Xin Chen’s research while affiliated with Harvard University and other places

Systems and methods for providing a soft robot is provided. In one system , a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas producing chemical reaction for providing pressurized gas to the pressurizing inlet.

A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.

Charges generated by contact of solid surfaces (contact electrification) can be hazardous or useful depending on the circumstance. This paper describes a process to design a solid surface rationally to either induce or prevent charging during contact electrification; this process coats the surface with polyelectrolytes. It is observed experimentally that a surface coated with a layer of a polymer having multiple, covalently attached positive charges (a "polycation") develops a positive charge after contacting another surface; a surface coated with a layer of polymer having negative charges (a "polyanion") develops a negative charge. By coating the surface using layer-by-layer (LBL) deposition, the tendency of the surface to charge either positively or negatively can be switched: adding a layer of polyelectrolyte-with charge opposite to the charge on the surface switches the polarity of the surface. Through microcontact printing (mu CP), the surface can be stamped to create a mosaic pattern of polycation and polyanion-and importantly, the fraction of the surface area covered with polycation and polyanion can be tuned by using stamps of different patterns. Using poly(diallyldimethylammonium chloride) (PDDA) as the polycation and poly(sodium 4-styrenesulfonate) (PSS) as the polyanion, it is found that for a surface with >75% PSS, the surface charges negatively; with <75% PSS, the surface charges positively. At similar to 75% PSS, the surface becomes non-charging. The patterns on the surface can, subsequently, be erased through coating the surface with a uniform layer of polyelectrolyte. After erasing, the surface is rewritable by depositing or patterning the surface with a desired polyelectrolyte.

The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.

This paper describes the behavior of bubbles suspended in a carrier liquid and moving within microfluidic networks of different connectivities. A single-phase continuum fluid, when flowing in a network of channels, partitions itself among all possible paths connecting the inlet and outlet. The flow rates along different paths are determined by the interaction between the fluid and the global structure of the network. That is, the distribution of flows depends on the fluidic resistances of all channels of the network. The movement of bubbles of gas, or droplets of liquid, suspended in a liquid can be quite different from the movement of a single-phase liquid, especially when they have sizes slightly larger than the channels, so that the bubbles (or droplets) contribute to the fluidic resistance of a channel when they are transiting it. This paper examines bubbles in this size range; in the size range examined, the bubbles are discrete and do not divide at junctions. As a consequence, a single bubble traverses only one of the possible paths through the network, and makes a sequence of binary choices ("left" or "right") at each branching intersection it encounters. We designed networks so that, at each junction, a bubble enters the channel into which the volumetric flow rate of the carrier liquid is highest. When there is only a single bubble inside a network at a time, the path taken by the bubble is, counter-intuitively, not necessarily the shortest or the fastest connecting the inlet and outlet. When a small number of bubbles move simultaneously through a network, they interact with one another by modifying fluidic resistances and flows in a time dependent manner; such groups of bubbles show very complex behaviors. When a large number of bubbles (sufficiently large that the volume of the bubbles occupies a significant fraction of the volume of the network) flow simultaneously through a network, however, the collective behavior of bubbles-the fluxes of bubbles through different paths of the network-can resemble the distribution of flows of a single-phase fluid.

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.

This work uses a method based on indentation to characterize a polydimethylsiloxane (PDMS) elastomer submerged in an organic solvent (decane, heptane, pentane, or cyclohexane). An indenter is pressed into a disk of a swollen elastomer to a fixed depth, and the force on the indenter is recorded as a function of time. By examining how the relaxation time scales with the radius of contact, one can differentiate the poroelastic behavior from the viscoelastic behavior. By matching the relaxation curve measured experimentally to that derived from the theory of poroelasticity, one can identify elastic constants and permeability. The measured elastic constants are interpreted within the Flory–Huggins theory. The measured permeability indicates that the solvent migrates in PDMS by diffusion, rather than by convection. This work confirms that indentation is a reliable and convenient method to characterize swollen elastomers.

Soft robots: A methodology based on embedded pneumatic networks (PneuNets) is described that enables large-amplitude actuations in soft elastomers by pressurizing embedded channels. Examples include a structure that can change its curvature from convex to concave, and devices that act as compliant grippers for handling fragile objects (e.g., a chicken egg).