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SpineMan is designed as a prototype of a soft robotic manipulator that is constructed of alternating hard and soft segments similar to the human spine. Implementing such soft segments allows to surpass the rigidity of conventional robots and ensures safer workspaces where humans and machines can work side by side with less stringent safety restrictions. Therefore, we used a hydrogel as viscoelastic material consisting of poly(vinyl alcohol) and borax. The mechanical properties of the hydrogel were tailored by embedding silica particles of various particles sizes as well as in different mass fractions. Increased mass contents as well as larger particle sizes led to strongly enhanced rigidity with a more than doubled storage modulus of the composite compared to the pure hydrogel. Furthermore, specific functionalities were induced by the incorporation of superparamagnetic Fe3O4 nanoparticles that can in principle be used for sensing robotic motion and detecting malfunctions. Therefore, we precisely adjusted the saturation magnetization of the soft segments using defined mass contents of the nanoparticles. To ensure long-time shape stability and prevention of atmospheric influences on the prepared composites, a silicone skin of specific shore hardness was used. The composites and the soft segments were characterized by oscillation measurements, cryo-SEM, bending tests and SQUID measurements, which give insights into the properties in the passive and in the moving state of SpineMan. The utilization of tailored composites led to highly flexible, reinforced and functional soft segments, which ensure stability, easy movability by springs of the shape memory alloy nitinol and prevention of total failure.
The present study reports a facile approach for sulfite biosensing, based on enhanced direct electron transfer of a human sulfite oxidase (hSO) immobilized on a gold nanoparticles modified electrode. The spherical core shell AuNPs were prepared via a new method by reduction of HAuCl4 with branched poly(ethyleneimine) in an ionic liquids resulting particles with a diameter less than 10 nm. These nanoparticles were covalently attached to a mercaptoundecanoic acid modified Au-electrode where then hSO was adsorbed and an enhanced interfacial electron transfer and electrocatalysis was achieved. UV/Vis and resonance Raman spectroscopy, in combination with direct protein voltammetry, are employed for the characterization of the system and reveal no perturbation of the structural integrity of the redox protein. The proposed biosensor exhibited a quick steady-state current response, within 2 s, a linear detection range between 0.5 and 5.4 mu M with a high sensitivity (1.85 nA mu M-1). The investigated system provides remarkable advantages in the possibility to work at low applied potential and at very high ionic strength. Therefore these properties could make the proposed system useful in the development of bioelectronic devices and its application in real samples.
The epoxy system containing diglycidyl ether of bisphenol A and 4,4'-diaminodiphenyl sulfone is modified with poly(acrylonitrile-butadiene-styrene) (ABS) to explore the effects of the ABS content on the phase morphology, mechanism of phase separation, and viscoelastic properties. The amount of ABS in the blends was 5, 10, 15, and 20 parts per hundred of epoxy resin (phr). Transmission electron microscopy (TEM) and scanning electron microscopy (SEM) were employed to investigate the final morphology of ABS-modified epoxy blends. Scanning electron microscopic studies of 15 phr ABS-modified epoxy blends reveal a bicontinuous structure in which both epoxy and ABS are continuous, with substructures of the ABS phase dispersed in the continuous epoxy phase and substructures of the epoxy phase dispersed in the continuous ABS phase. TEM micrographs of 15 phr ABS-modified epoxy blends confirm the results observed by SEM. TEM micrographs reveal the existence of nanosubstructures of ABS in 20 phr ABS-modified epoxy blends. To the best of our knowledge, to date, nanosubstructures have never been reported in any epoxy/thermoplastic blends. The influence of the concentration of the thermoplastic on the generated morphology as analyzed by SEM and TEM was explained in detail. The evolution and mechanism of phase separation was investigated in detail by optical microscopy (OM) and small-angle laser light scattering (SALLS). At concentrations lower than 10 phr the system phase separates through nucleation and growth (NG). However, at higher concentrations, 15 and 20 phr, the blends phase separate through both NG and spinodal decomposition mechanisms. On the basis of OM and SALLS, we conclude that the phenomenon of complex substructure formation in dynamic asymmetric blends is due to the combined effect of hydrodynamics and viscoelasticity. Additionally, dynamic mechanical analysis was carried out to evaluate the viscoelastic behavior of the cross-linked epoxy/ABS blends. Finally, apparent weight fractions of epoxy and ABS components in epoxy- and ABS-rich phases were evaluated from T-g analysis.
Hydrogel systems based on hydroxyethyl starch-polyethylene glycol methacrylate (HES-P(EG)(6)MA) or hydroxyethyl starch methacrylate (HES-MA) were used to assess the protein release behavior. Here, we analyzed the in vitro release of FITC-anti-human antibodies incorporated in either HES-P(EG)(6)MA or HES-MA hydrogel delivery systems in PBS or human serum. In addition, hydrogel disks and microparticles prepared from the two polymers were subcutaneously implanted in BALB/c mice. The in vivo release of FITC-IgG was non-invasively monitored by an in vivo imaging system (IVIS 200) over a time period of up to 3 months. The imaging system allowed to asses individual animals over time, therefore only a small number of animals was required to obtain high quality data. The reduction in fluorescence intensity at the site of administration was compared to in vitro release profiles. These investigations demonstrated a sustained release from HES-MA hydrogel disks compared to rapidly degrading HES-P(EG)(6)MA disks and microparticles. The sustained release from HES-MA disks could be further optimized by using increased polymer concentrations. Human serum as in vitro release medium reflected better the in vivo release from HES-P(EG)(6)MA systems than PBS, suggesting that the presence of organic substances like proteins or lipids may play a significant role for the release kinetics.
Novel hydrogels based on hydroxyethyl starch modified with polyethylene glycol methacrylate (HES-P(EG)(6)MA) were developed as delivery system for the controlled release of proteins. Since the drug release behavior is supposed to be related to the pore structure of the hydrogel network the pore sizes were determined by cryo-SEM, which is a mild technique for imaging on a nanometer scale. The results showed a decreasing pore size and an increase in pore homogeneity with increasing polymer concentration. Furthermore, the mesh sizes of the hydrogels were calculated based on swelling data. Pore and mesh size were significantly different which indicates that both structures are present in the hydrogel. The resulting structural model was correlated with release data for bulk hydrogel cylinders loaded with FITC-dextran and hydrogel microspheres loaded with FITC-IgG and FITC-dextran of different molecular size. The initial release depended much on the relation between hydrodynamic diameter and pore size while the long term release of the incorporated substances was predominantly controlled by degradation of the network of the much smaller meshes.
This work is focused on the influence of an ionic liquid (IL), i.e. ethyl-methylimidazolium hexylsulfate, on the spontaneous formation of microemulsions with ionic surfactants. The influence of the ionic liquid on Structure formation in the optically clear phase region in water/toluene/pentanol mixtures in presence of the cationic surfactant CTAB was studied in more detail. The results show a significant increase of the transparent phase region by adding the ionic liquid. Conductometric investigations demonstrate that adding the ionic liquid can drastically reduce the droplet- droplet interactions in the L-2 phase. H-1 nuclear magnetic resonance (H-1 NMR) diffusion coefficient measurements in combination with dynamic light scattering measurements clearly show that inverse microemulsion droplets still exist, but the droplet size is decreased to 2 nm. A more detailed characterisation of the isotropic phase channel by means of conductivity measurements, dynamic light scattering (DLS), H-1 NMR and cryo-scanning electron microscopy (SEM), allows the identification of a bicontinuous sponge phase between the L-1 and L-2 phase. When the poly(ethyleneimine) is added, the isotropic phase range is reduced drastically, but the inverse microemulsion range still exists.
The ternary system composed of the ionic liquid surfactant (IL-S) 1-butyl-3-methylimidazolium dodecylsulfate ([Bmim][DodSO(4)]), the room temperature ionic liquid (RTIL) 1-ethyl-3-methylimidazolium ethylsulfate ([Emim][EtSO4]), and toluene has been investigated. Three major mechanisms guiding the structure of the isotropic phase were identified by means of conductometric experiments, which have been correlated to the presence of oil-in-IL, bicontinuous, and IL-in-oil microemulsions. IL-S forms micelles in toluene, which swell by adding RTIL as to be shown by dynamic light scattering (DLS) and small-angle X-ray scattering (SAXS) experiments. Therefore, it is possible to form water free IL-in-oil reverse microemulsions <= 10 nm in size as a new type of nanoreactor.
This paper focuses on two different strategies to incorporate gold nanoparticles (AuNPs) into the matrix of polyacrylamide (PAAm) hydrogels. Poly(ethyleneimine) (PEI) is used as both reducing and stabilizing agent for the formation of AuNPs. In addition, the influence of an ionic liquid (IL) (i.e., 1-ethyl-3-methylimidazolium ethylsulfate) on the stability of the nanoparticles and their immobilization in the hydrogel is investigated The results show that AuNPs surrounded by a shell containing PEI and IL, synthesized according to the one-pot approach, are much better immobilized within the PAAm hydrogel. Hereby, the IL is responsible for structural changes in the hydrogel as well as the improved stabilization and embedding of the AuNPs into the polymer gel matrix.
The paper is focused on the formation and redispersion of monodisperse BaSO4 nanoparticles in polyelectrolyte- modified microemulsions. It is shown that a cationic polyelectrolyte of low molar mass, e.g. poly(dially1dimethylammonium chloride) (PDADMAC), can be incorporated into the individual inverse microemulsion droplets (L2 phase) consisting of heptanol, water, and an amphoteric surfactant with a sulfobetaine head group. These PDADMAC- filled microemulsion droplets can be successfully used as a template phase for the nanoparticle formation. The monodisperse BaSO4 nanoparticles are produced by a simple mixing procedure and can be redispersed after solvent evaporation without a change in particle dimensions. Dynamic and electrophoretical light scattering in combination with sedimentation experiments in the analytical Ultracentrifuge of the redispersed powder show polyelectrolyte-stabilized nanoparticles with diameters of about 6 nm. The polyelectrolyte shows a "size control effect", which can be explained by the polyelectrolyte-surfactant interactions in relation to the polyelectrolyte-nanoparticle interactions during the particle growth, solvent evaporation and redispersion process. However, the approach used here opens away to produce different types of polyelectrolyte-stabilized nanoparticles (including rare metals, semiconductors, carbonates or oxides) of very small dimensions. (C) 2004 Elsevier B.V. All rights reserved
The influence of the water soluble polymer poly(ethylene glycol) (PEG) on structure formation in the quasiternary system sodium dodecylsulfate (SDS)/pentanol-xylene/water was checked by means of conductometry, rheology, and micro differential calorimetry. The polymer induces the formation of an isotropic phase channel between the o/w and w/o microemulsion. The transition from the normal as well as from the inverse micellar to the bicontinuous phase range can be detected by conductometry, rheology as well as micro-DSC. As a result of polymer-surfactant interactions, the spontaneous curvature of the surfactant film is changed and a sponge phase is formed. The bicontinuous phase is characterized by a moderate shear viscosity, a Newtonian flow behaviour, and the disappearence of interphasal water in the heating curve of the micro-DSC. When the polymer-modified bicontinuous phase is used as a template phase for the nanoparticle formation, spherical BaSO4 nanoparticles were formed. During the following solvent evaporation process the primarily formed spherical nanoparticles aggregate to nanorods and triangular structures due to the non-restriction of the bicontinuous template phase in longitudinal direction