Tuesday, May 31, 2022

Successful Usage of Combination Biologic Therapy with Etanercept and Actemra for the Treatment of Tnf Inhibitor Failure Patients with Rheumatoid Arthritis: A Report of 2 Cases - Juniper Publishers

Arthritis & Bone Research - Juniper Publishers

Abstract

In the treatment of patients with rheumatoid arthritis with anti-tumour necrosis factor therapy, it is not uncommon for some patients to be unresponsive or relapse with treatment. We report the successful usage of combination biologic therapy with etanercept and tocilizumab in two patients with moderately severe rheumatoid arthritis who failed etanercept therapy. This is the first report of combination anti-tumour necrosis factor and anti-interleukin 6 cytokine therapy in the treatment of rheumatoid arthritis.

Keywords: Rheumatoid arthritis; Combination biologic therapy; Etanercept; Tocilizumab

Introduction

Rheumatoid arthritis (RA) is a complex chronic autoimmune arthritis where many cytokines and chemokines including Tumour Necrosis Factor (TNF), and Interleukin-6 (IL-6) play important roles in the pathophysiology of RA. Studies have demonstrated the efficacy of conventional synthetic disease- modifying anti-rheumatic drugs (csDMARDs) and biological DMARDs, and their combination in RA treatment [1]. Patients with early RA started on combined therapy of csDMARDs with bDMARDs showed earlier clinical improvement and less joint damage. Etanercept (Enbrel) is a TNF receptor blocker with good efficacy in the treatment of RA. As shown in the TEMPO and COMET study, ACR 20 responses for the etanercept + methotrexate (MTX) group vs MTX alone were 49% vs 14% respectively at Week 2, and 86% vs 61%, respectively at Year 2 [2,3]. Yet 50% of patients did not achieve DAS28 remission while on etanercept + MTX!

Studies have shown that IL-6 and soluble IL-6 receptor (sIL-6R) levels are elevated in RA. Tocilizumab (Actemra) is a humanized monoclonal antibody that targets the IL-6 receptor [4]. Tocilizumab binds to soluble and membrane-bound IL-6 receptors and inhibits IL-6 signaling. This leads to reduction of acute phase reactants, reduced B-cell activation and inhibits differentiation of T-helper cells into inflammatory Th17 cells. Tocilizumab (Actemra), which is effective as a monotherapy or combination therapy with methotrexate (MTX) for the treatment of RA, has also been shown to be have some efficacy in anti-TNF therapy inadequate response (IR) RA patients in the RADIATE trial. 50% of patients achieved ACR20 response at week 24, but only 20% achieved ACR50 response [5]. In the SUMMACTA trial, it was shown that the intravenous (IV) form given at 8mg/ kg and the subcutaneous form (s/c) of tocilizumab given at 162mg weekly had similar efficacy in DMARD IR patients with moderate to severe RA. 73% and 69% of patients achieved ACR20 responses at week 24 respectively [6]. So 50% of anti- TNF IR RA patients did not achieve any response even with tocilizumab. This is the first report of the successful usage of combination biologic therapy with etanercept and tocilizumab for the treatment of 2 patients with active RA who had relapsing disease despite anti-TNF monotherapy.

Case report 1

The first case is a 47-year-old, German lady who was diagnosed with RA in March 2016 after presenting with symmetrical polyarthritis for 3 months affecting the shoulders, knees and hands. Blood tests showed elevated ESR, C-reactive protein and positive RA factor and anti-CCP. She was started on s/c etanercept 25mg/week and prednisolone and methotrexate (MTX). She became intolerant to both prednisolone and MTX and both were stopped. Other DMARDs including cyclosporine A, leflunomide and mycophenolate were tried but she developed adverse reactions and decided to have etanercept monotherapy 25mg every week. She was initially doing well but after a few months had intermittent flares. In Jan’17 had a moderate-severe flare which required intravenous (IV) methyl prednisolone. Her etanercept was increased to 50mg/week. Her RA stabilized for 3 months. By April'17, she had recurrent flares and by day 5 post etanercept injection, her joint pains would recur. She was switched to twice weekly etanercept 25mg injection every Tuesday and Friday. She was in remission until June'17 when she had another flare requiring IV methylprednisolone. She was tried on a combination biologic therapy of s/c etanercept 25mg and s/c tocilizumab (Actemra) 162mg once a week. Her RA improved with ACR70 response the following week and by the 4th week, she was 90% better. The CPR normalized from 6.6mg/ dl to 0.7mg/dl.

Case Report 2

CKP is a 65 year old Chinese man, with severe RA factor positive, anti-CCP positive RA diagnosed in January 2017. He was initially started on MTX by another rheumatologist but stopped because of liver dysfunction. He saw me 2 weeks later and I started him on s/c etanercept (Enbrel) 25mg/wk, cyclosporine A and prednisolone. He improved for the first 3 months, and then began to have active synovitis of the ankle joints in March 2017. The S/C Enbrel was increased to 50mg. He still had active disease with severe polyarticular flares. RA factor increased from 524IU/mL to 1246IU/mL and C - reactive protein (CRP) from 69.3mg/L to 93.4mg/L. He was started on IV biosimiliar infliximab (Remsima) 200mg induction dose in June 2017 with improvement in the joint synovitis and pain. After the 2nd dose of IV Remsima, he developed rashes, likely to be allergy to Remsima. Hence the 3rd injection dose was not given. He continued on daily prednisolone 5mgbid and celecoxib 200mg bid. He developed recurrent joint pain and morning stiffness of 2 hours duration with left wrist and ankle synovitis. ESR was 101mm/hr, CRP increased to 104.9mg/L and RAF level increased to 1,981IU/ mL. He was started on combination biologic DMARD with s/c Etanercept 25mg and s/c Actemra 162mg in July2017. He was given a total of 6 combination s/c Etanercept and Actemra injections over the next 2 months. His RA symptoms improved and he was able to discontinue celecoxib with 20% reduction of RAF to 1632IU/mL and ESR to 84mm/hr.

Discussion

Combination biologic therapy was first proposed by Isaac et al in 1999 where combination therapy is designed to achieve additive or synergistic effects by targeting different effecter mechanisms or cell activation pathways [7]. In this first report, TNF inhibitor was combined with Anti-CD4 monoclonal antibody. This was an open study of 9 patients with multi- DMARD resistant RA. There was some evidence of short term synergy with the 2 agents, and 3 patients had long term minimal disease activity for at least 1 year after only 3 months of therapy. There are few reports on the usage of combination bDMARDs in RA. Combination bDMARDs may have superior efficacy in the treatment of arthritis and may overcome the limited therapeutic responses obtained with single cytokine neutralization [1]. Safety of rituximab (RTX) in combination with other bDMARDs (ADA, ETN, AVT or IFX) in RA was reported as an open-label study [8]. Rigby and colleagues showed that no serious adverse events occurred within 24 h of any RTX infusion, and that efficacy improved at week 48 compared with that at week 24. Bispecific antibodies against TNF and interleukin (IL)-17 have been reported to be more effective than single blockade in a model of arthritis in mice [9]. Combination therapy using ETN plus ANK was reported to provide no additional benefit but there was an increased risk of infection compared with ETN monotherapy, so was not recommended for RA treatment [10].

In the setting of psoriatic arthritis, there are 2 case reports of the successful usage of combination biologic treatment with anti-TNF inhibitor (1 with etanercept and 1 with adalimumab) and ustekinumab (an anti-IL12/23 inhibitor) [11,12]. This is the first report of the successful usage of combination anti- TNF and anti-IL-6 biologic DMARD therapy for the treatment of moderately-severe RA in the setting of anti-TNF failure. And this case reports illustrate that the concept that the use of combination biologic therapy to achieve additive or synergistic effects by targeting different effecter mechanisms (in this case the TNF and IL-6 cytokines) or cell activation pathways in the complex pathogenetic mechanisms of RA may be needed to bring difficult to treat RA patients under disease control or remission. Further studies are needed in more patients and on a longer term basis to ascertain the efficacy, sustainability, safety and cost-effectiveness of such combination biologic therapy. As rheumatologist faced with patients who have relapsing disease and drug resistant RA, combination biologic DMARDs may represent one of the novelties in the treatment of rheumatoid arthritis in the future [13].

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Monday, May 30, 2022

Onychomycosis: Etiopathogenesis and Clinical Characteristics - Juniper Publishers

 Dermatology & Cosmetics - Juniper Publishers


Abstract

Onychomycosis is the most common nail disease globally, can occur at any age and is related to persistent trauma of the nail, immunosuppression, hyperhidrosis and other risk factors. Onychomycosis can be caused by dermatophytes, non-dermatophyte molds and yeasts. Recent evidence supports the presence of fungal biofilms that protect them from the immune system as well as antifungal drugs. Biofilm may explain fungal resistance and the inability to eradicate fungal chronic infection. Clinically it presents with onycholysis, nail thickening, brittleness and discoloration. This disease can have a negative and significant effect on the quality of life of patients.

Keywords: Onychomycosis; Risk Factors; Dermatophytes; Nails

Introduction

Onychomycosis is the most common nail disease worldwide, accounting for about 90% of toenail and 50% of fingernail infections. The fungal infection leads mainly to discoloration, nail plate thickening and onycholysis [1]. Prevalence increase in the elderly and it reaches all ethnicities with a male predilection (1.5:1) [2,3]. Pediatric cases are increasing, possibly related to childhood obesity and diabetes mellitus [4]. Some known risk factors are the persistent trauma to the nail, human immunodeficiency virus (HIV), immunosuppression, hyperhidrosis and smoking. It is also related to the use of occlusive shoes or synthetic material, poor hygiene and the habit of not drying feet skin properly [5,6]. It is now known that there are some factors that favor the increase of fungal infection of the nails (Table 1). These same factors can lead to recurrence of onychomycosis after treatment, which makes it a challenging and chronic disease.

Etiopathogenesis

Onychomycosis can be caused by dermatophytes, non-dermatophyte molds (NDMs) and yeasts. Around 90% of toenail onychomycosis infections are caused by dermatophytes [8]. The most common etiology in Europe are dermatophytes, typically Trichophyton rubrum followed by T mentagrophytes and T interdigitale [9]. In the United States and Mexico T rubrum is the head agent accompanied by T mentagrophytes [10]. Other less frequent tinea unguium infections are caused by Epidermophyton floccosum, Microsporum spp., T violaceum, T verrucosum, T krajdenii, and Arthroderma spp [11]. Candida albicans and C. parapsilosis are isolated between 8 and 10% and are more likely to be causal in fingernails, especially individuals whose hands are frequently immersed in water [11]. NDMs (1-5%) are predominantly Aspergillus spp., Scopulariopsis brevicaulis, Acremonium spp., Fusarium spp. and Neoscytalidium [7,12]. Although dermatophytes are the most common in onychomycosis, NDMs are being reported more frequently in warmer climates [13,14]. Mixed NDMs-dermatophyte infections are uncommon [15]. Recent evidence supports the presence of fungal biofilms. These are microbial communities, rather than acting as independent spores and hyphae, that attach to biological surfaces, such as the nail plate, via an extracellular matrix (ECM) that encases them. The ECM protects them from the immune system as well as antifungal drugs, physical and chemical removal strategies. Dermatophytes, including T rubrum and T mentagrophytes, NDMs including Aspergillus fumigatus and Fusarium spp. and yeast such as C albicans all form biofilms in vitro. Biofilm may be the reason fungal resistance and the inability to completely eradicate fungal chronic infection [16-19].

Clinical Characteristics

Onychomycosis occurs most often on the feet, with the great toenail most frequently affected. It can present nail separation from the nail bed (onycholysis), nail thickening, brittleness and discoloration (white, yellow or brown). More severe cases may exhibit ingrown nail (onychocryptosis). These symptoms get progressively worse. Dermatophytoma is a fungal mass that presents as yellow, white or brown longitudinal streaks within the nail plate. On the other hand, NDM and yeast infections present usually as yellowish/whitish discoloration [20]. Classification of onychomycosis has five categories established: distal and lateral subungual, superficial white, proximal subungual, endonyx and total dystrophic onychomycosis. Distal lateral subungual infection, the most common form, begins on the distal section of the nail and spreads under the nail bed (Figure 1) [21]. Endonyx is exceptional and involves the nail plate as well as the nail bed. Proximal subungal onychomycosis are less common in the general population, but are the most frequent form in patients with HIV infection and can pose problems because it is more difficult to obtain a good sample for microscopy and culture. White superficial is usually associated with T mentagrophytes rather than T rubrum infection; the sample is relatively simple to obtain and in general has a positive response to topical therapy. Total dystrophic onychomycosis involves the whole nail [22]. Onychomycosis can have a negative and significant effect on the quality of life of patients, both physiologically and emotionally, it can even cause stigmatization and social exclusion. Nail changes can cause pain when walking or standing for long periods, with limited mobility; in addition, it can cause paresthesia, mainly in fingernail onychomycosis. Other negative consequences described are the exacerbation of diabetic foot, acceleration of thrombophlebitis and development of urticaria or dermatophytid reactions [23].

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Friday, May 27, 2022

Modified Cellulose-Based Edible Polymer Coating: An Investigation of Castor Oil Concentration for Application in Apple Preservation - Juniper Publishers

 Academic Journal of Polymer Science - Juniper Publishers

Abstract

The purpose of this study was to evaluate the effect of adding various concentrations of castor oil (2% and 4% v/v) on the properties of edible films based on carboxymethyl cellulose (CMC). Moisture content, water solubility, tensile strength, elongation at break, elastic modulus, water vapor permeability, optical and thermal properties and antioxidant activity of the films were examined. The results demonstrated that the presence of castor oil led to a decrease in moisture content, water solubility and mechanical strength of the films. The film containing 4% of oil showed the highest water vapor permeability. The optical properties measurement represented that all of the samples were transparent. By the addition of castor oil, the antioxidant activity of the films improved largely. Thermal properties of the samples had also been investigated and it was determined that the effect of castor oil on the melting point was negligible. Finally, the performance of the coatings for protecting fresh apples was studied with measuring the pH value of apples and performing some field test.

Introduction

Every year a large portion of foods, especially fruits and vegetables, from the time they are harvested until they reach to consumers, go through different kinds of qualitative and quantitative deterioration and loss [1]. Various factors are involved in food deterioration such as microorganisms, mechanical damages, time and light. Therefore, if we fail to protect the food, it can be damaged within hours or days [2]. Currently, there are numerous technologies used for the purpose of fruits and food preservation. Some include controlled atmosphere storage and modified atmosphere packaging, innovative osmotic dehydration technologies, electro-osmotic dewatering , thermal pasteurization, and gaseous ozone and ozonated water treatments [3,4]. One way to prevent or delay the food deterioration is the use of edible coatings. During the past decade, edible coating has been widely used for this purpose [5-9]. Some advantages of edible coatings include extending shelf-life of fresh fruits, reducing amount of waste produced from packaging processes, improving appearance and fulfilling environmental safety, as well as enhancing nutritional properties due to containing lots of beneficial biopolymers and biological compounds including polysaccharides, proteins, and lipids. Moreover, they decrease water loss and retard ripening of fruits due to barrier mechanism, and are also able to enhance antioxidant properties of fruits and vegetables [10-13].

Any material used to cover foods in order to enhance the shelf life, which may be eaten with the food, is an edible coating [2]. Various studies have been conducted on the properties and applications of edible films and coatings [14-18]. The initial studies on edible coatings can be traced back to 1967, where Hardenburg studied the application of wax used by Chinese on citrus fruits [19]. Since 1986 there were various studies on edible coating including wax emulsions, oils, cellulose, chitin and chitosan, and their impact on diverse properties of fruits and food like shelf-life [20-26]. However, more research is needed because there are no edible films that can be used for all purposes. As other technologies, edible coatings can also bring some challenges like undesirable tastes caused by presence of wax materials, hydrophilic nature of edible coatings which makes them moisture-sensitive and limits their moisture-barrier performance, poor adhesion and coverage, and insufficient mechanical properties of biopolymers comparing to the synthetic ones [27,28]. In general, an ideal edible film must have characteristics such as being nontoxic, allergenic or indigestible materials, protecting foods from mechanical damages, good adhesion, maintaining the appearance of the product and having an easy and economical production [2]. Proteins, carbohydrates and lipids are the main film forming agents in edible coatings [29]. Generally, lipids will reduce water transmission in edible coatings, polysaccharides are good for controlling the transmission of gases and protein-based films have proper mechanical strength [29]. These materials can be used either individually or as a blend (composite films) in edible coatings [29].

Carboxymethyl cellulose (CMC) is a conventional polysaccharide, which is one of the common derivatives of cellulose. CMC is an anionic polysaccharide, which unlike cellulose is soluble in water [30]. CMC has wide variety of uses in different industries such as foods and coatings [31] and therefore is an excellent choice for edible coatings because it has no toxic or allergic effects. It is one of the most desirable polysaccharide polymers due to its excellent properties including perfect film forming ability, availability, low price and high viscosity, which can be used to produce both edible and degradable films and coatings [31]. In most cases, a plasticizer must be added to the film forming solution in order to reduce the brittleness of CMC films. However, using plasticizers will affect the mechanical and permeability properties of the films [32]. The most common food grade plasticizers are some polyols including glycerol, mannitol, sorbitol, and sucrose [33]. Glycerol is a clear, colorless and odorless liquid, which is soluble in water due to its hydrogen bonds. This component reduces the film's fragility by being located between the CMC chains (enhancing chain mobility) and also by absorbing water [34]. The beneficial properties of some lipids, including their good compatibility with other film constituents and good barrier properties against water vapor and other gases, make them an ideal choice for edible coatings and films [35,36]. Lipid compounds that are commonly used to make films and edible coatings include edible oils, fatty acids and waxes [37]. The efficiency of lipid used in edible films and coatings depends on the nature of the lipid, particularly its structure, hydrophobicity and its interaction with other components in the system [2]. Castor oil is a viscous and non-volatile liquid with a pale yellow color. High amount of both resinoleic acid (RA) and double bonds results in oxidative stability of the castor oil as well as long shelf life [37]. The antioxidant activity of castor oil also makes it an excellent choice for use in edible coatings in order to prevent food degradation.

In this study, the effect of castor oil on mechanical, optical, physical and thermal properties of CMC-based edible films along with their antioxidant activity have been investigated. The results showed potential use for castor oil in edible coatings.

Materials and Methods

Materials

Carboxymethyl Cellulose (CMC) with purity of 99.6% and viscosity of 2787 cps ; Castor oil with density of 0.959 g/mL [38] and Polysorbate 80 (Tween 80) were purchased from Pasargad Novin chemical Co. Glycerol (USP grade) was purchased from PALMAC. Analytical grade of Ascorbic acid was obtained from Merck (Darmstadt, Germany). CMC is a white, granule-shaped powder used for increasing the viscosity. Castor oil consists of various fatty acids mostly containing ricinoleic acid (12-hydroxyoctadecenoic acid) [39]. Tween 80 which is a highly viscous liquid, is used as a surfactant [40,41].

Preparation of films

Film forming solution was prepared by adding 1 g of CMC to 100 ml of distilled water (1% w/v). The system was under continuous agitation by magnet stirrer and the temperature was set on 75℃. After 40 minutes, a clear solution was achieved. Then 1 ml of Glycerol (as plasticizer) was added to the film forming solution and stirring went on for another 15 minutes. At this point, the film forming solution was ready in order to prepare the control films (films containing no castor oil). To do so, 25 g of the solution was poured in the middle of plastic circular plates (with 10 cm diameter and 1 cm height) and dried at room temperature in about 48 hours. Other film samples were prepared as described below:

a. CO-2: 0.2 ml of Tween 80 (proportional to castor oil) was added to the film forming solution under continuous stirring. After 15 minutes, 2 ml of castor oil was also added to the solution and the stirring continued for another 30 minutes.

b. CO-4: 0.4 ml of Tween 80 was added to the film forming solution under continuous stirring. After 15 minutes, 4 ml of castor oil was also added to the solution and the stirring continued for another 30 minutes.

c. AA1: 1 g of ascorbic acid was added to the film forming solution and the system was under stirring for 10 minutes.

d. AA2: 0.4 ml of Tween 80 was added to the film forming solution under continuous stirring. After 15 minutes, 4 ml of castor oil was also added to the solution and the stirring continued for another 30 minutes. Following that, 1 g of ascorbic acid was added to the solution and stirring continued for 10 minutes.

The procedure of preparing film from all of the mentioned solutions was similar to the control films. Also, to do some field tests and measuring pH the sample films were applied on apple by silicon brush. All the dried films were peeled of the plates and kept in a desiccator at 25℃ and 50% relative humidity (RH) for 72 hours until further evaluations.

Thickness

A hand-held micrometer was used to measure the film thickness. For each film, the thickness was measured in several areas (at least at five locations) and the final thickness was reported as the average value.

Optical properties

The color of each film was monitored using a calorimeter in the CIE Lab system. The films were placed on a standard white background (L*= 89.7584, a* = -0.5083 and b* = -2.0585) and their “Lab” values were determined. The color difference (ΔE) between the films and the standard background, whiteness index (WI) and yellowness index (YI) were calculated using the following equations:

Where “L” value represents the lightness of the sample (varies from 0 (black) to 100 (white)), “a” represents the redness-greenness balance of the sample (from negative (green) to positive (red) values) and “b” indicates the yellowness-blueness balance of the film (between negative (blue) and positive (yellow) values) [37].

Moisture content (MC)

The moisture content of each film was determined based on weight loss. In this method, the film was first weighed and then placed inside the oven at 110°C. The weight of the film was measured every hour until it reached a constant value. Finally, the amount of moisture in the film was obtained from the difference between the initial and the final weight. The percentage of water in the film was calculated by the following equation:

Where Wi is the weight of the film before being placed in the oven and Wf is the weight of the film after that. The test was repeated three times for each sample to secure a more accurate result.

Water solubility (WS)

The solubility of the film in water was evaluated based on the method described by Gontard et al. with some modifications [42]. The initial weight of the film was measured after drying the sample at 110 °C. Then the dry samples were immersed in 100 ml water for 5 hours at 25°C under continuous stirring. After filtration, to determine the final dry weight, the portion of the film, which was undissolved in water, was placed in an oven at 110°C to reach a constant weight. The water solubility percentage of the film was calculated by the following equation:

Where Wi is the initial dry weight and Wf is the final dry weight of the films (after immersing in water).

In order to obtain a consistent result, water solubility of each film was evaluated three times and the average value was reported.

Water vapor permeability (WVP)

The water vapor permeability of each film was determined based on the instructions provided by ASTM E96 [43]. Cups with an average diameter of 3.5 cm and a depth of 1 cm were used to determine WVP. The films were cut in circle shapes with slightly larger diameter than of the cup. After placing 3 g of water (RH = 100%) in each cup, they were covered with sample films. Each cup was placed in a desiccator containing silica gel (RH = 0%) and the temperature was maintained at 25°C. The cups were weighed every 24 hours (With a precision of 0.0001 g). The weight change of the cup was plotted as a function of time and the slope of this curve (weight change versus time) was calculated by a linear regression. Water vapor transmission rate (WVTR) was obtained by dividing this slope by the transmission area (m2). Finally, the WVP was evaluated from the following equation:

Where P is the saturated vapor pressure of water at test temperature (25℃), R1 is the RH inside the desiccator, R2 is the RH inside the cup and X is the film thickness (in meter).

Antioxidant activity

The antioxidant activity of the film samples was investigated through DPPH radical scavenging activity based on instruction of Brand-Williams et al. [44] with some modification. This test is based on the ability of the samples to donate hydrogen or electron and is evaluated by measuring the amount of color reduction of 2,2-diphenyl-1-picrylhydrazyl (DPPH) solution in methanol (a solution with purple hue). DPPH radical is absorbed at 517 nm but the amount of absorbance decreases when it is exposed to an antioxidant. To evaluate this property, 25 mg of the sample film was added to 5 ml of distilled water and the mixture was stirred continuously by a magnet Stirrer. Then 0.1 ml of the resulted solution was added to 3.9 ml of DPPH solution (0.1 mM methanol solution) and the sample was incubated in darkness for one hour at room temperature. The sample’s absorbance was then measured at 517 nm and the scavenging activity was calculated by the following equation:

Where A is the absorbance at 517 nm.

Mechanical properties

Tensile strength, elongation at break and elastic modules of the films were measured by the universal testing machine. The test was conducted based on the ASTM D882-91 standard [45]. For this purpose, the films were cut into rectangle shapes (about 2 cm x 10 cm) and placed between the grips. The initial space between the grips and the crosshead speed were set at 50 mm and 10 mm/min, respectively (with 1 kg load cell). Mechanical properties were evaluated for three replications of each sample.

Thermal properties

The thermal properties of the films were investigated by DSC test, which is described below. Approximately 5 mg of the film was placed in an aluminum pan. The reference was also an empty aluminum pan. Thermal behavior of different films were measured at a thermal scanning rate of 5℃/min in three steps. First heating from 30℃ to 100°C, then cooling from 100℃ to 30°C and last heating again from 30℃ to 250°C. The melting point (Tm) of the films was determined in this process.

pH value

To evaluate the pH of apples, 10 g of each sample (with its coating) was added to 100 ml of distilled water and then stirred for 30 minutes. After filtering the mixture, its pH was measured and reported by a digital pH-Meter. In order to compare the results, the same process was performed on control apples (apples with no coating). The pH measurement was started immediately after applying coating on the apples and was repeated every 4 days. During the test process, apples were kept at room temperature.

Field test

To evaluate the performance of the coating, three apples were picked from a store and processed as described below:

a. The first apple was kept unwashed.

b. The second one was washed.

c. The last one was washed and then the CO-4 film forming solution was applied on it with a silicon brush.

All three samples were then kept at a dark place at room temperature for six months.

Statistical analysis

All the Data were analyzed using MATLAB and Statistics Toolbox Release R2018b, The MathWorks, Inc., Natick, Massachusetts, United States. The results were reported as mean ± standard deviation.

Results and Discussion

Thickness

Thickness is an important parameter that affects some properties of the films such as transparency, permeability and mechanical strength [46]. The thickness of the films varied from 45 to 95 microns. As shown in Table 1, the thickness of the control film (without castor oil) was 45 microns and with increasing the oil content in the samples, their thickness increased until it reached 95 microns for the film containing 4% castor oil. The reason is that by adding oil to the film-forming solution, the solid content of the final coating increases, because castor oil enters the CMC matrix, which results in an increase in thickness. Same result have been reported by Shojaee-Aliabadi et al. [47].

Optical properties

Optical properties or appearance is an important factor of edible coatings and films as they affect the acceptancy of a product by the consumers. The least expectation from a coating is to maintain the appearance of the product if cannot improve it. The CIE Lab, color difference (ΔE), whiteness index (WI) and yellowness index (YI) values used to describe the optical properties are given in Table 2. The spectral reflectance curves of the samples are also shown in Figure 1. As illustrated, the control film had the highest area under the curve and therefore the highest brightness. The L value (brightness) of the samples decreased slightly with increasing oil content. In addition, the yellowness index of the specimens increased marginally with increasing oil content in the film structure, which could be due to the absorption of light by castor oil at low wavelengths. For the same reason, the color difference of the samples increased moderately with the addition of oil to the film (the color difference between the CO-2 and CO-4 samples having different oil content was not significant). Finally, the whiteness index of the samples decreased slightly with the addition of oil to the system. The presence of castor oil and increasing the amount of it reduced the transparency of the film to some negligible degree. The reason is that by adding oil to the film forming solution, which is a water-insoluble fraction, the system becomes an emulsion, resulting in a decrease in the transparency of the film relative to the oil-free sample [48]. Overall, the addition of castor oil to CMC films had no major negative effects on their appearance.

MC

Moisture content of films is an important factor in determining coatings quality. High moisture content can provide an ideal environment for the growth of microorganisms and cause deterioration during long storage periods. The MC also helps edible films to melt in mouth when eaten [2]. The MC of each specimen is reported in Table 1. As can be seen, samples containing castor oil had a lower moisture content than the control film, and the MC decreases with increasing oil content from 2% to 4%. The reason for this decrease can be mainly attributed to the increased hydrophobicity of the films due to the increased oil content. In addition to increasing hydrophobicity, the interaction between castor oil and the hydroxyl groups present in the CMC impedes water absorption by these groups, thereby reducing the amount of water in the film. Similar results were found by previous studies [47,49].

WS

Moisture content of a film can also affect its solubility in water. The higher the moisture content of the film, the greater the solubility in water. The water solubility of each film sample is reported in Table 1. As shown in the diagram, the CMC film containing no castor oil (control sample) is completely soluble in water. The solubility in water decreased with increasing castor oil concentration in samples due to the high amount of hydrophobicity in the film matrix and preventing CMC hydroxyl groups from absorbing water. The lowest water solubility was observed in CO-4 sample containing 4% castor oil in its structure.

WVP

WVP is an important factor to investigate the performance of edible films and coatings and can be influenced by characteristics such as film integrity, hydrophobic ratio and film thickness [50]. Knowing WVP of the film is very helpful for preventing the mass transfer from food to the surrounding environment and therefore extending the shelf life of the product. The values of G/t, which is the slope of the weight change curve over time of the samples, are shown in Figure 2. Using these slopes, the WVP values were calculated for the samples (Table 1). It is observed that with increasing oil content, the slope of the curve increased, resulting in a higher WVP. The film containing 4% oil shows the highest amount of WVP. While the common expectation is that increasing oil content would decrease the permeability of the samples due to the increased hydrophobicity of the films, the exact opposite result has been achieved. This could be due to the fact that the increase in castor oil concentration in CMC films, besides increasing the hydrophobicity ratio, had a negative effect on the cohesion of the film matrix. The weakening of the cohesion forces in the matrix accelerates the transfer phenomenon and ultimately increased the water vapor permeability. Furthermore, castor oil also has a softening effect similar to glycerol. This makes the movement of polymer chains in the film easier, which increases permeability. Similar result was observed in the work of Dashipour et al. [49].

Antioxidant activity

The ability of an edible coating to prevent foods from oxidation is an important factor in determining the coating's performance to extend the shelf life of the product. The higher the antioxidant activity of the coating, the better its function in protecting the food. In this study, the antioxidant activity of the samples was measured by DPPH scavenging activity method, and the results are shown in Figure 3. As expected, the control film showed no antioxidant activity, as there is no compound in its structure capable of radical absorption. The amount of antioxidant activity in oil-containing films is significantly higher than that of control sample. By increasing the oil concentration from 2% to 4%, the scavenging activity of the film also increased and reached 46.3%, which is desirable. The antioxidant activity of films containing just castor oil was lower than that of ascorbic acid containing samples. The highest scavenging activity was for AA2 sample, which had both castor oil and ascorbic acid (95.4%). The radical scavenging activity of the oil-containing specimens results from the unsaturated double bands present in castor oil structure. These double bands become saturated by absorbing free radicals; therefore, prevent the product from oxidizing.

Mechanical properties

Characteristics of edible films such as tensile strength (TS), elastic modulus (EM) and elongation at break (EB) are very important in coatings and packaging and can be helpful to predict coatings performance [51]. Table 1 shows the TS, EM and EB values of samples. As illustrated, the tensile strength of the control sample was 10.14 MPa, which decreased significantly with increasing oil content and reached 3.43 MPa in CO-4 film. Similarly, the elastic modulus of the films decreased with increasing castor oil from 76.91 MPa to 27.75 MPa. On the other hand, with increasing castor oil concentration, the flexibility of the films improved and therefore their elongation at break increased from 24.81% for control sample to 49.08% for CO-4 sample. This can be due to the fact that the addition of castor oil created a heterogeneous film, which results in decreasing mechanical strength and increasing flexibility [52]. In addition, as mentioned earlier, castor oil has some level of softening property. Therefore, its molecules can be placed between CMC chains and facilitate their movements and as a result increased the films’ flexibility, desirably.

Thermal properties

Determination of thermal properties, especially glass transition temperature, is very effective in evaluating the performance of edible films and coatings. If the glass transition temperature of the film is much higher than the ambient temperature, the film would be very brittle, but it would have low permeability. However, if the Tg is lower than the ambient temperature, the permeability would be very high and the film would be very soft and flexible, which will not provide the proper mechanical protection for the product. As a result, if the glass transition temperature of the films is slightly above ambient temperature (close to ambient temperature), it will be in a desirable range of permeability and mechanical strength [46]. Therefore, if castor oil could reduce the Tg and Tm of the specimens, it will be considered a beneficial effect. Thermal diagram of the samples obtained by performing DSC experiment and is shown in Figure 4. As shown in the diagrams, in the temperature range of 208℃ to 211°C there are large and endothermic peaks, which could be attributed to the melting temperature of the CMC matrix. The Tm of the control sample is 210.99°C, and with increasing castor oil content to 4% (CO-4), the Tm reached 208.39°C. As presented, no glass transition temperature was observed in the samples due to the low sensitivity of the test equipment.

pH value

The microbial growth in the food produces nitrogen-containing compounds that increase the pH of the product [53]. The coating should prevent this increase in pH by restraining the microbial growth. The better the coating performs in this matter, the lower the pH increases and the longer the shelf life of the product will be. The pH values of control and coated apples were measured over 16 days, which are represented in Figure 5. As can be seen, the highest pH increase was for uncoated apples and the lowest increase was for apples with CO-4 coating. In general, coatings (especially the ones with castor oil) were successful in preventing pH increase and their pH was lower than non-coated apples after 16 days. This result shows that CMC-based coatings containing castor oil prevented pH value from increasing.

Field test

As mentioned earlier, one of the causes of food deterioration is time. Nowadays, the process of preparing foods until they are ready for consumers’ use takes a considerable amount of time. During this time-consuming process, foods could undergo water loss and deterioration. Therefore, the performance of edible coatings over time is very important. Figure 6 shows the changes of apples after being exposed to ambient temperature for 6 months. Although the coated apple (Figure 6, c2) was also suffered from high deterioration, it had less water loss and discoloration than the other two apples, which had no coating. The coated apple also had a much better physical state and was more firm and less wrinkled than the other two.

Conclusion

The presence of castor oil in the film forming solution increased the thickness of the resulting CMC films, but due to its hydrophobic nature, reduced the moisture content and water solubility of the films. The addition of castor oil in carboxymethyl cellulose films resulted in higher permeability due to the weakening of cohesion forces in CMC matrix and softening properties of the oil. The mechanical strength of the films was also weakened for the same reason. As the oil content increased, the color difference and yellowness index of the films increased, and the whiteness index decreased slightly. Due to the presence of unsaturated double bonds in the castor oil structure, this oil had the ability of radical absorption and therefore antioxidant activity. Addition of castor oil had no significant effect on the thermal properties of the carboxymethyl cellulose films and reduced the melting temperature of the samples by 3°C. The coatings prevented the early deterioration of apples and reduced the pH increasing rate by preventing the growth and activity of the microorganisms.

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Thursday, May 26, 2022

Novel Configurations of Slit Tubular Soft Robotic Actuators and Sensors made with Ionic Polymer Metal Composites (IPMCs) - Juniper Publishers

 Robotics & Automation Engineering Journal - Juniper Publishers

Abstract

Reported is a new family of ionic polymer metal composites (IPMCs) actuators, energy harvesters and sensors in slit cylindrical/tubular configurations. The slit IPMC cylindrical/tubular elements are made of bending IPMC slit elements distributed symmetrically around a cylindrical mantle. The slit bending elements around the cylindrical mantle may be either straight and/or parallel with the longitudinal axis of the cylinder for linear actuation and sensing in terms of the length of the entire cylinder or may be helically wound around the cylindrical mantle to produce a combination of linear and torsional actuations and even bending for the slit cylindrical tube. This paper further introduces some models and special cases of linear IPMC actuators and sensors in slit cylindrical/tubular form. Experimental results relating the bending deformation to the axial deformations of slit cylinders are also presented. Of particular interest is the emergence of undulating linear actuation and sensing by slit IPMCs and their combination with twisting and bending to create 3-D soft robotic manipulation and undulation like in an elephant trunk.

Keywords: Novel Configurations; Slit Tubular; Soft Robotic Actuators; Sensors; Ionic Polymer; Metal Composites

Abbrevations: IPMCs: Ionic Polymer Metal Composites; EAPs: Electro Active Polymers

Introduction

Ionic polymer-metal composites (IPMCs) are synthetic nanocomposite materials. They belong to the family of electro active polymers (EAPs). IPMCs deform (actuation mode) in an imposed small electric field (few kV/m). Also, they generate electrical fields (sensing/energy harvesting mode) upon physical deformation or via environmental dynamics, like wind or ocean waves (few mVs for small samples, 10mm x 40mm x 0.2mm). They work both in air and polar liquids such as water and blood. In both cases the conjugated cations need to be mobile enough to migrate towards the cathode when an electric field is imposed on them. This mobility is generally triggered by the osmotic pressure created by the migration of hydrated cations. The mobility and reconfiguration of cations can also be initiated if the IPMCs are in or under water. To maintain consistency in actuation and sensing the IPMCs may be encapsulated with thin silicone rubber sheath, by spraying them with silicone spray to maintain a uniform humidity during actuation, energy harvesting and sensing operations.

An early coverage and review of IPMCs were first published in 1998 by Shahinpoor, Bar-Cohen, Xue, Simpson and Smith [1,2]. However, the original idea of ionic polymer actuators and sensors goes back to 1992-93time frames and the pioneering work of Osada, Oguro, Kawami, Asaka, Takenaka and Shahinpoor [3-14]. IPMCs are composed of an ionic polymer like Nafion® or Flemion® whose surfaces are chemically plated or physically coated with conductors like platinum or gold. The electrodynamics of charge migration and generation in these materials are governed by the Poisson-Nernst-Planck field equations [15-24]. These materials display artificial muscle behavior under an applied voltage or electric field. For example an applied voltages of 1 to 4 volts for a typical sample of the size 10mm x 40mm x 0.2mm typically produces spectacular bending (Figure 1).

Ions migration and redistribution, due to the imposed voltage across a strip of IPMC, result in all kinds of deformations. If the plated electrodes are arranged in a non-symmetric configuration, the imposed voltage can induce many kinds of deformations such as twisting, rolling, turning, twirling, whirling and non-symmetric bending deformation. Alternatively, if such deformations are physically applied to an IPMC strip they generate a voltage signal (few millivolts for typical small samples) as sensors and energy harvesters [25-27].

Figure1a & 1bdepict various deformation configurations of IPMC strips depending on the placement configuration of the electrodes chemically plated on the IPMCs. Such twisting/bending deformations of IPMCs (Figure 1b) may be generated by placing the electrodes on the IPMC strip in eccentric and non-symmetrical configurations. These materials generate a force density of about 40 in a cantilever configuration for sizes around 5mm x 30mm x 0.2mm, meaning they can generate a tip blocking force of almost 40 times their own weight in a cantilever mode[12,23]. In other words if the weight of a cantilever is about 0.06 gmf, based on a density of 2 gm/cm3, the sample can produce a tip blocking force of about 2.4 gmf. Figure 2 displays the actuation and sensing mechanisms in cantilever strips of IPMCs in a graphical manner.

The essential mechanism for both actuation and sensing/ energy harvesting capabilities of IPMCs is the migration of hydrated cations (Na+, Li+), which are loosely adjoined to the underlying molecular network with anions, towards the cathode electrode and away from the anode electrode due to either an imposed electric field (actuation) or an imposed deformation field (sensing/energy harvesting). The cations are generally attached to a number of water molecules (hydration number) which is about 4 for Na+ and 6 for Li+. These deformations are considered to be related to contraction due to depletion of cations from the anode side and osmotic pressure or tension due to arrival of hydrated cations on the cathode electrodes side due to Poisson-Nernst- Planck phenomena [23,24]. It is expected that for a typical sample IPMCs in actuation, sensing and energy harvesting modes there exists a broad bandwidth (kilo HZ and beyond) for their actuation, energy harvesting and sensing response to an imposed electric field or deformation field. The migration of hydrated cations depends on the structure of the base material (DuPont Nafion®, Asahi Glass Flemion®) and how uniform the electrodes are plated on the base material.

In the next section, a brief mathematical model for the actuation and sensing of IPMC is presented.

IPMC Actuation and Sensing Modeling

de Gennes and coworkers [15] presented the first phenomenological theory for sensing and actuation in ionic polymer metal composites. Asaka et al. [16] discussed the bending of polyelectrolyte membrane-platinum composites by electric stimuli and presented a theory on actuation mechanisms in IPMC by considering the electro-osmotic drag term in transport equations. Figure 2 clearly displays the mechanisms of actuation and sensing of IPMCs. Let us now summarize the underlying principle of the Ionic polymeric nanocomposites actuation and sensing capabilities, which can be described by the standard Onsager formulation using linear irreversible thermodynamics. When static conditions are imposed, a simple description of mechanoelectric effect is possible based upon two forms of transport: ion transport (with a current density, , normal to the material) and solvent transport (with a flux,Q , we can assume that this term is water flux). The conjugate forces include the electric field, and the pressure gradient . The resulting equation has the concise form of

Where,σ and K are the material electric conductance and the Darcy permeability coefficient, respectively. A cross coefficient (Onsager’s coefficient) is usually symmetric or 12 21 L = L = L . The simplicity of the above equations provides a compact view of the underlying principles of actuation, transduction and sensing of the ionic polymer nanocomposites. When we measure the direct effect (actuation mode) we work (ideally) with electrodes which are impermeable to ion species flux, and thus we have = 0. This simplifies the equations to:

This will, in turn, induce a curvature k proportional to . The relationships between the curvature k and pressure gradient are fully derived and described in de Gennes, Okumura, Shahinpoor and Kim [15].

Note that is the local induced bending moment and is a function of the imposed electric field E, Y is the Young’s modulus (elastic stiffness) of the strip which is a function of the hydration H of the ionic polymer metal nanocomposite and I is the moment of inertia of the strip. Note that locally M(E) is related to the pressure gradient such that in a simplified scalar format [15]:

Note that vectorially the curvature is related to the imposed electric field E Based on this simplified model the tip bending deflection δmax of an IPMC strip of length lg can be shown to be almost linearly related to the imposed electric field. The experimental deformation characteristics of IPMCs are clearly consistent with the above predictions obtained by the above linear irreversible thermodynamics formulation which is also consistent with the above equation in the steady state conditions. Note also that the value of the Onsager coefficient L has been estimated to be of the order of 10-8m2/V-s [20-24]. Other parameters have been experimentally measured to be K~10- 18m2/CP, σ ~1A/mV or S/m. On the other hand one may consider charge transport modeling of actuation and sensing. The reader is referred to Bahramzadeh and Shahinpoor [20-24] and Shahinpoor [22-24] for such Poisson-Nernst-Planck equations. Similar to poly (ethylene-co-methacrylic acid) metal composite, member of the electroactive polymer can be introduced as biomimetic soft robotic polymer [28-32].

Some Experimental Results

Figures 3(a,b&c) represent experimental results for deformation (tip displacement and curvature) of a small strip of slit IPMC (40mm x 12mm x 0.2mm) with simple-supported ends in a small electric field (under 5 Volts/0.2mm) in horizontal and vertical directions. For each graph the bestfittedcurve is constructed to demonstrate the consistency in material response.

Another set of experimental results were obtained and plotted in connection with slit IPMC strips with built-in ends to recapture the tip displacements in vertical and horizontal configurations, as well as curvature. The results for the second test series are presented in Figure 4(a,b&c).

Figure 5(a&b) represents sensing and energy harvesting characteristics of IPMCs [12,23]. Simultaneous actuation and sensing of IPMCs are of interest to soft robotic researchers.

Note that IPMCs havea broad range of applicationsin soft biomimetic robotic actuation, energy harvesting and sensing [23-24]. In this section some novel configurations for IPMC actuators and sensors/energy harvesterswill be introduced. Based on the reported test results in Figure 3&4 for large deformation and actuation of IPMC materials, it is expected these novel configurations will be practically useful for engineering applications.Asimpledescription of actuation in this type of material is based on cationic migration towards the cathode to expand the cathode side of IPMC by osmotic pressure and contract the anode side of the IPMC resulting in bending towards the anode side as depicted in Figure 2.

In other cases and configurations, the IPMC sample can be considered as a non-slit cylinder/tube such that it can act like a linear actuator and generate an axial force (Figure 6).

In the sensing mode, the axial forces on both ends force the cylinder to shrink and thus, as a result, the material will accommodate the deformation. This accommodation can be inward or outward. The pressure gradient due to this accommodation will generate the expected signal to sense the displacement [12]. Regarding the buckling instability under axial loading, the non-slit cylindrical/tubular structures will have initial slight curvature outward or inward to minimize buckling instabilities. In addition, from actuation point of view, an applied electric field causes the non-slit cylinder/tube to contract/expand axially/laterally as shown in Figure 6, based on the voltage polarity. This applied field will gradually deform the cylinder to become more like a sphere (Figure 6d).

Another case will be using IPMC strips around a cylindrical/ tubular object or a slit tubular IPMC. Some of the configurations of slit IPMC strips around a cylindrical/tubular mantle are shown below in Figure 7(a,b&c).

In the slit tubular configurations in Figure 7, slit IPMC cylindrical strips experience two major forms of boundary condition for this type of the actuator/sensor family (Hinged in Figure 8a and clamped in Figure 7(b&c). Other form of boundary condition will provide more complex manipulation and maneuver possibilities that will be discussed later. These concept also are likely to be used for applications in pumps/micro-pumps in which the pushing or taking in a fluid can be performed by bending/ deformation of the slit strips in which an inner housing should accompany the assembly. In other word the volume change due to the movement of the IPMCs will initiate the pumping action.

Regarding the sensing mode, whenfor the slit IPMC strips are in a hinge-hinge or simply-supported configuration, there will be less force requirement for the desired displacement andit further results in generatinghigher output voltage. Further, during sensing action the effective length of the IPMC strip is longer. Figure 8, demonstrate the curvature variations related to this formation such that the red regions are in compression and green regions are in tension and the green parts are almost straight.

It is also reasonable to note that due to having longer effective length, the hinged-hinged model will have a larger force capacity in actuation. The model with clamped ending will have a shorter effective length to generate output signal and requires a higher level of voltage to operate.

Figure 9 depict a simple form of slit IPMC cylinders in straight simple pinned ending format (Figure 10).

Some variations of these slit cylindrical configurations have been introduced previously by Yeom and Oh [30], Kamamichi [31] and Shahinpoor [23,24] in connection with jellyfish swimming and multi-fingered soft robotic grippers, Figure 11.

In case of attaching the platform to an arm, these legs can act like multi-fingered soft biomimetic robotic grippers to grasp and manipulate objects.Other configurationswere also discussed by Shahinpoor and Kwang [13], as shown in Figure12

The hinged-hinged configuration will help this possibility in a more efficient way to have longer actuation range.The bending for sensing is generally outward rather than inward because the slit IPMC strips considered are initially slightly bent outward to prevent any buckling instability.

From another point of views, slits on cylindrical configuration can be at an angle to introduce the helically twist and sloped version of helical form of IPMC shown in Figures 13(a&b). This configuration of helically slit IPMC strips will generate axial and twisting motion upon actuation and yet it produces electricity once axially squeezed. Here since the twisting and retracting are related to each other, the model is considered to be more like an actuator.

These configurations of slit IPMC strips produces twisting and linearly moving actuators similar to an automated drill/screw driver. Note that the helical IPMC actuator/sensor slit strips are like space curves with coordinates x, y and z such that x = r cosϕ y = r sinϕ and z = c ϕ for ϕ[0,2π] 2π ]where r is the radius of the helix and c is a constant giving the vertical separation of the helix’s loops and ϕ is an independent parameter. The tan α= c/r is slop of the strip sample. The curvature of the helix is given by torsion of a helix is given by

Some studies and modeling for the types of combined linear/ twisting actuators reported in this paper have been proposed by Li and Kim [32] and Moeinkhah and Rezaeepazhand [33] and others. Figure 14(a, b&c) depictvarious configurations of helical assembly of slit tubular IPMCs for actuation, energy harvesting and sensing with more geometric complexitiesare currently under investigations and will be reported later

Soft Robotics Snake-Like Configurations Based on Linear-Torsional IPMC Actuators/sensors

Here the initial form of the device considered for the tubularactuators/sensors is a combination of axial and rotary movements that resembles slithering snakes,as shown in Figure 15 below:

In Figure 15 note that by a combination of movements 1 and 2, the device is capable of 3-D undulating anobject like an elephant trunk or a slithering snake-like flexible robotic manipulator [30]. Referring to Figure 16, in case of having more combination of these actuations configuration, possibility of having a more complex robot can be expected as it is depicted in Figure 16

In Figure16 (a&b) a variety of control and boundary condition can be applied to the assembly to move the soft snake-like, wormlike or elephant trunk-like soft robots. For the rotary movement in the direction denoted by I, actuators 1 and 2 are helically arrangedand can produce a combined rotation and slithering movement. The actuator number 3 in Figure 16b enables bending and twisting due to having unsymmetrically applied voltages to generatehelical and planar movements in the direction denoted by II. Yet extensional movements can be achieved by actuator 3 in Figure 16b in the direction denoted by III. Thus, we conclude that combination of cylindrically and helically arranged IPMC actuators are capable of generating elephant-trunk like motion.

Conclusion

A new family of IPMC linear actuators and sensors in the form of a slit tubular structure was introduced and discussed. These groups of actuator and sensors were considered to be made with bending/twisting slitIPMC elements symmetrically distributed around a cylindrical/tubular mantle. These types of soft actuators and sensors are capable of generating a combination of actuation, energy harvesting and sensing consisting of linear expansion, contraction, bending, twisting and rotating action similar to a slithering snake or an elephant trunk.Theslit bending elements around the tubular mantle were designed to be straight and parallel with the longitudinal axis of the cylinder for pure linear actuation and sensing in terms of the length of the entire cylinder. However, the possibility of helically winding the bending elements around the cylindrical mantle to produce a combination of linear and torsional actuation and bending for the cylinder was also briefly discussed. This introduction of linear/torsional actuation/energy harvesting and sensing opens the possibility for introducing new family of soft biomimetic robotic actuators and sensors. The next steps in development of advanced elephant-trunk-like soft biomimetic robotic actuators and sensors are to further explore various cylindrically and helically arranged IPMC strips. Currently, we are further exploring such possibilities towards fabrication an elephant-trunk type soft robot.

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