The adaptability of natural organisms in altering body shapes in response to the environment has inspired the development of artificial morphing matter. These materials encode the ability to transform their geometrical configurations in response to specific stimuli and have diverse applications in soft robotics, wearable electronics, and biomedical devices. However, achieving the morphing of intricate three-dimensional shapes from a two-dimensional flat state is challenging, as it requires manipulations of surface curvature in a controlled manner. In this review, we first summarize the mechanical principles extensively explored for realizing morphing matter, both at the material and structural levels. We then highlight its applications in the soft robotics field. Moreover, we offer insights into the open challenges and opportunities that this rapidly growing field faces. This review aims to inspire researchers to uncover innovative working principles and create multifunctional morphing matter for various engineering fields. 

Morphing matter: from mechanical principles to robotic applications

INTRODUCTION Provision of critical care and resuscitation was not practical during early missions into space. Given likely advancements in commercial spaceflight and increased human presence in low Earth orbit (LEO) in the coming decades, development of these capabilities should be considered as the likelihood of emergent medical evacuation increases. METHODS PubMed, Web of Science, Google Scholar, National Aeronautics and Space Administration (NASA) Technical Server, and Defense Technical Information Center were searched from inception to December 2018. Articles specifically addressing critical care and resuscitation during emergency medical evacuation from LEO were selected. Evidence was graded using Oxford Centre for Evidence-Based Medicine guidelines. RESULTS The search resulted in 109 articles included in the review with a total of 2,177 subjects. There were two Level I systematic reviews, 33 Level II prospective studies with 647 subjects, seven Level III retrospective studies with 1,455 subjects, and two Level IV case series with four subjects. There were two Level V case reports and 63 pertinent review articles. DISCUSSION The development of a medical evacuation capability is an important consideration for future missions. This review revealed potential hurdles in the design of a dedicated LEO evacuation spacecraft. The ability to provide critical care and resuscitation during transport is likely to be limited by mass, volume, cost, and re-entry forces. Stabilization and treatment of the patient should be performed prior to departure, if possible, and emphasis should be on a rapid and safe return to Earth for definitive care.

Resuscitation and Evacuation from Low Earth Orbit: A Systematic Review

We propose Inkjet 4D Print, a self-folding fabrication method of 3D origami tessellations by printing 2D patterns on both sides of a heat-shrinkable base sheet, using a commercialized inkjet ultraviolet (UV) printer. Compared to the previous folding-based 4D printing approach using fused deposition modeling (FDM) 3D printers [An et al. 2018], our method has merits in (1) more than 1200 times higher resolution in terms of the number of self-foldable facets, (2) 2.8 times faster printing speed, and (3) optional full-color decoration. This paper describes the material selection, the folding mechanism, the heating condition, and the printing patterns to self-fold both known and freeform tessellations. We also evaluated the self-folding resolution, the printing and transformation speed, and the shape accuracy of our method. Finally, we demonstrated applications enabled by our self-foldable tessellated objects. 

Inkjet 4D Print: Self-folding Tessellated Origami Objects by Inkjet UV Printing

Stripe patterns are ubiquitous in nature and everyday life. While the synthesis of these patterns has been thoroughly studied in the literature, their potential to control the mechanics of structured materials remains largely unexplored. In this work, we introduce Differentiable Stripe Patterns -- a computational approach for automated design of physical surfaces structured with stripe-shaped bi-material distributions. Our method builds on the work by Knoppel and colleagues for generating globally-continuous and equally-spaced stripe patterns. To unlock the full potential of this design space, we propose a gradient-based optimization tool to automatically compute stripe patterns that best approximate macromechanical performance goals. Specifically, we propose a computational model that combines solid shell finite elements with XFEM for accurate and fully-differentiable modeling of elastic bi-material surfaces. To resolve non-uniqueness problems in the original method, we furthermore propose a robust formulation that yields unique and differentiable stripe patterns. %Finally, we introduce design space regularizers to avoid numerical singularities and improve stripe neatness We combine these components with equilibrium state derivatives into an end-to-end differentiable pipeline that enables inverse design of mechanical stripe patterns. We demonstrate our method on a diverse set of examples that illustrate the potential of stripe patterns as a design space for structured materials. Our simulation results are experimentally validated on physical prototypes.

/pdf/differentiable-stripe-patterns-for-inverse-design-of-139lbuv6.pdf

Differentiable Stripe Patterns for Inverse Design of Structured Surfaces

Mechanical metamaterials enable customizing the elastic properties of physical objects by altering their fine-scale structure. A broad gamut of effective material properties can be produced even from a single fabrication material by optimizing the geometry of a periodic microstructure tiling. Past work has extensively studied the capabilities of microstructures in the small-displacement regime, where periodic homogenization of linear elasticity yields computationally efficient optimal design algorithms. However, many applications involve flexible structures undergoing large deformations for which the accuracy of linear elasticity rapidly deteriorates due to geometric nonlinearities. Design of microstructures at finite strains involves a massive increase in computation and is much less explored; no computational tool yet exists to design metamaterials emulating target hyperelastic laws over finite regions of strain space. We make an initial step in this direction, developing algorithms to accelerate homogenization and metamaterial design for nonlinear elasticity and building a complete framework for the optimal design of planar metamaterials. Our nonlinear homogenization method works by efficiently constructing an accurate interpolant of a microstructure's deformation over a finite space of macroscopic strains likely to be endured by the metamaterial. From this interpolant, the homogenized energy density, stress, and tangent elasticity tensor describing the microstructure's effective properties can be inexpensively computed at any strain. Our design tool then fits the effective material properties to a target constitutive law over a region of strain space using a parametric shape optimization approach, producing a directly manufacturable geometry. We systematically test our framework by designing a catalog of materials fitting isotropic Hooke's laws as closely as possible. We demonstrate significantly improved accuracy over traditional linear metamaterial design techniques by fabricating and testing physical prototypes.

Computational Design of Flexible Planar Microstructures

We introduce a new mechanism for self‐actuating deployable structures, based on printing a dense pattern of closely‐spaced plastic ribbons on sheets of pre‐stretched elastic fabric. We leverage two shape‐changing effects that occur when such an assembly is printed and allowed to relax: first, the incompressible plastic ribbons frustrate the contraction of the fabric back to its rest state, forcing residual strain in the fabric and creating intrinsic curvature. Second, the differential compression at the interface between the plastic and fabric layers yields a bilayer effect in the direction of the ribbons, making each ribbon buckle into an arc at equilibrium state and creating extrinsic curvature. We describe an inverse design tool to fabricate low‐cost, lightweight prototypes of freeform surfaces using the controllable directional distortion and curvature offered by this mechanism. The core of our method is a parameterization algorithm that bounds surface distortions along and across principal curvature directions, along with a pattern synthesis algorithm that covers a surface with ribbons to match the target distortions and curvature given by the aforementioned parameterization. We demonstrate the flexibility and accuracy of our method by fabricating and measuring a variety of surfaces, including nearly‐developable surfaces as well as surfaces with positive and negative mean curvature, which we achieve thanks to a simple hardware setup that allows printing on both sides of the fabric.

https://rss.onlinelibrary.wiley.com/doi/am-pdf/10.1111/cgf.14489

Computational Design of Self‐Actuated Surfaces by Printing Plastic Ribbons on Stretched Fabric

The StratEx program used a self-contained space suit and balloon system to loft pilot Alan Eustace to a record-breaking altitude and skydive from 135,897 feet (41,422 m). After releasing from the balloon and a stabilized freefall, the pilot safely landed using a parachute system based on a modified tandem parachute rig. A custom spacesuit provided life support using a similar system to NASA's (National Aeronautics and Space Administration; Washington, DC USA) Extravehicular Mobility Unit. It also provided tracking, communications, and connection to the parachute system. A recovery support team, including at least two medical personnel and two spacesuit technicians, was charged with reaching the pilot within five minutes of touchdown to extract him from the suit and provide treatment for any injuries. The team had to track the flight at all times, be prepared to respond in case of premature release, and to operate in any terrain. Crew recovery operations were planned and tailored to anticipate outcomes during this novel event in a systematic fashion, through scenario and risk analysis, in order to minimize the probability and impact of injury. This analysis, detailed here, helped the team configure recovery assets, refine navigation and tracking systems, develop procedures, and conduct training. An extensive period of testing and practice culminated in three manned flights leading to a successful mission and setting the record for exit altitude, distance of fall with stabilizing device, and vertical speed with a stabilizing device. During this mission, recovery teams reached the landing spot within one minute, extracted the pilot, and confirmed that he was not injured. This strategy is presented as an approach to prehospital planning and care for improved safety during crew recovery in novel, extreme events. Menon AS , Jourdan D , Nusbaum DM , Garbino A , Buckland DM , Norton S , Clark JB , Antonsen EL. Crew recovery and contingency planning for a manned stratospheric balloon flight - the StratEx program. Prehosp Disaster Med. 2016;31(5):1-8. Language: en

Crew recovery and contingency planning for a manned stratospheric balloon flight - the StratEx program

Computational design of self-shaping textiles. (Conception numérique de textiles auto-déployables)

This design-led research investigates the development of self-forming wearable composite structures by printing embossed patterns out of flexible filament on pre-stretched textiles and releasing the stress after the printing has been completed, whereby time becomes the fourth dimension of the printing process. In particular, the study presents and compares three methods of ‘file-to-fabrication’ techniques for generating self-forming textile shell structures: The first is based on modified geometrical patterns in relation to curvature analysis, the second on printed patterns related to their stress line simulation and the third on an analysis of the anisotropic shrinking behaviour of stripe patterns. The findings emphasize the advantages and challenges of each method as well as present a comparative table chart highlighting the relationship between material properties, pattern geometry and the formal vocabulary of the composite shells.

Four-dimensional Printing on Textiles Evaluating digital ﬁle-to-fabrication workﬂows for self-forming composite shell structures

Printing-on-fabric is an affordable and practical method for creating self-actuated deployable surfaces: thin strips of plastic are deposited on top of a pre-stretched piece of fabric using a commodity 3D printer; the structure, once released, morphs to a programmed 3D shape. Several physics-aware modeling tools have recently been proposed to help designing such surfaces. However, existing simulators do not capture well all the deformations these structures can exhibit. In this work, we propose a new model for simulating printed-on-fabric composites based on a tailored bilayer formulation for modeling plastic-on-top-of-fabric strips, and an extended Saint-Venant–Kirchhoff material law for modeling the surrounding stretchy fabric. We show how to calibrate our model through a series of standard experiments. Finally, we demonstrate the improved accuracy of our simulator by conducting various tests.

/pdf/simulation-of-printed-on-fabric-assemblies-2lc5re5b.pdf

Simulation of printed-on-fabric assemblies

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