Surface Micro-Patterning and Material Design to Enable in vivo Mobility

这项资助的研究目标是阐明导致微图案表面和柔软流体涂层基板之间接触、粘合和摩擦相互作用的基本机制。其目的是了解牵引力的产生；它对关键设计、环境和操作参数的依赖；以及它对衬底机械响应的影响。将使用多尺度建模框架来捕捉踏面车轮在柔软潮湿的衬底上滚动过程中大的宏观和微观尺度变形现象的相互作用，这取决于材料、几何和操作参数。胎面和胎体的力学行为将由大变形理论和适当的本构模型来描述。模型和实验的紧密结合将为软、湿材料的接触机制提供新的见解，特别是产生摩擦的微观现象和产生牵引力的宏观和微观尺度力学的相互作用。如果成功，这项研究将促进发现新类型的图案化结构和概念，并建立关键的知识体系，用于设计可以减少患者创伤和扩大机器人手术的活体机器人设备。拟议的教育计划将向所有级别的学生，包括那些来自典型代表不足的群体的学生，介绍在微制造、生物力学和一般机器人学的交叉点进行的研究所固有的兴奋，以及特别是外科机器人世界固有的希望。通过进入科罗拉多大学S获奖的综合教学实验室，我们将加强拟议的教育活动。

The research objective of this grant is to elucidate the fundamental mechanisms that are responsible for contact, adhesion, and friction interactions between micro-patterned surfaces and soft fluid-coated substrates. The goal is to understand the generation of tractions; its dependence of key design, environmental, and operational parameters; and its impact on the mechanical response of the substrate. A multi-scale modeling framework will be used to capture the interplay of large macro- and micro-scale deformation phenomena during the roll-over of a treaded wheel over a soft wet substrate, in dependence of material, geometric, and operational parameters. The mechanical behavior of tread and substrate will be described by large deformation theories and appropriate constitutive models. The tight integration of modeling and experiments will provide novel insight into the contact mechanics of soft, wet materials, in particular into the microscopic phenomena for generating friction and the interplay of macro- and micro-scale mechanics for generating traction.If successful, this research will facilitate the discovery of new types of patterned architectures and concepts and establish a crucial body of knowledge needed for the design of in vivo robotic devices that can reduce patient trauma and expand robotic surgery. The proposed educational program will introduce students at all levels, including those from typically underrepresented groups, to the excitement inherent in research conducted at the intersection of micro-fabrication, biomechanics, and robotics in general, and to the promise inherent in the world of surgical robotics specifically. The proposed educational activities will be enhanced by our access to the University of Colorado?s Award-winning Integrated Teaching and Learning Laboratory.