Student or educator? Sign up with your school email and get 6 months of Pro free.
CoChat
Sign Up
Cited by 655

The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.

Self-Folding Thermo-Magnetically Responsive Soft Microgrippers

Open access
Breger, Joyce C., Yoon, ChangKyu, Xiao, Rui, Kwag, Hye Rin, Wang, Martha O., Fisher, John P., Nguyen, Thao D., Gracias, David H.·2015·ACS Applied Materials & Interfaces
DOI 10.1021/am508621s
Open this paper in CoChat — free account

Abstract

Hydrogels such as poly(N-isopropylacrylamide-co-acrylic acid) (pNIPAM-AAc) can be photopatterned to create a wide range of actuatable and self-folding microstructures. Mechanical motion is derived from the large and reversible swelling response of this cross-linked hydrogel in varying thermal or pH environments. This action is facilitated by their network structure and capacity for large strain. However, due to the low modulus of such hydrogels, they have limited gripping ability of relevance to surgical excision or robotic tasks such as pick-and-place. Using experiments and modeling, we design, fabricate, and characterize photopatterned, self-folding functional microgrippers that combine a swellable, photo-cross-linked pNIPAM-AAc soft-hydrogel with a nonswellable and stiff segmented polymer (polypropylene fumarate, PPF). We also show that we can embed iron oxide (Fe2O3) nanoparticles into the porous hydrogel layer, allowing the microgrippers to be responsive and remotely guided using magnetic fields. Using finite element models, we investigate the influence of the thickness and the modulus of both the hydrogel and stiff polymer layers on the self-folding characteristics of the microgrippers. Finally, we illustrate operation and functionality of these polymeric microgrippers for soft robotic and surgical applications.

Overview

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Integrity signals

Registry

Crossref · 10.1021/am508621s

Cites

3 of 3 references verified0 citation errors · 0 not checkable

Statistics

Verification

Claims the paper makes

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Self-check

Percentages, sums and reported differences re-computed from the paper’s own numbers.

The self-check needs the paper’s full text.

Citations

Cites

Show all 3 references

Research works printed but not linked: 45

  1. Ilievski, 2011, Soft Robotics for Chemists, Angew. Chem., Int. Ed., 123, 1930, 10.1002/ange.201006464 · DOI · Paper page
  2. Nguyen, 2004, A Polymeric Microgripper with Integrated Thermal Actuators, J. Micromech. Microeng., 14, 969, 10.1088/0960-1317/14/7/018 · doi:10.1088/0960-1317/14/7/018
  3. Chronis, 2005, Electrothermally Activated SU-8 Microgripper for Single Cell Manipulation in Solution, J. Microelectromech. Syst., 14, 857, 10.1109/JMEMS.2005.845445 · doi:10.1109/jmems.2005.845445
  4. Carpi, 2009, Biomedical Applications of Electroactive Polymer Actuators, 56, 10.1002/9780470744697 · DOI · Paper page
  5. Lu, 2006, Microhand for Biological Applications, Appl. Phys. Lett., 89, 164101, 10.1063/1.2362602 · DOI
  6. Mirfakhrai, 2007, Polymer Artificial Muscles, Mater. Today, 10, 30, 10.1016/S1369-7021(07)70048-2 · DOI · Paper page
  7. Brown, 2010, Universal Robotic Gripper Based on the Jamming of Granular Material, Proc. Natl. Acad. Sci. U.S.A., 107, 18809, 10.1073/pnas.1003250107 · DOI · Paper page
  8. Stuart, 2010, Emerging Applications of Stimuli-Responsive Polymer Materials, Nat. Mater., 9, 101, 10.1038/nmat2614 · DOI · Paper page
  9. Randhawa, 2011, Microchemomechanical Systems, Adv. Funct. Mater., 21, 2395, 10.1002/adfm.201100482 · DOI
  10. Gracias, 2013, Stimuli Responsive Self-Folding Using Thin Polymer Films, Curr. Opin. Chem. Eng., 2, 112, 10.1016/j.coche.2012.10.003 · DOI · Paper page
  11. Ionov, 2013, Biomimetic Hydrogel-Based Actuating Systems, Adv. Funct. Mater., 23, 4555, 10.1002/adfm.201203692 · DOI · Paper page
  12. Steinberg, 1966, Mechanochemical Engines, Nature, 210, 568, 10.1038/210568a0 · DOI · Paper page
  13. Maeda, 2007, Self-Walking Gel, Adv. Mater., 19, 3480, 10.1002/adma.200700625 · DOI · Paper page
  14. Wang, 2013, Light-Controlled Graphene-Elastin Composite Hydrogel Actuators, Nano Lett., 13, 2826, 10.1021/nl401088b · DOI · Paper page
  15. Hu, 1995, Synthesis and Application of Modulated Polymer Gels, Science, 269, 525, 10.1126/science.269.5223.525 · DOI · Paper page
  16. Guan, 2005, Self-Folding of Three-Dimensional Hydrogel Microstructures, J. Phys. Chem. B, 109, 23134, 10.1021/jp054341g · DOI · Paper page
  17. Shim, 2012, Controlled Origami Folding of Hydrogel Bilayers with Sustained Reversibility for Robust Microcarriers, Angew. Chem., Int. Ed., 124, 1449, 10.1002/ange.201106723 · DOI
  18. Yuan, 2012, A Strategy for Depositing Different Types of Cells in Three Dimensions to Mimic Tubular Structures in Tissues, Adv. Mater., 24, 890, 10.1002/adma.201104589 · DOI · Paper page
  19. Thérien-Aubin, 2013, Multiple Shape Transformations of Composite Hydrogel Sheets, J. Am. Chem. Soc., 135, 4834, 10.1021/ja400518c · DOI · Paper page
  20. Fusco, 2014, An Integrated Microrobotic Platform for On-Demand, Targeted Therapeutic Interventions, Adv. Mater., 26, 952, 10.1002/adma.201304098 · DOI · Paper page
  21. Bassik, 2010, Photolithographically Patterned Smart Hydrogel Based Bilayer Actuators, Polymer, 51, 6093, 10.1016/j.polymer.2010.10.035 · DOI · Paper page
  22. Fernandes, 2012, Self-Folding Polymeric Containers for Encapsulation and Delivery of Drugs, Adv. Drug Delivery Rev., 64, 1579, 10.1016/j.addr.2012.02.012 · DOI · Paper page
  23. Gultepe, 2013, Biopsy with Thermally-Responsive Untethered Microtools, Adv. Mater., 25, 514, 10.1002/adma.201203348 · DOI · Paper page
  24. Malachowski, 2014, Stimuli-Responsive Theragrippers for Chemomechanical Controlled Release, Angew. Chem., Int., 126, 8183, 10.1002/ange.201311047 · DOI
  25. Yoon, 2014, Functional Stimuli Responsive Hydrogel Devices by Self-Folding, Smart Mater. Struct., 23, 094008, 10.1088/0964-1726/23/9/094008 · DOI · Paper page
  26. Schild, 1992, Poly(N-isopropylacrylamide): Experiment, Theory, and Application, Prog. Polym. Sci., 17, 163, 10.1016/0079-6700(92)90023-R · DOI · Paper page
  27. Kim, 2003, Synthesis and Characterization of Injectable Poly(N-isopropylacrylamide-co-acrylic acid) Hydrogels with Proteolytically Degradable Cross- Links, Biomacromolecules, 4, 1214, 10.1021/bm0340467 · DOI · Paper page
  28. Schmaljohann, 2006, Thermo-and pH-Responsive Polymers in Drug Delivery, Adv. Drug Delivery Rev., 58, 1655, 10.1016/j.addr.2006.09.020 · DOI · Paper page
  29. Peppas, 2010, Biomedical Applications of Hydrogels Handbook
  30. Siegwart, 2008, Synthesis, Characterization, and In Vitro Cell Culture Viability of Degradable Poly(N- isopropylacrylamide-co-5,6-benzo-2-methylene-1,3-dioxepane)-based Polymers and Crosslinked Gels, J. Biomed. Mater. Res., Part A, 87A, 345, 10.1002/jbm.a.31708 · DOI
  31. Nistor, 2011, Synthesis of Hydrogels Based on Poly(NIPAM) Inserted into Collagen Sponge, Colloids Surf., B, 87, 382, 10.1016/j.colsurfb.2011.05.046 · DOI
  32. Guan, 2011, PNIPAM Microgels for Biomedical Applications: From Dispersed Particles to 3D Assemblies, Soft Matter, 7, 6375, 10.1039/c0sm01541e · DOI · Paper page
  33. Kasper, 2009, Synthesis of Poly(propylene fumarate), Nat. Protoc., 4, 518, 10.1038/nprot.2009.24 · DOI · Paper page
  34. Fisher, 2002, Photocrosslinking Characteristics and Mechanical Properties of Diethyl Fumarate/Poly(propylene fumarate) Biomaterials, Biomaterials, 23, 4333, 10.1016/S0142-9612(02)00178-3 · DOI · Paper page
  35. He, 2001, Synthesis of Biodegradable Poly(propylene fumarate) Networks with Poly(propylene fumarate)-Diacrylate Macromers As Crosslinking Agents and Characterization of Their Degradation Products, Polymer, 42, 1251, 10.1016/S0032-3861(00)00479-1 · DOI · Paper page
  36. Cooke, 2002, Use of Stereolithography to Manufacture Critical-Sized 3D Biodegradable Scaffolds for Bone Ingrowth, J. Biomed. Mater. Res., Part B, 64B, 65, 10.1002/jbm.b.10485 · DOI · Paper page
  37. Martel, 2007, Automatic Navigation of an Untethered Device in the Artery of a Living Animal Using a Conventional Clinical Magnetic Resonance Imaging System, Appl. Phys. Lett., 90, 114105, 10.1063/1.2713229 · DOI · Paper page
  38. Xi, 2013, Rolled-up Magnetic Microdrillers: Towards Remotely Controlled Minimally Invasive Surgery, Nanoscale, 5, 1294, 10.1039/C2NR32798H · DOI · Paper page
  39. Behkam, 2007, Bacterial Flagella-Based Propulsion and On/Off Motion Control of Microscale Objects, Appl. Phys. Lett., 90, 023902, 10.1063/1.2431454 · DOI · Paper page
  40. Kuo, 2014, A Hydrogel-Based Intravascular Microgripper Manipulated Using Magnetic Fields, Sens. Actuators, A, 211, 121, 10.1016/j.sna.2014.02.028 · doi:10.1016/j.sna.2014.02.028
  41. Guo, 2005, Organic-Dye-Coupled Magnetic Nanoparticles Encaged Inside Thermoresponsive PNIPAM Microcapsules, Small, 1, 737, 10.1002/smll.200400145 · doi:10.1002/smll.200400145
  42. Lutz, 2006, Point by Point Comparison of Two Thermosensitive Polymers Exhibiting a Similar LCST: Is the Age of Poly(NIPAM) over?, J. Am. Chem. Soc., 128, 13046, 10.1021/ja065324n · DOI · Paper page
  43. Flory, 1943, Statistical Mechanics of Cross-Linked Polymer Networks II. Swelling, J. Chem. Phys., 11, 521, 10.1063/1.1723792 · DOI · Paper page
  44. Fisher, 2002, Soft and Hard Tissue Response to Photocrosslinked Poly(propylene fumarate) Scaffolds in a Rabbit Model, J. Biomed. Mater. Res., 59, 547, 10.1002/jbm.1268 · DOI · Paper page
  45. Kim, 2011, The Influence of Stereolithographic Scaffold Architecture and Composition on Osteogenic Signal Expression with Rat Bone Marrow Stromal Cells, Biomaterials, 32, 3750, 10.1016/j.biomaterials.2011.01.016 · DOI

Cited by

See all 655

Metadata

Authors
Breger, J. C., Yoon, C., Xiao, R., Kwag, H. R., Wang, M. O., Fisher, J. P., Nguyen, T. D., & Gracias, D. H.
Venue
ACS Applied Materials & Interfaces
Publisher
American Chemical Society (ACS)
Published
2015-01-28
Volume
7
Issue
5
Pages
3398-3405
ISSN
  • 1944-8244 (ISSN-L)
  • 1944-8252
DOI
10.1021/am508621s
OpenAlex
W2335171300
Cited by
655
References
3
FWCI
40.54
Type
journal article
Language
en
Open access
hybrid
Licence
pubs.acs.org/page/policy/authorchoice_termsofuse.html (vor, 365 d)
Funders
  • NIH Office of the Director (DP2-OD004346-01)
  • National Institute of Arthritis and Musculoskeletal and Skin Diseases (R01 AR0614606)
  • National Institute of Biomedical Imaging and Bioengineering (R01EB017742)
  • National Institute of Dental and Craniofacial Research (R01 DE013740)
  • Division of Chemical, Bioengineering, Environmental, and Transport Systems (CBET-1066898)

About these checks

Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.

Statistics and arithmetic are recomputed, not judged.

Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.

What counts as a claim ›How we measure confidence ›How we check this ›

Are you an author, or do you see a problem with this page? Request a review

How to cite

Cite CoChat for the checks on this page, and the paper for its own findings.

This page
CoChat. (2026). Citation check: Self-Folding Thermo-Magnetically Responsive Soft Microgrippers. https://app.cochat.ai/papers/10.1021/am508621s
The paper
Breger, J. C., Yoon, C., Xiao, R., Kwag, H. R., Wang, M. O., Fisher, J. P., Nguyen, T. D., & Gracias, D. H. (2015). Self-Folding Thermo-Magnetically Responsive Soft Microgrippers. ACS Applied Materials & Interfaces. https://doi.org/10.1021/am508621s

Data sources

Bibliographic data: Semantic Scholar, OpenAlex, Crossref.

Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.