3D Bioplotter Research Papers

Combined photothermal-hygroscopic effects enable novel materials actuation strategies based on renewable and sustainable energy sources such as sunlight. Plasmonic nanoparticles have gained considerable interest as photothermal agents, however, the employment in sunlight-driven photothermal-hygroscopic actuators is still bounded, mainly due to the limited absorbance once integrated into nanocomposite actuators and the restricted plasmonic peaks amplitude (compared to the solar spectrum). Herein, the design and fabrication of an AgNPs-based plasmonic photothermal-hygroscopic actuator integrated with printed cellulose tracks are reported (bioinspired to Geraniaceae seeds structures). The nanocomposite is actuated by sunlight power density (i.e., 1 Sun = 100 mW cm−2). The plasmonic AgNPs…

Geraniaceae seeds represent a role model in soft robotics thanks to their ability to move autonomously across and into the soil driven by humidity changes. The secret behind their mobility and adaptivity is embodied in the hierarchical structures and anatomical features of the biological hygroscopic tissues, geometrically designed to be selectively responsive to environmental humidity. Following a bioinspired approach, the internal structure and biomechanics of Pelargonium appendiculatum (L.f.) Willd seeds are investigated to develop a model for the design of a soft robot. The authors exploit the re-shaping ability of 4D printed materials to fabricate a seed-like soft robot, according…

4D printing of shape memory polymers (SMPs) endows the 3D printed structures with tunable shape-changing behavior and functionalities that opens up new avenues towards intelligent devices. Multiple-SMPs, specially, could memorize more than two shapes that have greatly extended the performance of 4D printed structures. However, the actuation to trigger the shape change of 4D printed multiple-SMPs is usually by direct heating to different temperatures. It hasn’t brought the full superiority of the programmability of multiple-SMPs with distinct responsive regions that could be sequentially and selectively actuated by various stimuli. Besides, the functionality of multi-material based additive manufacturing is another area…

Photoresponsive soft liquid crystalline elastomers (LCEs) transform light’s energy into dynamic shape changes and are considered promising candidates for production of soft robotic or muscle-like devices. 3D printing allows access to elaborated geometries as well as control of the photoactuated movements; however, this development is still in its infancy and only a limited choice of LCE is yet available. Herein, we propose to introduce biocompatible and sustainable cellulose nanocrystals (CNC) into an LCE in order to facilitate the printing process by direct ink writing (DIW) and to benefit from the anisotropic mechanical properties resulting from the extrusion-induced alignment of such…

4D printing is an advanced manufacturing technology combining additive manufacturing with smart materials. Based on light-active shape memory composites, smart medical structures with remote control capability, therapeutic function, and biocompatibility are hopefully fabricated by 4D printing. Here, a multifunctional composite with good mechanical properties, biocompatibility, and light-active shape memory performance is prepared by incorporating gold nanoparticles into a shape memory polyurethane matrix. The composites demonstrate a rapid and stable light-thermal effect, which can achieve localized and controlled breast tumor ablation, providing an approach to hyperthermia treatment for cancer cells. By directly bioprinting the composite melt, a series of 4D-printed structures…

Conventional manufacturing techniques allow the production of photoresponsive cellulose nanocrystals (CNC)-based composites that can reversibly modify their optical, mechanical, or chemical properties upon light irradiation. However, such materials are often limited to 2D films or simple shapes and do not benefit from spatial tailoring of mechanical properties resulting from CNC alignment. Herein, we propose the direct ink writing (DIW) of 3D complex structures that combine CNC reinforcement effects with photoinduced responses. After grafting azobenzene photochromes onto the CNC surfaces, up to 15 wt % of modified nanoparticles can be introduced into a polyurethane acrylate matrix. The influence of CNC on…

Self-bending actuators have time and cost reduction benefits for applications like self-assembly and self-deployable structures. Three-dimensional (3D) printing is a promising rapid and accurate manufacturing method for controlling spatial self-bending actuation in custom-designed soft structures. This paper studies the features merely imparted by 3D printing fabrication in control of self-folding actuators. It is shown that 3D printing control parameters such as different spatial patterns of hinges affect the response time and bending angle of the actuator. A polystyrene (PS) pane as a representative of thermo-responsive shape memory polymers is used as the main material for being remotely stimulated via light…

The emergence of four-dimensional (4D) printing and bioprinting in additive manufacturing (AM), which require knowledge of multi-physics, chemistry, and engineering skills, are bringing many engineering applications in biomedical devices, wearables, and robotics. This newly emerging technology has become a feasible commercial proposition because of lower costs, more design freedom, and more rapid production methods. This serves as a significant multidisciplinary research and training platform for both academia and the professional world. This work aims at enhancing researchers’ interest, knowledge, and skills in the emerging field of 4D printing and bioprinting. A greater knowledge of 4D printing and promotion of its…

The emergence of four-dimensional (4D) printing in additive manufacturing (AM), which requires knowledge in multi-physics, chemistry, and engineering skills, is bringing many applications in biomedical, robotics, aerospace, and food industries. The increased usage of AM technology and smart materials in industry means that companies are seeking to develop and manage production system for academics with the multidisciplinary abilities and knowledge. This enables a high interdisciplinary platform for research and project modules suitable to be used in the academic environment for hands-on students training. This paper proposed an easy to implement and follow 4D bio/printing module well designed for students and…

Polymeric systems displaying spontaneous formation of surface wrinkling patterns are useful for a wide range of applications, such as diffraction gratings, flexible electronics, smart adhesives, optical devices, and cell culture platforms. Conventional fabrication techniques for wrinkling patterns involves multitude of processing steps and impose significant limitations on fabrication of hierarchical patterns, creating wrinkles on 3D and nonplanar structures, the scalability of the manufacturing process, and the integration of wrinkle fabrication process into a continuous manufacturing process. In this work, 4D printing of surface morphing hydrogels enabling direct fabrication of wrinkling patterns on curved and/or 3D structures with user-defined and spatially…

The development of synthetic structures that mimic mechanical actuation in living matter such as autonomous translation and shape changes remains a grand challenge for materials science. In living systems the integration of supramolecular structures and covalent polymers contributes to the responsive behaviour of membranes, muscles and tendons, among others. Here we describe hybrid light-responsive soft materials composed of peptide amphiphile supramolecular polymers chemically bonded to spiropyran-based networks that expel water in response to visible light. The supramolecular polymers form a reversibly deformable and water-draining skeleton that mechanically reinforces the hybrid and can also be aligned by printing methods. The noncovalent…

Engineering hierarchical vasculatures is critical for creating implantable functional thick tissues. Current approaches focus on fabricating mesoscale vessels for implantation or hierarchical microvascular in vitro models, but a combined approach is yet to be achieved to create engineered tissue flaps. Here, millimetric vessel-like scaffolds and 3D bioprinted vascularized tissues interconnect, creating fully engineered hierarchical vascular constructs for implantation. Endothelial and support cells spontaneously form microvascular networks in bioprinted tissues using a human collagen bioink. Sacrificial molds are used to create polymeric vessel-like scaffolds and endothelial cells seeded in their lumen form native-like endothelia. Assembling endothelialized scaffolds within vascularizing hydrogels incites…

Using 3D printing to manufacture shape memory polymers (SMPs) becomes popular, since the technique endows SMPs the ability to shape into desired structures according to their applications. Among various types of SMPs, epoxy-based shape memory polymer and their composites are known for their high modulus and strength. However, limited by their rheological behavior, it is still hard to prepare high-quality printable epoxy materials. Here, by carefully tuning of rheological properties, we can prepare printable ink showing good shape retention, excellent mechanical performances below and above the glass transition temperature of epoxy, as well as good shape memory effect. The prepared…

We report on a procedure for the preparation, printing and curing of antibacterial poly(N-isopropylacrylamide) nanocellulose-reinforced hydrogels. These composites present a highly anisotropic microstructure which allows to control and modulate the resulting mechanical properties. The incorporation of such nanoparticles enables us to modify both the strength and the humidity-dependent swelling direction of printed parts, offering a fourth-dimensional property to the resulting composite. Antibacterial properties of the hydrogels were obtained by incorporating the functionalized peptide ε-polylysine, modified with the addition of a methacrylate group to ensure UV-immobilization. We highlight the relevance of well-adapted viscoelastic properties of our material for 3D printing by…

Soft robots and actuators are emerging devices providing more capabilities in the field of robotics. More flexibility and compliance attributing to soft functional materials used in the fabrication of these devices make them ideal for delivering delicate tasks in fragile environments, such as food and biomedical sectors. Yet, the intuitive nonlinearity of soft functional materials and their anisotropic actuation in compliant mechanisms constitute an existent challenge in improving their performance. Topology optimization (TO) along with four-dimensional (4D) printing is a powerful digital tool that can be used to obtain optimal internal architectures for the efficient performance of porous soft actuators.…

Combining recycling of paper wastes (WPs) with extrusion‐based additive manufacturing represents a sustainable route to cellular cellulose composites tailored for lightweight construction. Particularly, shear mixing of shredded WPs with an aqueous solution of a polymer binder like polyvinyl alcohol (PVA) yields aqueous pastes suitable for 3D printing. As a shear thinning additive, both WP and microfibrillated cellulose account for enhanced shear thinning and dimensional stability. Opposite to the formation of dense WP/PVA composites by melt extrusion, 3D printing of aqueous pastes produces cellular cellulose/PVA composites exhibiting hierarchical pore architectures. In spite of low densities around 0.8 g cm−3, high Young’s…

Current three-dimensional (3D) printing allows for the fabrication of controllable 3D printed soft actuators with growing applications in soft robotics, like cell manipulation and drug delivery. Therefore, a precise and computationally efficient control algorithm for robust trajectory tracking of the 3D printed soft actuators has become important. The results of the primary model of the soft actuator deviated from experimental results due to uncertainties such as time-varying characteristics of the actuator. Hence, a second-order type nonsingular terminal sliding mode controller (NTSMC) for robust stabilization and trajectory tracking of the 3D printed actuator is proposed. It is shown via experiments that…

Introduction of 3-dimensional (3D) printing in fabrication and increasing applications of intriguing products in soft robotics have led to studies on controllable 3D printed soft actuators. Therefore, a demand for a precise and computationally efficient model for bending control of the 3D printed soft actuators has arisen. This study initially used a grey box strategy for dynamic modeling of a 3D printed soft actuator which undergoes large bending deformations. Yet, the primary model estimated results deviated from experimental results due to uncertainties such as hysteresis and time varying characteristics of the soft actuator in presence of electric field. Thus, a…

Due to the growing interest in three-dimensional (3D) printed soft actuators, the establishment of an appropriate mathematical model that could effectively predict the actuators’ dynamic behavior has become necessary. This study presents the development of an effective modeling strategy for the dynamic analysis of a 3D printed polyelectrolyte actuator undergoing large bending deformations. The proposed model is composed of two parts, namely electrical and mechanical dynamic models. The electrical model describes the actuator as a gray box model, whereas the mechanical model relates the stored charges to the bending displacement through considering the printed actuator as a discretized system connected…

This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also…

With increasing utilization of robots in daily tasks, especially in biomedical and environmental monitoring applications, there would be demands for soft, biodegradable, or even edible actuators that provide more versatility than conventional rigid materials (e.g., metals and plastics). Polyelectrolyte hydrogels produce mechanical motion in response to electrical stimulus, making them good candidates for implementation of soft actuators. However, their conventional fabrication process has so far hindered their applicability in a broad range of controlled folding behaviors. A novel application of 3D printing in biodegradable and biocompatible soft robots is presented in this study. It is observed that the contactless electroactive…

For three-dimensional bio-printed cell-laden hydrogel tissue constructs, the well-designed internal porous geometry is tailored to obtain the desired structural and cellular properties. However, significant differences often exist between the designed and as-printed scaffolds because of the inherent characteristics of hydrogels and cells. In this study, an iterative feedback bio-printing (IFBP) approach based on optical coherence tomography (OCT) for the fabrication of cell-laden hydrogel scaffolds with optimal geometrical fidelity and cellular controllability was proposed. A custom-made swept-source OCT (SS-OCT) system was applied to characterize the printed scaffolds quantitatively. Based on the obtained empirical linear formula from the first experimental feedback loop,…

Polyelectrolyte hydrogels produce mechanical motion in response to electrical stimulus making them a good candidate for implementation of soft actuators. However, their customary fabrication process has thus far hindered their applicability in a broad range of controlled folding behaviours. This paper employs the 3D printing technology does the development of polyelectrolyte hydrogel soft actuators. A 3D printed soft hydrogel actuator with contactless electrodes is presented for the first time. Initially chitosan as a candidate of polyelectrolytes which possess both printability and stimuli responsive is opted for ink preparation of 3D printing. The printing parameters are optimised for fabrication of desired…

In this work, we report the synthesis, characterization and three-dimensional (3D) printing of self-healing gels. The gels are prepared by cross-linking benzaldehyde-functionalized poly(2-hydroxyethyl methacrylate) (PHEMA) with ethylenediamine (EDA) to form dynamic imine bonds. An immediate gelation was observed within seconds, followed by a full maturation, enabling time independent and stable printing. The self-healing gels showed 98% recovery from mechanical damages. To establish a printable window for our well-defined system, and to allow robust printability, we examined a broad number of ink formulations. To tune the rheology towards the formation of soft and extrudable, yet stable and self-supporting materials, we examined…

The demand for rapid and accurate fabrication of light-weight, biocompatible, and soft actuators in soft robotics has perused researchers to design and fabricate such products by rapid manufacturing techniques. The self-folding origami structure is a type of soft actuator that has applications in micro electro mechanical systems, soft electronics, and biomedical devices. 3-dimentional (3D) printing is a current manufacturing process that can be used for fabrication of involute soft self-folding products by means of shape memory polymer materials. This paper presents, for the first time, a method for developing a photo thermal self-folding soft actuator using a 3D bioplotter. Easily…

A smart valve is created by 4D printing of hydrogels that are both mechanically robust and thermally actuating. The printed hydrogels are made up of an interpenetrating network of alginate and poly(N-isopropylacrylamide). 4D structures are created by printing the “dynamic” hydrogel ink alongside other static materials.