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X-ray Optics Fabrication Using Unorthodox Approaches

Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

[BibTex]


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Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots

Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M.

Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

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[BibTex]

[BibTex]


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Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots

Woodward, M. A., Sitti, M.

IEEE Transactions on Robotics, 35, 2019 (article)

Abstract
Animals can incorporate large numbers of actuators because of the characteristics of muscles; whereas, robots cannot, as typical motors tend to be large, heavy, and inefficient. However, shape-memory alloys (SMA), materials that contract during heating because of change in their crystal structure, provide another option. SMA, though, is unidirectional and therefore requires an additional force to reset (extend) the actuator, which is typically provided by springs or antagonistic actuation. These strategies, however, tend to limit the actuator's work output and functionality as their force-displacement relationships typically produce increasing resistive force with limited variability. In contrast, magnetic springs-composed of permanent magnets, where the interaction force between magnets mimics a spring force-have much more variable force-displacement relationships and scale well with SMA. However, as of yet, no method for designing magnetic springs for SMA-actuators has been demonstrated. Therefore, in this paper, we present a new methodology to tailor magnetic springs to the characteristics of these actuators, with experimental results both for the device and robot-integrated SMA-actuators. We found magnetic building blocks, based on sets of permanent magnets, which are well-suited to SMAs and have the potential to incorporate features such as holding force, state transitioning, friction minimization, auto-alignment, and self-mounting. We show magnetic springs that vary by more than 3 N in 750 $\mu$m and two SMA-actuated devices that allow the MultiMo-Bat to reach heights of up to 4.5 m without, and 3.6 m with, integrated gliding airfoils. Our results demonstrate the potential of this methodology to add previously impossible functionality to smart material actuators. We anticipate this methodology will inspire broader consideration of the use of magnetic springs in miniature robots and further study of the potential of tailored magnetic springs throughout mechanical systems.

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DOI [BibTex]


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Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy

Son, D., Gilbert, H., Sitti, M.

Soft robotics, Mary Ann Liebert, Inc., publishers 140 Huguenot Street, 3rd Floor New …, 2019 (article)

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[BibTex]

[BibTex]


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Thrust and Hydrodynamic Efficiency of the Bundled Flagella

Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K.

Micromachines, 10, 2019 (article)

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[BibTex]

[BibTex]


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The near and far of a pair of magnetic capillary disks

Koens, L., Wang, W., Sitti, M., Lauga, E.

Soft Matter, 2019 (article)

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[BibTex]


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Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters

Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C.

Small, Wiley Online Library, 2019 (article)

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[BibTex]

[BibTex]


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Multi-functional soft-bodied jellyfish-like swimming

Ren, Z., Hu, W., Dong, X., Sitti, M.

Nature communications, 10, 2019 (article)

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[BibTex]


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Welcome to Progress in Biomedical Engineering

Sitti, M.

Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

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[BibTex]

[BibTex]


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Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces

Song, S., Drotlef, D., Paik, J., Majidi, C., Sitti, M.

Extreme Mechanics Letters, Elsevier, 2019 (article)

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Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus

Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A.

ACS Applied Bio Materials, ACS Publications, 2019 (article)

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Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design

Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M.

Toxicology Mechanisms and Methods, 2019 (article)

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[BibTex]

[BibTex]


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Multifunctional and biodegradable self-propelled protein motors

Pena-Francesch, A., Giltinan, J., Sitti, M.

Nature communications, 10, Nature Publishing Group, 2019 (article)

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[BibTex]

[BibTex]


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Cohesive self-organization of mobile microrobotic swarms

Yigit, B., Alapan, Y., Sitti, M.

arXiv preprint arXiv:1907.05856, 2019 (article)

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[BibTex]

[BibTex]


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Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

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[BibTex]

[BibTex]


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Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

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[BibTex]


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Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

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[BibTex]


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ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

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[BibTex]


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Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

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[BibTex]

[BibTex]


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Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

[BibTex]


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Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

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[BibTex]

[BibTex]

2014


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Series of Multilinked Caterpillar Track-type Climbing Robots

Lee, G., Kim, H., Seo, K., Kim, J., Sitti, M., Seo, T.

Journal of Field Robotics, November 2014 (article)

Abstract
Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall-to-wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheel-type climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul National University, Carnegie Mellon University, and Yeungnam University. Four types of robots are presented for different applications with different surface attachment methods and mechanisms: MultiTank for indoor sites, Flexible caterpillar robot (FCR) and Combot for heavy industrial sites, and MultiTrack for high-rise buildings. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multilink track wheel-type climbing robot for different surface materials, robot size, and computational costs.

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DOI [BibTex]

2014


DOI [BibTex]


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Segmented molecular design of self-healing proteinaceous materials.

Sariola, V., Pena-Francesch, A., Jung, H., Çetinkaya, M., Pacheco, C., Sitti, M., Demirel, M. C.

Scientific reports, 5, pages: 13482-13482, Nature Publishing Group, July 2014 (article)

Abstract
Hierarchical assembly of self-healing adhesive proteins creates strong and robust structural and interfacial materials, but understanding of the molecular design and structure–property relationships of structural proteins remains unclear. Elucidating this relationship would allow rational design of next generation genetically engineered self-healing structural proteins. Here we report a general self-healing and -assembly strategy based on a multiphase recombinant protein based material. Segmented structure of the protein shows soft glycine- and tyrosine-rich segments with self-healing capability and hard beta-sheet segments. The soft segments are strongly plasticized by water, lowering the self-healing temperature close to body temperature. The hard segments self-assemble into nanoconfined domains to reinforce the material. The healing strength scales sublinearly with contact time, which associates with diffusion and wetting of autohesion. The finding suggests that recombinant structural proteins from heterologous expression have potential as strong and repairable engineering materials.

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DOI [BibTex]

DOI [BibTex]


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Bio-Hybrid Cell-Based Actuators for Microsystems

Carlsen, R. W., Sitti, M.

Small, 10(19):3831-3851, June 2014 (article)

Abstract
As we move towards the miniaturization of devices to perform tasks at the nano and microscale, it has become increasingly important to develop new methods for actuation, sensing, and control. Over the past decade, bio-hybrid methods have been investigated as a promising new approach to overcome the challenges of scaling down robotic and other functional devices. These methods integrate biological cells with artificial components and therefore, can take advantage of the intrinsic actuation and sensing functionalities of biological cells. Here, the recent advancements in bio-hybrid actuation are reviewed, and the challenges associated with the design, fabrication, and control of bio-hybrid microsystems are discussed. As a case study, focus is put on the development of bacteria-driven microswimmers, which has been investigated as a targeted drug delivery carrier. Finally, a future outlook for the development of these systems is provided. The continued integration of biological and artificial components is envisioned to enable the performance of tasks at a smaller and smaller scale in the future, leading to the parallel and distributed operation of functional systems at the microscale.

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DOI [BibTex]

DOI [BibTex]


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Continuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimming

Diller, E., Zhuang, J., Zhan Lum, G., Edwards, M. R., Sitti, M.

Applied Physics Letters, 104(17):174101, AIP, 2014 (article)

Abstract
We have developed a millimeter-scale magnetically driven swimming robot for untethered motion at mid to low Reynolds numbers. The robot is propelled by continuous undulatory deformation, which is enabled by the distributed magnetization profile of a flexible sheet. We demonstrate control of a prototype device and measure deformation and speed as a function of magnetic field strength and frequency. Experimental results are compared with simple magnetoelastic and fluid propulsion models. The presented mechanism provides an efficient remote actuation method at the millimeter scale that may be suitable for further scaling down in size for microrobotics applications in biotechnology and healthcare

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing and Retrieving Untethered Micro-Grippers

Yim, S., Gultepe, E., Gracias, D. H., Sitti, M.

IEEE Trans. on Biomedical Engineering, 61(2):513-521, IEEE, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Investigation of tip current and normal force measured simultaneously during local oxidation of titanium using dual-mode scanning probe microscopy

Ozcan, O., Hu, W., Sitti, M., Bain, J., Ricketts, D.

IET Micro \& Nano Letters, 9(5):332-336, IET, 2014 (article)

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[BibTex]

[BibTex]


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SoftCubes: Stretchable and self-assembling three-dimensional soft modular matter

Yim, S., Sitti, M.

The International Journal of Robotics Research, 33(8):1083-1097, SAGE Publications Sage UK: London, England, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Bio-Hybrid Cell-Based Actuators for Microsystems

Carlsen, Rika Wright, Sitti, Metin

Small, 10(19):3831-3851, 2014 (article)

Abstract
As we move towards the miniaturization of devices to perform tasks at the nano and microscale, it has become increasingly important to develop new methods for actuation, sensing, and control. Over the past decade, bio-hybrid methods have been investigated as a promising new approach to overcome the challenges of scaling down robotic and other functional devices. These methods integrate biological cells with artificial components and therefore, can take advantage of the intrinsic actuation and sensing functionalities of biological cells. Here, the recent advancements in bio-hybrid actuation are reviewed, and the challenges associated with the design, fabrication, and control of bio-hybrid microsystems are discussed. As a case study, focus is put on the development of bacteria-driven microswimmers, which has been investigated as a targeted drug delivery carrier. Finally, a future outlook for the development of these systems is provided. The continued integration of biological and artificial components is envisioned to enable the performance of tasks at a smaller and smaller scale in the future, leading to the parallel and distributed operation of functional systems at the microscale.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Staying sticky: contact self-cleaning of gecko-inspired adhesives

Mengüç, Y., Röhrig, M., Abusomwan, U., Hölscher, H., Sitti, M.

Journal of The Royal Society Interface, 11(94):20131205, The Royal Society, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Dynamic Trapping and Two-Dimensional Transport of Swimming Microorganisms Using a Rotating Magnetic Micro-Robot

Ye, Z., Sitti, M.

Lab on a Chip, 14(13):2177-2182, Royal Society of Chemistry, 2014 (article)

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Project Page [BibTex]


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STRIDE II: a water strider-inspired miniature robot with circular footpads

Ozcan, O., Wang, H., Taylor, J. D., Sitti, M.

International Journal of Advanced Robotic Systems, 11(6):85, SAGE Publications Sage UK: London, England, 2014 (article)

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[BibTex]

[BibTex]


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Soft Grippers Using Micro-Fibrillar Adhesives for Transfer Printing

Song, S., Sitti, M.

Advanced Materials, 26(28):4901-4906, 2014 (article)

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[BibTex]

[BibTex]


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Can DC motors directly drive flapping wings at high frequency and large wing strokes?

Campolo, D., Azhar, M., Lau, G., Sitti, M.

IEEE/ASME Trans. on Mechatronics, 19(1):109-120, 2014 (article)

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[BibTex]

[BibTex]


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Magnetic steering control of multi-cellular bio-hybrid microswimmers

Carlsen, R. W., Edwards, M. R., Zhuang, J., Pacoret, C., Sitti, M.

Lab on a Chip, 14(19):3850-3859, Royal Society of Chemistry, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Analytical modeling and experimental characterization of chemotaxis in serratia marcescens

Zhuang, J., Wei, G., Carlsen, R. W., Edwards, M. R., Marculescu, R., Bogdan, P., Sitti, M.

Physical Review E, 89(5):052704, American Physical Society, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Swimming characterization of Serratia marcescens for bio-hybrid micro-robotics

Edwards, M. R., Carlsen, R. W., Zhuang, J., Sitti, M.

Journal of Micro-Bio Robotics, 9(3):47-60, Springer Berlin Heidelberg, 2014 (article)

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[BibTex]

[BibTex]


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Influence of Magnetic Fields on Magneto-Aerotaxis

Bennet, M., McCarthy, A., Fix, D., Edwards, M. R., Repp, F., Vach, P., Dunlop, J. W., Sitti, M., Buller, G. S., Klumpp, S., others,

PLoS One, 9(7):e101150, Public Library of Science, 2014 (article)

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[BibTex]

[BibTex]


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An autonomous manipulation system based on force control and optimization

Righetti, L., Kalakrishnan, M., Pastor, P., Binney, J., Kelly, J., Voorhies, R. C., Sukhatme, G. S., Schaal, S.

Autonomous Robots, 36(1-2):11-30, January 2014 (article)

Abstract
In this paper we present an architecture for autonomous manipulation. Our approach is based on the belief that contact interactions during manipulation should be exploited to improve dexterity and that optimizing motion plans is useful to create more robust and repeatable manipulation behaviors. We therefore propose an architecture where state of the art force/torque control and optimization-based motion planning are the core components of the system. We give a detailed description of the modules that constitute the complete system and discuss the challenges inherent to creating such a system. We present experimental results for several grasping and manipulation tasks to demonstrate the performance and robustness of our approach.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]