@misc{bastola_cactusinspired_design_2021, 
author={Bastola, A., Rodriguez, N., Behl, M., Soffiatti, P., Rowe, N., Lendlein, A.},
title={Cactus-inspired design principles for soft robotics based on 3D printed hydrogel-elastomer systems},
year={2021},
howpublished = {journal article},
doi = {https://doi.org/10.1016/j.matdes.2021.109515},
abstract = {Plants have evolved many capabilities to anchor, position their stems and leaves favourably, and adapt themselves to different environmental conditions by virtue of growing. Selenicereus setaceus is a cactus and is an impressive example of a climbing plant found mostly in the Atlantic forest formations of southern Brazil. This cactus displays striking changes in stem geometry along different stages of growth: older parts are circular while the younger parts are star-like in shape. Such a transformation in shape optimizes its flexural rigidity and allows the cactus to search in three-dimensionally complex environments. Its organisation offers novel schemes for the design of plant-inspired soft robotic systems. In this paper, we have created multi-material systems for soft robotics that display controlled movements as well as mimicking the cactus stem geometries from star-like to circular. The unique star-shaped geometry is 3D printed using a soft elastomer and hydrogel is used as an actuating component. Through anisotropic swelling, the hydrogel-elastomer system adjusts its configuration and shows a controlled movement. Furthermore, the isotropic swelling of the hydrogel of the artificial cactus multi-material system result in the change in shape from star-like to circular as the cactus does naturally in the tropical forest.},
note = {Online available at: \url{https://doi.org/10.1016/j.matdes.2021.109515} (DOI). Bastola, A.; Rodriguez, N.; Behl, M.; Soffiatti, P.; Rowe, N.; Lendlein, A.: Cactus-inspired design principles for soft robotics based on 3D printed hydrogel-elastomer systems. Materials & Design. 2021. vol. 202, 109515. DOI: 10.1016/j.matdes.2021.109515}}