Abstract: A multi-phase system includes a phase-separated solution comprising at least two phases, each phase having a phase component selected from the group consisting of a polymer, a surfactant and combinations thereof, wherein at least one phase comprises a polymer, wherein the phases, taken together, represent a density gradient. Novel two-phase, three-phase, four-phase, five-phase, or six-phase systems are disclosed. Using the disclosed multi-phase polymer systems, particles, or other analyte of interest can be separated based on their different densities or affinities.

Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.

Abstract: Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

Abstract: The present invention generally relates to amplification of biological entities, for example, for phage display. In one aspect, members of a library of biological entities are encapsulated in separate compartments (e.g., in separate microfluidic droplets) and amplified. As a specific example, by putting members of a phage display library into microfluidic droplets such that no droplet contains more than one member of the library, the library can be amplified without any substantial changes in growth rates or population distributions, or other artifacts created due to differences in growth rates or amplification between different members of the library. In some cases, the volume of the compartments can be used to control the copy number of a biological entity during amplification. In certain cases, biological entities with different amplification rates can be amplified independently of each other.

Abstract: A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.

Abstract: A finger actuator, includes a plurality of fluidically interconnected inflatable chambers, wherein each chamber comprises outer walls having an embedded extensible layer selected to constrain radial expansion and freestanding inner walls; and an inextensible layer connected to the chambers at a base of the chambers, the inextensible layer comprising a flexible polymer and having an embedded inextensible layer that extends along the length of the finger actuator.

Abstract: A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the joint and immobilized between the first and second hollow structures, wherein the inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the restraining membrane is relaxed when the bladder is deflated.

Abstract: A multi-phase system includes a phase-separated solution comprising at least two phases, each phase having a phase component selected from the group consisting of a polymer, a surfactant and combinations thereof, wherein at least one phase comprises a polymer, wherein the phases, taken together, represent a density gradient. Novel two-phase, three-phase, four-phase, five-phase, or six-phase systems are disclosed. Using the disclosed multi-phase polymer systems, particles, or other analyte of interest can be separated based on their different densities or affinities.

Abstract: A finger actuator, includes a plurality of fluidically interconnected inflatable chambers, wherein each chamber comprises outer walls having an embedded extensible layer selected to constrain radial expansion and freestanding inner walls; and an inextensible layer connected to the chambers at a base of the chambers, the inextensible layer comprising a flexible polymer and having an embedded inextensible layer that extends along the length of the finger actuator.

Abstract: A cellulosic substrate-based device is described, including a cellulosic substrate comprising a functionalized surface covalently functionalized by a chemical moiety in an amount sufficient to provide an omniphobic or hydrophobic surface; and a material printed on the functionalized surface, wherein the printed material has a line edge roughness of less than about 15 ?m and/or a line lateral resolution of less than about 50 ?m.

Abstract: The present invention relates generally to microfluidic structures, and more specifically, to microfluidic structures and methods including meandering and wide channels. Microfluidic systems can provide an advantageous environment for performing various reactions and analyses due to a reduction in sample and reagent quantities that are required, a reduction in the size of the operating system, and a decrease in reaction time compared to conventional systems. Unfortunately, the small size of microfluidic channels can sometimes result in difficulty in detecting a species without magnifying optics (such as a microscope or a photomultiplier). A series of tightly packed microchannels, i.e., a meandering region, or a wide channel having a dimension on the order of millimeters, can serve as a solution to this problem by creating a wide measurement area.

Abstract: An aqueous multi-phase system for diagnosis of sickle cell disease is described, including two or more phase-separated phases including: a first aqueous phase including a first phase component and having a first density between about 1.025 g/cm3 and about 1.095 g/cm3; and a second aqueous phase including a second phase component and having a second density between about 1.100 g/cm3 and about 1.140 g/cm3; wherein the first density is lower than the second density; and each of the first and second phase components include at least one polymer.

Abstract: Embodiments of the invention provide lateral flow and flow-through bioassay devices based on patterned porous media, methods of making same, and methods of using same. Under one aspect, an assay device includes a porous, hydrophilic medium; a fluid impervious barrier comprising polymerized photoresist, the barrier substantially permeating the thickness of the porous, hydrophilic medium and defining a boundary of an assay region within the porous, hydrophilic medium; and an assay reagent in the assay region.

Abstract: A cell scaffold includes a string having a diameter of less than 500 ?m; a hydrogel matrix supported on the string; and cells seeded onto the hydrogel matrix. The scaffold is used to cultivate cells, and to evaluate cell viability or cell metabolic activity.

Abstract: A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.

Abstract: Systems and methods of determining operation parameters for the shadow cast fabrication of micro or nanostructures, the fabrication process using deposition from at least one source over an array of particles, wherein the deposition produces overlapping shadows masking the substrate. A computing device receives a first set of parameter inputs defining particle properties and deposition properties in a shadow cast fabrication, generates data corresponding to a first image for display based on the first set of parameters, receives at least one incremental parameter input that modifies or adds to the first set of parameter inputs, dynamically generates data corresponding to at least one second image for display based on the at least one incremental parameter input, receives an indication that the at least one second image corresponds to a shape ready for fabrication, and generates an output set of fabrication parameters corresponding to the shape ready for fabrication.

Abstract: The multiplexed electrochemical microfluidic paper-based analytical device comprises multiple detection zones for the detection of multiple biochemical analytes from one single sample. Cavity valves integrated on the device will deliver the sample to different detection zones. These analytes include, but are not limited to, urea, creatinine, creatine, glucose, lactate, ethanol, uric acid, cholesterol, pyruvate, creatinine, ?-hydroxybutyrate, alanine aminotrasferase, aspartate aminotransferase, alkaline phosphatase, and acetylcholinesterase (or its inhibitors). This system will provide a simple and low-cost POC approach to obtain quantitative and multiple biological information from one sample (e.g. one drop of blood).

Abstract: Systems and methods for providing a soft robot is provided. In one system, a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas-producing chemical reaction for providing pressurized gas to the pressurizing inlet.

Abstract: The ability to levitate, to separate, and to detect changes in density using diamagnetic particles suspended in solutions containing paramagnetic cations using an inhomogeneous magnetic field is described. The major advantages of this separation device are that: i) it is a simple apparatus that does not require electric power (a set of permanent magnets and gravity are sufficient for the diamagnetic separation and collection system to work); ii) it is compatible with simple optical detection (provided that transparent materials are used to fabricate the containers/channels where separation occurs; iii) it is simple to collect the separated particles for further processing; iv) it does not require magnetic labeling of the particles/materials; and v) it is small, portable.