Shape Morphing Actuation in Thin Film Kirigami-Inspired Micro-robotics

The advancement of microrobotic technologies offers potential in various fields ranging from minimally invasive surgery, targeted drug delivery, cell manipulation, and micro-scale manufacturing. However, the miniaturization of robotic systems imposes constraints on the weight, power/voltage, and mechanical deflection, making traditional approaches impractical at the microscale. Here, we propose microrobotic actuator platforms based on shape-morphing thin film structures inspired by kirigami [1,2] and origami. Geometric cuts and depth-controlled trenches can facilitate controllable deformations such as folding, twisting, and stretching when coupled with an effective actuation mechanism.

The main aim for this PhD is to address the challenges of designing, fabricating, and controlling the thin-film micro soft robotic platforms to demonstrate reliable locomotion and manipulation at the microscale. The PhD is expected to advance the existing large-area thin-film electronics fabrication techniques on the basis of dry-etching patternable polyimide thin-films. Two important developments are to be established; firstly, investigating the design envelope of the thin-film polyimide patterning, critical dimensions, material properties, and processing parameters; and secondly, the integration of  controllable (hybrid) actuator(s) upon the thin-film carrier.  A myriad of micro actuation and control mechanisms have been reported and available for exploitation, including thermomechanical (ohmic) [3], electrostatic (capacitive) [2], magnetic (Fe2O3), piezoelectric [4,6], electrochemical [7], electroosmotic/phoretic, electroactive polymers, hydrogels etc. Finally, a demonstration and characterization of these micro-robotic or micro-manipulator in a relevant biological scenario is envisaged.