Computational Design of a Soft Robotic Myocardium for Biomimetic Motion and Function

Abstract

Soft robotic devices containing multiple actuating elements have successfully recapitulated complex biological motion, leading to their utility in biomedical applications. However, there are inherent nonlinear mechanics associated with soft composite materials where soft actuators are embedded in elastomeric matrices. Predicting their overall behavior prior to fabrication and subsequent experimental characterization can therefore present a hurdle in the design process and in efficiently satisfying functional requirements and specifications. In this work, a computational design framework for optimizing the motion and function of biomimetic soft robotic composites is demonstrated by conducting a design case study of soft robotic cardiac muscle (myocardium) with a particular focus on applications including replicating and assisting cardiac motion and function. A finite element model of a soft robotic myocardium is built, in which actuators are prescribed with anisotropic strain to simulate local deformation, and various design parameters are investigated by evaluating the performance of each configuration in terms of ventricular twist, volumetric output, and pressure generation. Then, an optimized design is proposed that recapitulates the physiological motion and hemodynamics of the heart, and its thrombogenicity is further explored using a fluid-structure interaction model. This framework has broader utility in predicting the performance of other soft robotic embedded composites.

Harnessing Mechanical Instabilities in the Development of an Efficient Soft Pump for an Artificial Heart Ventricle Simulator

“…The mechanical interaction between the actuators and the chamber was a key design aspect for the effectiveness of the proposed actuation mechanism. Indeed, in contrast with previous reports where the actuators were embedded in the artificial ventricle, here, the actuators were connected to the chamber only at the base and at the apex, thus leaving the shell free to undergo large deformations [37], [25], [26].…”

Soft robotics in wearable and implantable medical applications: Translational challenges and future outlooks

“… (A) Synthetic vocal folds simulator (courtesy of Dr Martina Maselli, Scuola Superiore Sant’Anna, Italy); (B) Soft robotic sleeve, pneumatically actuated by McKibben artificial muscles (republished from Park et al (2022) ); (C) Soft robotic left ventricle prototype, pneumatically actuated by a dual-layer of flattened and cylindrical McKibben actuators (republished from Park et al (2022) ); (D) Soft robotic artificial ventilator: a close-up on a supradiaphragmatic McKibben actuator placed on the right hemidiaphragm of an in vivo porcine model (republished from Hu et al, 2021 ); (E) Soft Anal Band System (Agency for Medical Innovation, Austria), hydraulically actuated (republished from Goos et al, 2013 ). (F) Soft robotic artificial bladder, hydraulically actuated by bellows actuators ( Casagrande et al, 2022 ) (courtesy of Ms Giada Casagrande, Scuola Superiore Sant’Anna, Italy).…”

“…For cardiocirculatory devices, if one possibility is to avoid direct contact with blood, the consequent design space limitation probably leaves no option to those patients that, being affected by end-stage heart failure, need a partial, or even a total, organ replacement ( Cohrs et al, 2017 ). In 2022, Roche et al presented a design framework for optimizing both the biomechanics and the hemodynamics of a soft robotic synthetic ventricle ( Figure 2C ) whose functionality is within the physiological range of a healthy left ventricle ( Park et al, 2022 ). However, prior to the implementation of the ventricle design for in vivo applications, the performances need to be verified in a simulator of human circulation, and a comprehensive assessment of the thrombogenic risk associated with the ventricle implant must be performed.…”

Transforming Object Design and Creation: Biomaterials and Contemporary Manufacturing Leading the Way

“…Furthermore, biomimetic smart materials in 4D printing contribute to the development of robotic systems that exhibit self-healing and self-repairing capabilities. Taking inspiration from nature's ability to heal and regenerate, researchers are exploring materi-als that can autonomously repair themselves when damaged [105]. By integrating self-healing mechanisms into the 4D-printed structures, robots can recover from damage, ensuring longer operational lifetimes and reducing maintenance requirements [105].…”

“…Robotic systems with self-healing capabilities [105] Exploration of materials that can autonomously repair themselves when damaged, ensuring longer operational lifetimes and reducing maintenance requirements. Integration of self-healing mechanisms into 4D-printed structures allows robots to recover from damages and enhance durability.…”