Self-folding sub-centimeter structures

An array comprising a plurality of sub-centimeter and self- assembled structures, wherein each of said plurality of sub-centimeter and self-assembled structures comprises:

• a plurality of structural components;
• a plurality of joint components each connecting an adjacent pair of said plurality of structural components;
• and
• a plurality of locking structures each formed on an edge of at least one of said plurality of structural components,
• wherein said plurality of joint components each comprise a material that has a first phase that is substantially rigid to hold said plurality of structural components in a substantially rigid configuration while said material is in said first phase, and said material has a second phase such that said plurality of joint components are at least partially fluid to allow said plurality of structural components to move relative to each other while said material is in said second phase so as to effect self-assembly into a folded configuration to form a sub-centimeter and self- assembled enclosing structure,
• wherein said plurality of locking structures are arranged such that said plurality of structural components lock together via said plurality of locking structures to form said sub- centimeter and self-assembled enclosing structure,
• wherein said sub-centimeter and self-assembled enclosing structure is formed at least partially from a biodegradable polymer,
• wherein said plurality of structural components comprise a biocompatible polymer material selected from the list of materials consisting of SU8, poly(propylene), Poly(esters), Polyimides, and Gelatin,
• wherein said plurality of joint components comprise a biocompatible polymer material selected from the list of materials consisting of Gelatin, poly(caprolactone), and chitosan, and the material of said plurality of joint components is retained within said sub-centimeter and self-assembled enclosing structure, and
• wherein said plurality of locking structures comprise a biocompatible polymer material selected from the list of materials consisting of Gelatin, Poly(caprolactone), chitosan, alginate, and poly(NIPAAm), and said material of said plurality of locking structures is provided at edges of said plurality of structural components such that when at least two of said plurality of structural components are brought next to each other to form the sub-centimeter and self-assembled enclosing structure, the material on opposite edges overlap to form overlapping edges of the sub-centimeter and self-assembled enclosing structure.

A composition comprising a plurality of sub-centimeter and self-assembled structures, wherein each of said plurality of sub-centimeter and self-assembled structures comprises:

• a plurality of structural components;
• a plurality of joint components each connecting an adjacent pair of said plurality of structural components;
• and
• a plurality of locking structures each formed on an edge of at least one of said plurality of structural components,
• wherein said plurality of joint components each comprise a material that has a first phase that is substantially rigid to hold said plurality of structural components in a substantially rigid configuration while said material is in said first phase, and said polymer has a second phase such that said plurality of joint components are at least partially fluid to allow said plurality of structural components to move relative to each other while said material is in said second phase so as to effect self-assembly into a folded configuration to form a sub-centimeter and self- assembled enclosing structure,
• wherein said plurality of locking structures are arranged such that said plurality of structural components lock together via said plurality of locking structures to form said sub- centimeter and self-assembled enclosing structure,
• wherein said sub-centimeter and self-assembled enclosing structure is formed at least partially from a biodegradable polymer,
• wherein said plurality of structural components comprise a biocompatible polymer material selected from the list of materials consisting of SU8, poly(propylene), Poly(esters), Polyimides, and Gelatin,
• wherein said plurality of joint components comprise a biocompatible polymer material selected from the list of materials consisting of Gelatin, poly(caprolactone), and chitosan, and the material of said plurality of joint components is retained within said sub-centimeter and self-assembled enclosing structure, and
• wherein said plurality of locking structures comprise a biocompatible polymer material selected from the list of materials consisting of Gelatin, Poly(caprolactone), chitosan, alginate, and poly(NIPAAm), and said material of said plurality of locking structures is provided at edges of said plurality of structural components such that when at least two of said plurality of structural components are brought next to each other to form the sub-centimeter and self-assembled enclosing structure, the material on opposite edges overlap to form overlapping edges of the sub-centimeter and self-assembled enclosing structure.

A method of producing a sub-centimeter and self-assembled structure, comprising:

• providing a plurality of structural components;
• providing a plurality of joint components each connecting an adjacent pair of said plurality of structural components and each comprising a material;
• providing a plurality of locking structures each formed on an edge of at least one of said plurality of structural components;
• and
• exposing said plurality of joint components to heat such that said plurality of joint components changes phase from a substantially rigid phase to an at least partially fluid phase such that said plurality of joint components are at least partially fluid to allow said plurality of structural components to move relative to each other while said plurality of joint components are in said partially fluid phase so as to effect self-assembly of said plurality of structural components into a folded configuration to form a sub-centimeter and self-assembled enclosing structure,
• wherein said plurality of locking structures are arranged such that said plurality of structural components lock together via said plurality of locking structures to form said sub-centimeter and self-assembled enclosing structure,
• wherein said sub-centimeter and self-assembled enclosing structure is formed at least partially from a biodegradable polymer, wherein said plurality of structural components comprise a biocompatible polymer material selected from the list of materials consisting of SU8, poly(propylene), Poly(esters), Polyimides, and Gelatin,
• wherein said plurality of joint components comprise a biocompatible polymer material selected from the list of materials consisting of Gelatin, poly(caprolactone), and chitosan, and the material of said plurality of joint components is retained within said sub-centimeter and self-assembled enclosing structure, and
• wherein said plurality of locking structures comprise a biocompatible polymer material selected from the list of materials consisting of Gelatin, Poly(caprolactone), chitosan, alginate, and poly(NIPAAm), and said material of said plurality of locking structures is provided at edges of said plurality of structural components such that when at least two of said plurality of structural components are brought next to each other to form the sub-centimeter and self- assembled enclosing structure, the material on opposite edges overlap to form overlapping edges of the sub-centimeter and self-assembled enclosing structure.