frontal polymerization). Here, we report an in situ dual heating (ISDH) strategy for the rapid 3D printing of thermosets with complex structures and diverse rheological properties by incorporating direct ink writing (DIW) technique and a heating-accelerated in situ gelation mechanism. Enabled by an integrated Joule heater at the printhead, extruded thermosetting inks can quickly cure in situ, allowing for DIW of various thermosets with viscosities spanning five orders of magnitude, printed height over 100 mm, and high resolution of 50 μm. We further demonstrate DIW of a set of heterogenous thermosets using multiple functional materials and present a hybrid printing of a multilayer soft electronic circuit. Our ISDH strategy paves the way for fast manufacturing of thermosets for various emerging fields.
Ferromagnetic soft continuum robots (FSCRs) have great potential in biomedical applications due to their miniaturization and remote control capabilities. However, to direct the FSCR accurately and effectively, it is critical to realize inverse kinematics control in navigation, which is difficult for existing mechanical models. Herein, with the path segmentation strategy, an automatic method to navigate the FSCR in different paths based on machine learning is developed. A data‐driven artificial neural network (ANN) model to guide the steering of the magnetically responsive tip is presented. Using parametric simulations as the training data, the ANN model shows good generalization performance to predict control parameters. Moreover, the basic framework of the learning model remains effective when the FSCR materials change, which shows high scalability and is important for adapting to various environments. The study presents a promising strategy for guiding FSCRs in the narrow and tortuous vasculature, which is essential for many biomedical operations.
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