Teng Zhang’s research while affiliated with Syracuse University and other places

Compliant mechanisms with reconfigurable degrees of freedom are gaining attention in the development of kinesthetic haptic devices, robotic systems, and mechanical metamaterials. However, available devices exhibit limited programmability and form-customizability, restricting their versatility. To address this gap, we propose a metastructure concept featuring reconfigurable motional freedom and tunable stiffness, adaptable to various form factors and applications. These devices incorporate passive flexures and actively stiffness-changing rods to modify kinematic freedom. A rational design pipeline informs the flexures’ topological arrangements, geometric parameters, and control signals based on targeted mobilities, enabling the creation of unitary joints with up to six degrees of freedom. Our demonstrative application examples include a wrist device that has an effective stiffness of 0.370 Nm/deg (unlocked state, 5% displacement) to 2.278 Nm/deg (locked state, 1% displacement) to enable dynamic joint mobility control, a haptic thimble device (2.27-52.815 Nmm⁻¹ at 1% displacement) that mimics the sensation of touching physical materials ranging from soft gel to metal surfaces, and a wearable device composed of multiple joints tailored for the arm and hand to augment haptic experiences or facilitate muscle training. We believe the presented method can help democratize compliant metastructures development and expand their versatility for broader contexts.

Metachronal motions are ubiquitous in terrestrial and aquatic organisms and have attracted substantial attention in engineering for their potential applications. Hard‐magnetic soft materials are shown to provide new opportunities for metachronal wave‐modulated robotic locomotion by multi‐agent active morphing in response to external magnetic fields. However, the design and optimization of such magnetic soft robots can be complex, and the fabrication and magnetization processes are often delicate and time‐consuming. Herein, a computational model is developed that integrates granular models into a magnetic–lattice model, both of which are implemented in the highly efficient parallel computing platform large‐scale atomic/molecular massively parallel simulator (LAMMPS). The simulations accurately reproduce the deformation of single cilium, the metachronal wave motion of multiple cilia, and the crawling and rolling locomotion of magnetic cilia soft robots. Furthermore, the simulations provide insight into the spatial and temporal variation of friction forces and trajectories of cilia tips. The results contribute to the understanding of metachronal wave‐modulated locomotion and potential applications in the field of soft robotics and biomimetic engineering. The developed model also provides a versatile computational framework for simulating the movement of magnetic soft robots in realistic environments and has the potential to guide the design, optimization, and customization of these systems.

Surface wrinkles have emerged as a promising avenue for the development of smart adhesives with dynamically tunable adhesion, finding applications in diverse fields, such as soft robots and medical devices. Despite intensive studies and great achievements, it is still challenging to model and simulate the tunable adhesion with surface wrinkles due to roughened surface topologies and pre-stress inside the materials. The lack of a mechanistic understanding hinders the rational design of these smart adhesives. Here we integrate a lattice model for nonlinear deformations of solids and nonlocal interaction potentials for adhesion in the framework of molecular dynamics to explore the roles of surface wrinkles on the adhesion behaviors. We validate the proposed model by comparing wrinkles in a neo-Hookean bilayer with benchmarked results and reproducing the analytical solution for cylindrical adhesion. We then systematically study the pull-off force of the wrinkled surface with varied compressive strains and adhesion energies. Our results reveal the competing effect between the adhesion induced contact and the roughness due to wrinkles on enhancing or weakening the adhesion. Such understanding provides guidance for tailoring material and geometry as well as loading of the wrinkled surfaces for different applications.

Aerial seeding can quickly cover large and physically inaccessible areas¹ to improve soil quality and scavenge residual nitrogen in agriculture², and for postfire reforestation3–5 and wildland restoration6,7. However, it suffers from low germination rates, due to the direct exposure of unburied seeds to harsh sunlight, wind and granivorous birds, as well as undesirable air humidity and temperature1,8,9. Here, inspired by Erodium seeds10–14, we design and fabricate self-drilling seed carriers, turning wood veneer into highly stiff (about 4.9 GPa when dry, and about 1.3 GPa when wet) and hygromorphic bending or coiling actuators with an extremely large bending curvature (1,854 m⁻¹), 45 times larger than the values in the literature15–18. Our three-tailed carrier has an 80% drilling success rate on flat land after two triggering cycles, due to the beneficial resting angle (25°–30°) of its tail anchoring, whereas the natural Erodium seed’s success rate is 0%. Our carriers can carry payloads of various sizes and contents including biofertilizers and plant seeds as large as those of whitebark pine, which are about 11 mm in length and about 72 mg. We compare data from experiments and numerical simulation to elucidate the curvature transformation and actuation mechanisms to guide the design and optimization of the seed carriers. Our system will improve the effectiveness of aerial seeding to relieve agricultural and environmental stresses, and has potential applications in energy harvesting, soft robotics and sustainable buildings.

Trapping of strain in layers deposited during extrusion‐based (fused filament fabrication) 3D printing has previously been documented. If fiber‐level strain trapping can be understood sufficiently and controlled, 3D shape‐memory polymer parts could be simultaneously fabricated and programmed via printing (programming via printing; PvP), thereby achieving precisely controlled 3D‐to‐3D transformations of complex part geometries. Yet, because previous studies have only examined strain trapping in solid printed parts—such as layers or 3D objects with 100% infill—fundamental aspects of the PvP process and the potential for PvP to be applied to printing of porous 3D parts remain poorly understood. This work examines the extent to which strain can be trapped in individual fibers and in fibers that span negative space and the extent to which infill geometry affects the magnitude and recovery of strain trapped in porous PvP‐fabricated 3D parts. Additionally, multiaxial shape change of porous PvP‐fabricated 3D parts are for the first time studied, modeled, and applied in a proof‐of‐concept application. This work demonstrates the feasibility of strain trapping in individual fibers in 1D, 2D, and 3D PvP‐fabricated parts and illustrates the potential for PvP to provide new strategies to address unmet needs in biomedical and other fields.

Aerial seeding can quickly cover large and physically inaccessible areas to improve soil quality and scavenge residual nitrogen in agriculture, and for postfire reforestation and wildland restoration. However, it suffers from low germination rates, due to the direct exposure of unburied seeds to harsh sunlight, wind and granivorous birds, as well as undesirable air humidity and temperature. Here, inspired by Erodium seeds, we design and fabricate self-drilling seed carriers, turning wood veneer into highly stiff (about 4.9 GPa when dry, and about 1.3 GPa when wet) and hygromorphic bending or coiling actuators with an extremely large bending curvature (1,854 m ⁻¹ ), 45 times larger than the values in the literature. Our three-tailed carrier has an 80% drilling success rate on flat land after two triggering cycles, due to the beneficial resting angle (25°–30°) of its tail anchoring, whereas the natural Erodium seed’s success rate is 0%. Our carriers can carry payloads of various sizes and contents including biofertilizers and plant seeds as large as those of whitebark pine, which are about 11 mm in length and about 72 mg. We compare data from experiments and numerical simulation to elucidate the curvature transformation and actuation mechanisms to guide the design and optimization of the seed carriers. Our system will improve the effectiveness of aerial seeding to relieve agricultural and environmental stresses, and has potential applications in energy harvesting, soft robotics and sustainable buildings.

Osteocytes are considered the primary mechanical sensor in bone tissue and orchestrate the coupled bone remodeling activity of adjacent osteoblast and osteoclast cells. In vivo investigation of mechanically induced signal propagation through networks of interconnected osteocytes is confounded by their confinement within the mineralized bone matrix, which cannot be modeled in conventional culture systems. In this study, we developed a new model that mimics this in vivo confinement using gelatin methacrylate (GelMA) hydrogel or GelMA mineralized using osteoblast-like model cells. This model also enables real-time optical examination of osteocyte calcium (Ca2+) signaling dynamics in response to fluid shear stimuli cultured under confined conditions. Using this system, we discovered several distinct and previously undescribed patterns of Ca2+ responses that vary across networks of interconnected osteocytes as a function of space, time and connectivity. Heterogeneity in Ca2+ signaling may provide new insights into bone remodeling in response to mechanical loading. Overall, such a model can be extended to study signaling dynamics within cell networks exposed to flow-induced mechanical stimuli under confined conditions.

Controlling adhesion on demand is essential for many manufacturing and assembly processes such as microtransfer printing. Among various strategies, pneumatics‐controlled switchable adhesion is efficient and robust but currently still suffers from challenges in miniaturization and high energy cost. In this paper, a novel way to achieve tunable adhesion using low pressure by inducing sidewall buckling in soft hollow pillars (SHPs) is introduced. It is shown that the dry adhesion of these SHPs can be changed by more than two orders of magnitude (up to 151×) using low activating pressure (≈−10 or ≈20 kPa). Large enough negative pressure triggers sidewall buckling while positive pressure induces sidewall bulging, both of which can significantly change stress distribution at the bottom surface to facilitate crack initiation and reduce adhesion therein. It is shown that a single SHP can be activated by a micropump to manipulate various lightweight objects with different curvatures and surface textures. Here, it is also demonstrated that an array of SHPs can realize selective pick‐and‐place of an array of objects. These demonstrations illustrate the robustness, simplicity, and versatility of these SHPs with highly tunable dry adhesion.