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Updated: Feb 12, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
Published on: August 2, 2016
Phase behavior and defect structure of soft rods on a sphere
Jaydeep Mandal1, Hartmut Löwen2, Prabal K Maiti1
1Department of Physics, Centre for Condensed Matter Theory, Indian Institute of Science, Bengaluru 560012, India.
Abstract:
Using particle-resolved molecular-dynamics simulations, we compute the phase diagram for soft repulsive spherocylinders confined on the surface of a sphere. While crystal (K), smectic (Sm), and isotropic (I) phases exhibit a stability region for any aspect ratio of the spherocylinders, a nematic phase emerges only beyond a critical aspect ratio lying between 8.0 and 9.0. As required by the topology of the confining sphere, the ordered phases exhibit a total orientational defect charge of +2. In detail, the crystal and high-density smectic phases exhibit two +1 defects at the poles, whereas the high-density nematic phase features four +1/2 defects, which are connected along a great circle. For aspect ratios above the critical value, lowering the packing fraction drives a sequence of transitions: the crystal melts into a smectic phase, which then transforms into a nematic through the splitting of the +1 defects into pairs of +1/2 defects. Our simulations data can be experimentally verified in Pickering emulsions and are relevant for understanding the morphogenesis in epithelial tissues.
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