Soft robotic actuators offer many advantages over their rigid counterparts, but they often are unable to apply highly localized point loads. In contrast, many invertebrates have not only evolved extremely strong ‘‘hybrid appendages’’ that are composed of rigid ends that can grasp, puncture, and anchor into solid substrates, but they also are compliant and resilient, owing to the functionally graded architecture that integrates rigid termini with their flexible and highly extensible soft musculatures. Inspired by the design principles of these natural hybrid appendages, we demonstrate a synthetic hybrid end effector for soft-bodied robots that exhibits excellent piercing abilities. Through the incorporation of functionally graded interfaces, this design strategy minimizes stress concentrations at the junctions adjoining the fully rigid and soft components and optimizes the bending stiffness to effectively penetrate objects without interfacial failure under shear and compressive loading re- gimes. In this composite architecture, the radially aligned tooth-like elements apply balanced loads to maximize puncturing ability, resulting in the coordinated fracture of an object of interest.

Mussels are opportunistic macrofouling organisms that can attach to most immersed solid surfaces, leading to serious economic and ecological consequences for the maritime and aquaculture industries. We demonstrate that lubricant-infused coatings exhibit very low preferential mussel attachment and ultralow adhesive strengths under both controlled laboratory conditions and in marine field studies. Detailed investigations across multiple length scales—from the molecular-scale characterization of deposited adhesive proteins to nanoscale contact mechanics to macroscale live observations—suggest that lubricant infusion considerably reduces fouling by deceiving the mechanosensing ability of mussels, deterring secretion of adhesive threads, and decreasing the molecular work of adhesion. Our study demonstrates that lubricant infusion represents an effective strategy to mitigate marine biofouling and provides insights into the physical mechanisms underlying adhesion prevention.

Inspired by the long-term effectiveness of living
antifouling materials, we have developed a method for the self-
replenishment of synthetic biofouling-release surfaces. These
surfaces are created by either molding or directly embedding
3D vascular systems into polydimethylsiloxane (PDMS) and
filling them with a silicone oil to generate a nontoxic oil-
infused material. When replenished with silicone oil from an
outside source, these materials are capable of self-lubrication
and continuous renewal of the interfacial fouling-release layer.
Under accelerated lubricant loss conditions, fully infused vascularized samples retained significantly more lubricant than equivalent nonvascularized controls. Tests of lubricant-infused PDMS in static cultures of the infectious bacteria Staphylococcus aureus and Escherichia coli as well as the green microalgae Botryococcus braunii, Chlamydomonas reinhardtii, Dunaliella salina, and Nannochloropsis oculata showed a significant reduction in biofilm adhesion compared to PDMS and glass controls containing no lubricant. Further experiments on vascularized versus nonvascularized samples that had been subjected to accelerated lubricant evaporation conditions for up to 48 h showed significantly less biofilm adherence on the vascularized surfaces. These results demonstrate the ability of an embedded lubricant-filled vascular network to improve the longevity of fouling-release surfaces.