Materials for Smart Soft Actuator Systems

Enable Multi-Stimuli-Responsive Biomimetic Actuation with Asymmetric Design of Graphene-Conjugated Conductive Polymer Gradient Film

In this paper, multiresponsive actuators based on asymmetric design of graphene-conjugated poly(3,4-ethylene dioxythiophene): poly(styrenesulfonate) (PEDOT:PSS) gradient films have been developed by a simple drop casting method. The biomimetic actuation is attributed to the hygroscopic expansion property of PEDOT:PSS and the gradient distribution of graphene sheets within the film, which resembles the hierarchical swelling tissues of some plants in nature. Graphene-conjugated PEDOT:PSS (GCP) actuators exhibit reversible bending behavior under multistimuli such as moisture, organic vapor, electrothermal, and photothermal heating. Noticeably, the bending curvature reaches 2.15 cm-1 under applied voltage as low as 1.5 V owing to the high electrical conductivity of GCP actuator. To mimic the motions of nyctinastic plants, a GCP artificial flower that spreads its petals under sunlight illumination has been fabricated. GCP actuators have been also demonstrated as intelligent light-controlled switches for light-emitting diodes and smart curtains for thermal management. Not only do the GCP gradient films exhibit potential applications in flexible electronics and energy harvesting/storage devices but also the facile fabrication of multiresponsive GCP actuators may shed light on the development of soft robotics, artificial muscles, wearable electronics, and smart sensors.

Bioinspired rotary flight of light-driven composite films

Light-driven actuators have great potential in different types of applications. However, it is still challenging to apply them in flying devices owing to their slow response, small deflection and force output and low frequency response. Herein, inspired by the structure of vine maple seeds, we report a helicopter-like rotary flying photoactuator (in response to 0.6 W/cm2 near-infrared (NIR) light) with ultrafast rotation (~7200 revolutions per minute) and rapid response (~650 ms). This photoactuator is operated based on a fundamentally different mechanism that depends on the synergistic interactions between the photothermal graphene and the hygroscopic agar/silk fibroin components, the subsequent aerodynamically favorable airscrew formation, the jet propulsion, and the aerodynamics-based flying. The soft helicopter-like photoactuator exhibits controlled flight and steering behaviors, making it promising for applications in soft robotics and other miniature devices.

Facile Photoresponsive Actuators Based on Ferrocene-Doped Poly(butyl methacrylate)

This paper presents facile photoresponsive actuators comprising ferrocene as a guest chromophore and poly(butyl methacrylate) (PBMA) as a host matrix. The ferrocene-doped PBMA film exhibits mechanical expansion and contraction when a 445 nm laser is turned on and off, respectively. The photoresponsive film is attached by a commercially available acetylcellulose adhesive tape, which exhibits a bending motion that is controlled by turning the laser on and off. Thereafter, the double-layer film is employed to fabricate a table-shaped lifting machine (0.7 mg) that lifts a 10.5 mg object up and down by turning the laser on and off, respectively, and the mechanical force offered by the double-layer film is recorded. Additionally, the film is coated with gold and applied to an electric circuit that serves as a reversible photoresponsive switch. This film preparation technique is applied to other chromophores (e.g., Coumarin 343, Rhodamine 6G, Sudan Blue II, and Solvent Green 3) to independently control the motions of the films with 445, 520, and 655 nm lasers. The ferrocene-containing films also exhibit photoinduced healing from mechanical damage. Finally, the photoirradiation-accompanied morphological changes in the film are observed via small-angle X-ray scattering.

3D Printing of Layered Structures of Metal-Ionic Polymers: Recent Progress, Challenges and Opportunities

Layered Structures of Metal Ionic Polymers, or Ionic Polymer-Metal Composites (IPMCs) are formed by a membrane of an ionic electroactive materials flanked by two metal electrodes on both surfaces; they are devices able to change their shape upon application of an electrical external stimulus. This class of materials is used in various fields such as biomedicine, soft robotics, and sensor technology because of their favorable properties (light weight, biocompatibility, fast response to stimulus and good flexibility). With additive manufacturing, actuators can be customized and tailored to specific applications, allowing for the optimization of performance, size, and weight, thus reducing costs and time of fabrication and enhancing functionality and efficiency in various applications. In this review, we present an overview of the newest trend in using different 3D printing techniques to produce electrically responsive IPMC devices.

Design, characterization and applications of nanocolloidal hydrogels

Nanocolloidal gels (NCGs) are an emerging class of soft matter, in which nanoparticles act as building blocks of the colloidal network. Chemical or physical crosslinking enables NCG synthesis and assembly from a broad range of nanoparticles, polymers, and low-molecular weight molecules. The synergistic properties of NCGs are governed by nanoparticle composition, dimensions and shape, the mechanism of nanoparticle bonding, and the NCG architecture, as well as the nature of molecular crosslinkers. Nanocolloidal gels find applications in soft robotics, bioengineering, optically active coatings and sensors, optoelectronic devices, and absorbents. This review summarizes currently scattered aspects of NCG formation, properties, characterization, and applications. We describe the diversity of NCG building blocks, discuss the mechanisms of NCG formation, review characterization techniques, outline NCG fabrication and processing methods, and highlight most common NCG applications. The review is concluded with the discussion of perspectives in the design and development of NCGs.

Dual-Ion Co-Regulation System Enabling High-Performance Electrochemical Artificial Yarn Muscles with Energy-Free Catch States

Artificial yarn muscles show great potential in applications requiring low-energy consumption while maintaining high performance. However, conventional designs have been limited by weak ion-yarn muscle interactions and inefficient "rocking-chair" ion migration. To address these limitations, we present an electrochemical artificial yarn muscle design driven by a dual-ion co-regulation system. By utilizing two reaction channels, this system shortens ion migration pathways, leading to faster and more efficient actuation. During the charging/discharging process, [Formula: see text] ions react with carbon nanotube yarn, while Li+ ions react with an Al foil. The intercalation reaction between [Formula: see text] and collapsed carbon nanotubes allows the yarn muscle to achieve an energy-free high-tension catch state. The dual-ion coordinated yarn muscles exhibit superior contractile stroke, maximum contractile rate, and maximum power densities, exceeding those of "rocking-chair" type ion migration yarn muscles. The dual-ion co-regulation system enhances the ion migration rate during actuation, resulting in improved performance. Moreover, the yarn muscles can withstand high levels of isometric stress, displaying a stress of 61 times that of skeletal muscles and 8 times that of "rocking-chair" type yarn muscles at higher frequencies. This technology holds significant potential for various applications, including prosthetics and robotics.

Programmable Complex Shape Changing of Polysiloxane Main-Chain Liquid Crystalline Elastomers

Liquid crystal elastomers (LCEs) are shape-morphing materials whose large and reversible shape transformations are caused by the coupling between the mobile anisotropic properties of liquid crystal (LC) units and the rubber elastic of polymer networks. Their shape-changing behaviors under certain stimuli are largely directed by the LC orientation; therefore, various strategies have been developed to spatially modulate the LC alignments. However, most of these methods are limited as they require complex fabrication technologies or have intrinsic limitations in applicability. To address this issue, programmable complex shape changes in some LCE types, such as polysiloxane side-chain LCEs, thiol-acrylate main-chain LCEs, etc., were achieved by using a mechanical alignment programming process coupled with two-step crosslinking. Here, we report a polysiloxane main-chain LCE with programmable 2- and 3D shape-changing abilities that were created by mechanically programming the polydomain LCE with two crosslinking steps. The resulting LCEs exhibited a reversible thermal-induced shape transformation between the initial and programmed shapes due to the two-way memory between the first and second network structures. Our findings expand on the applications of LCE materials in actuators, soft robotics, and smart structures where arbitrary and easily programmed shape morphing is needed.

Designing strong, fast, high-performance hydrogel actuators

Hydrogel actuators displaying programmable shape transformations are particularly attractive for integration into future soft robotics with safe human-machine interactions. However, these materials are still in their infancy, and many significant challenges remain presenting impediments to their practical implementation, including poor mechanical properties, slow actuation speed and limited actuation performance. In this review, we discuss the recent advances in hydrogel designs to address these critical limitations. First, the material design concepts to improve mechanical properties of hydrogel actuators will be introduced. Examples are also included to highlight strategies to realize fast actuation speed. In addition, recent progress about creating strong and fast hydrogel actuators are sumarized. Finally, a discussion of different methods to realize high values in several aspects of actuation performance metrics for this class of materials is provided. The advances and challenges discussed in this highlight could provide useful guidelines for rational design to manipulate the properties of hydrogel actuators toward widespread real-world applications.

Strong and Tough Nanostructured Hydrogels and Organogels Prepared by Polymerization-Induced Self-Assembly

In nature, the hierarchical structure of biological tissues endows them with outstanding mechanics and elaborated functions. However, it remains a great challenge to construct biomimetic hydrogels with well-defined nanostructures and good mechanical properties. Herein, polymerization-induced self-assembly (PISA) is for the first time exploited as a general strategy for nanostructured hydrogels and organogels with tailored nanodomains and outstanding mechanical properties. As a proof-of-concept, PISA of BAB triblock copolymer is used to fabricate hydrogels with precisely regulated spherical nanodomains. These nanostructured hydrogels are strong, tough, stretchable, and recoverable, with mechanical properties correlating to their nanostructure. The outstanding mechanical properties are ascribed to the unique network architecture, where the entanglements of the hydrophilic chains act as slip links that transmit the tension to the micellar crosslinkers, while the micellar crosslinkers dissipate the energy via reversible deformation and irreversible detachment of the constituting polymers. The general feasibility of the PISA strategy toward nanostructured gels is confirmed by the successful fabrication of nanostructured hydrogels, alcogels, poly(ethylene glycol) gels, and ionogels with various PISA formulations. This work has provided a general platform for the design and fabrication of biomimetic hydrogels and organogels with tailorable nanostructures and mechanics and will inspire the design of functional nanostructured gels.

Recent Advances in 4D Printing of Liquid Crystal Elastomers

Liquid crystal elastomers (LCEs) are renowned for their large, reversible, and anisotropic shape change in response to various external stimuli due to their lightly cross-linked polymer networks with an oriented mesogen direction, thus showing great potential for applications in robotics, bio-medics, electronics, optics, and energy. To fully take advantage of the anisotropic stimuli-responsive behaviors of LCEs, it is preferable to achieve a locally controlled mesogen alignment into monodomain orientations. In recent years, the application of 4D printing to LCEs opens new doors for simultaneously programming the mesogen alignment and the 3D geometry, offering more opportunities and higher feasibility for the fabrication of 4D-printed LCE objects with desirable stimuli-responsive properties. Here, the state-of-the-art advances in 4D printing of LCEs are reviewed, with emphasis on both the mechanisms and potential applications. First, the fundamental properties of LCEs and the working principles of the representative 4D printing techniques are briefly introduced. Then, the fabrication of LCEs by 4D printing techniques and the advantages over conventional manufacturing methods are demonstrated. Finally, perspectives on the current challenges and potential development trends toward the 4D printing of LCEs are discussed, which may shed light on future research directions in this new field.

Colorimetric pH-responsive and hemostatic hydrogel-based bioadhesives containing functionalized silver nanoparticles

Here we develop and characterize a dual-cross-linked pH-responsive hydrogel based on the carboxyethyl chitosan-oxidized sodium alginate (CAO) containing silver nanoparticles (Ag NPs) functionalized with tannic acid/red cabbage (ATR). This hybrid hydrogel is formed via covalent and non-covalent cross-linking. The adhesive strength measured in contact with cow skin and compression strength is measured more than 3 times higher than that of CAO. Importantly, the incorporation of 1 ​wt% ATR into CAO significantly enhances the compression strength of CAO from 35.1 ​± ​2.1 ​kPa to 97.5 ​± ​2.9 ​kPa. Moreover, the cyclic compression tests confirm significantly higher elastic behavior of CAO after the addition of ATR-functionalized NPs to CAO. The CAO/ATR hydrogel is pH-sensitive and indicated remarkable color changes in different buffer solutions. The CAO/ATR also shows improved hemostatic properties and reduced clotting time compared to the clotting time of blood in contact with CAO hydrogel. In addition, while CAO/ATR is effective in inhibiting the growth of both Gram-positive and Gram-negative bacteria, CAO is only effective in inhibiting the growth of Gram-positive bacteria. Finally, the CAO/ATR hydrogel is cytocompatible with L929 fibroblasts. In summary, the resulting CAO/ATR hydrogel shows promising results in designing and constructing smart wound bioadhesives with high cytocompatibility, antibacterial properties, blood coagulation ability, and fast self-healing properties.

Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots

With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.

Fabrication of Hydrogel-Based Composite Fibers and Computer Simulation of the Filler Dynamics in the Composite Flow

Fibrous structures with anisotropic fillers as composites have found increasing interest in the field of biofabrication since they can mimic the extracellular matrix of anisotropic tissues such as skeletal muscle or nerve tissue. In the present work, the inclusion of anisotropic fillers in hydrogel-based filaments with an interpenetrating polymeric network (IPN) was evaluated and the dynamics of such fillers in the composite flow were analyzed using computational simulations. In the experimental part, microfabricated rods (200 and 400 μm length, 50 μm width) were used as anisotropic fillers in extrusion of composite filaments using two techniques of wet spinning and 3D printing. Hydrogels such as oxidized alginate (ADA) and methacrylated gelatin (GelMA) were used as matrices. In the computational simulation, a combination of computational fluid dynamics and coarse-grained molecular dynamics was used to study the dynamics of rod-like fillers in the flow field of a syringe. It showed that, during the extrusion process, microrods are far from being well aligned. Instead, many of them tumble on their way through the needle leading to a random orientation in the fiber which was confirmed experimentally.

Exploration of molecular machines in supramolecular soft robotic systems

Soft robotic system, a new era of material science, is rapidly developing with advanced processing technology in soft matters, featured with biomimetic nature. An important bottom-up approach is through the implementation of molecular machines into polymeric materials, however, the synchronized molecular motions, acumination of strain across multiple length-scales, and amplification into macroscopic actuations remained highly challenging. This review presents the significances, key design strategies, and outlook of the hierarchical supramolecular systems of molecular machines to develop novel types of supramolecular-based soft robotic systems.

Bistable Joints Enable the Morphing of Hydrogel Sheets with Multistable Configurations

Joints, as a flexing element to connect different parts, are widespread in natural systems. Various joints exist in the body and play crucial roles to execute gestures and gaits. These scenarios have inspired the design of mechanical joints with passive, hard materials, which usually need an external power supply to drive the transformations. The incorporation of soft and active joints provides a modular strategy to devise soft actuators and robots. However, transformations of responsive joints under external stimuli are usually in uni-mode with a pre-determined direction. Here, hydrogel joints capable of folding and twisting transformation in bi-mode are reported, which enable the composite hydrogel to form multiple configurations under constant conditions. These joints have an in-plane gradient structure and comprise stiff, passive gel as the frame and soft, active gel as the actuating unit. Under external stimuli, the response mismatch between different gels leads to out-of-plane folding or twisting deformation with the feature of bistability. These joints can be modularly integrated with other gels to afford complex deformations and multistable configurations. This approach favors selective control of hydrogel's architectures and versatile design of hydrogel devices, as demonstrated by proof-of-concept examples. It shall also merit the development of metamaterials, soft actuators, and robots, etc.

α,ε-Hybrid Peptide-Stabilized Magnetic Nanoparticle-Coated Paper-Based Actuators

The development of α,ε-hybrid peptide-stabilized magnetic nanoparticles and their application to fabricate a paper-based actuator has been reported. From single-crystal diffraction analysis, the nitropeptide 2 has an extended structure with a trans geometry. The one-pot in situ multiple oxidation-reduction reaction of a synthetic nitropeptide solution in ammonium hydroxide and FeCl₂ leads to the formation of Fe₃O₄ nanoparticles. The reduction reaction replaces the nitro group with an amine group, which finally acts as capping agent for the stabilization of the Fe₃O₄ nanoparticles. Paper-based soft magneto machines with multivariant actuation modes such as contraction-expansion, bending, and uplifting locomotion have been studied. The device has potential as controllable paper-based soft robots.

Magnetic-responsive Covalent Adaptable Networks

Covalent adaptable networks (CANs) are reprocessable polymers whose structural arrangement is based on the recombination of dynamic covalent bonds. Composite materials prepared by incorporating magnetic particles into CANs attract much attention due to their remote and precise control, fast response speed, high biological safety and strong penetration of magnetic stimuli. These properties often involve magnetothermal effect and direct magnetic-field guidance. Besides, some of them can also respond to light, electricity or pH values. Thus, they are favorable for soft actuators since various functions are achieved such as magnetic-assisted self-healing (heating or at ambient temperature), welding (on land or under water), shape-morphing, and so on. Although magnetic CANs just start to be studied in recent two years, their advances are promised to expand the practical applications in both cutting-edge academic and engineering fields. This review aims to summarize recent progress in magnetic-responsive CANs, including their design, synthesis and application.

Adaptive 2D and Pseudo-2D Systems: Molecular, Polymeric, and Colloidal Building Blocks for Tailored Complexity

Two-dimensional and pseudo-2D systems come in various forms. Membranes separating protocells from the environment were necessary for life to occur. Later, compartmentalization allowed for the development of more complex cellular structures. Nowadays, 2D materials (e.g., graphene, molybdenum disulfide) are revolutionizing the smart materials industry. Surface engineering allows for novel functionalities, as only a limited number of bulk materials have the desired surface properties. This is realized via physical treatment (e.g., plasma treatment, rubbing), chemical modifications, thin film deposition (using both chemical and physical methods), doping and formulation of composites, or coating. However, artificial systems are usually static. Nature creates dynamic and responsive structures, which facilitates the formation of complex systems. The challenge of nanotechnology, physical chemistry, and materials science is to develop artificial adaptive systems. Dynamic 2D and pseudo-2D designs are needed for future developments of life-like materials and networked chemical systems in which the sequences of the stimuli would control the consecutive stages of the given process. This is crucial to achieving versatility, improved performance, energy efficiency, and sustainability. Here, we review the advancements in studies on adaptive, responsive, dynamic, and out-of-equilibrium 2D and pseudo-2D systems composed of molecules, polymers, and nano/microparticles.

Polymer Complex Fiber: Property, Functionality, and Applications

Polymer complex fibers (PCFs) are a novel kind of fiber material processed from polymer complexes that are assembled through noncovalent interactions. These can realize the synergy of functional components and miscibility on the molecular level. The dynamic character of noncovalent interactions endows PCFs with remarkable properties, such as reversibility, stimuli responsiveness, self-healing, and recyclability, enabling them to be applied in multidisciplinary fields. The objective of this article is to provide a review of recent progress in the field of PCFs. The classification based on chain interactions will be first introduced followed by highlights of the fabrication technologies and properties of PCFs. The effects of composition and preparation method on fiber properties are also discussed, with some emphasis on utilizing these for rational design. Finally, we carefully summarize recent advanced applications of PCFs in the fields of energy storage and sensors, water treatment, biomedical materials, artificial actuators, and biomimetic platforms. This review is expected to deepen the comprehension of PCF materials and open new avenues for developing PCFs with tailor-made properties for advanced application.

Engineering viscoelastic mismatch for temporal morphing of tough supramolecular hydrogels

Viscoelasticity is a generic characteristic of soft biotissues and polymeric materials, endowing them with unique time- and rate-dependent properties. Here, by spatiotemporally tailoring the viscoelasticity in tough supramolecular hydrogels, we demonstrate reprogrammable morphing of the gels based on differential viscoelastic recovery processes that lead to internal strain mismatch. The spatial heterogeneity of viscoelasticity is encoded through integrating dissimilar hydrogels or by site-specific treatment of a singular hydrogel. The temporal morphing behavior of tough gels, including a fast deformation process and then a slow shape-recovery process, is related to the kinetics of associative interactions and the entropic elasticity of supramolecular networks after pre-stretching and release, which takes place spontaneously in the absence of external stimuli. Such a kinetically driven morphing mechanism resolves the trade-off between the mechanical robustness and shape-changing speed in tough hydrogels with dense entanglements and physical associations, and should be applicable to other viscoelastic materials. A numerical theory for the temporal morphing of tough supramolecular gels has been formulated by dynamic coupling of viscoelastic recovery and mechanics of deformations, which is further implemented to predict the sophisticated morphed structures. Furthermore, magnetic particles are incorporated into the morphed tough hydrogels to devise versatile soft actuators and robots for specific applications.

Ink Material Selection and Optical Design Considerations in DLP 3D Printing

Digital light processing (DLP) 3D printing has become a powerful manufacturing tool for the fast fabrication of complex functional structures. The rapid progress in DLP printing has been linked to research on optical design factors and ink selection. This critical review highlights the main challenges in the DLP printing of photopolymerizable inks. The kinetics equations of photopolymerization reaction in a DLP printer are solved, and the dependence of curing depth on the process optical parameters and ink chemical properties are explained. Developments in DLP platform design and ink selection are summarized, and the roles of monomer structure and molecular weight on DLP printing resolution are shown by experimental data. A detailed guideline is presented to help engineers and scientists to select inks and optical parameters for fabricating functional structures for multi-material and 4D printing applications.

Thermosensitive Shape-Memory Poly(stearyl acrylate-co-methoxy poly(ethylene glycol) acrylate) Hydrogels

Stimuli-sensitive hydrogels are highly desirable candidates for application in intelligent biomaterials. Thus, a novel thermosensitive hydrogel with shape-memory function was developed. Hydrophobic stearyl acrylate (SA), hydrophilic methoxy poly(ethylene glycol) acrylate (MPGA), and a crosslinking monomer were copolymerized to prepare poly(SA-co-MPGA) gels with various mole fractions of SA (xSA) in ethanol. Subsequently, the prepared gels were washed, dried, and re-swelled in water at 50 °C. Differential scanning calorimetric (DSC) and compression tests at different temperatures revealed that poly(SA-co-MPGA) hydrogels with xSA > 0.5 induce a crystalline-to-amorphous transition, which is a hard-to-soft transition at ~40 °C that is based on the formation/non-formation of a crystalline structure containing stearyl side chains. The hydrogels stored in water maintained an almost constant volume, independent of the temperature. The poly(SA-co-MPGA) hydrogel was soft, flexible, and deformed at 50 °C. However, the hydrogel stiffened when cooled to room temperature, and the deformation was reversible. The shape-memory function of poly(SA-co-MPGA) hydrogels is proposed for potential use in biomaterials; this is partially attributed to the use of MPGA, which consists of relatively biocompatible poly(ethylene glycol).

Optical wavelength selective actuation of dye doped liquid crystalline elastomers by quasi-daylight

We explore obtaining different photo responses of liquid crystalline elastomer (LCE) materials through modulating the optical wavelengths in order to promote the development of precise photocontrol on LCE actuators, and thus study the effect of light-absorbing dyes with different absorption bands on the selective actuation of LCE materials. The dye-doped LCEs were prepared by incorporating special visible absorber dyes into thiol-acrylate main chain LCE (MC-LCE) matrices. The dyes showed photo actuation performance to LCEs due to the photothermal effects. But, every dye-doped LCE could be effectively actuated by light irradiation whose wavelength was inside its absorption band, but could not be effectively actuated by the light whose wavelength was beyond its absorption band. Wavelength selective actuation effects, no matter actuating deformation or actuating force, could be remarkably demonstrated by these dye-doped LCEs through filtering the same quasi-daylight source to be different wavelength bands. Our work opens up a significant way for the precise and convenient photo actuation of LCE actuators, while expanding the utilization potential of quasi-daylight, and further natural sunlight.

Meniscus-Climbing System Inspired 3D Printed Fully Soft Robotics with Highly Flexible Three-Dimensional Locomotion at the Liquid-Air Interface

Soft robotics locomotion at the liquid-air interface has become more and more important for an intelligent society. However, existing locomotion of soft robotics is limited to two dimensions. It remains a formidable challenge to realize three-dimensional locomotion (X, Y, and Z axes) at the liquid-air two-phase interface due to the unbalanced mechanical environment. Inspired by meniscus-climbing beetle larva Pyrrhalta, the mechanism of a three-phase (liquid-solid-air) contact line is here proposed to address the aforementioned challenge. A corresponding 3D printed fully soft robotics (named larvobot) based on photoresponsive liquid crystal elastomer/carbon nanotubes composites endowed repeatable programmable deformation and high degree-of-freedom locomotion. Three-dimensional locomotion at the liquid-air interface including twisting and rolling-up has been developed. The equation of motion is established by analyzing the mechanics along the solid-water surface of the larvobot. Meanwhile, ANSYS is used to calculate the stress distribution, which coincides with the speculation. Moreover, soft robotics is remotely driven by light in a precise spatiotemporal control, which provides a great advantage for applications. As an example, we demonstrate the controllable locomotion of the soft robotics inside closed tubes, which could be used for drug delivery and intelligent transportation.

Stepwise Artificial Yarn Muscles with Energy-Free Catch States Driven by Aluminum-Ion Insertion

Present artificial muscles have been suffering from poor actuation step precision and the need of energy input to maintain actuated states due to weak interactions between guest and host materials or the unstable structural changes. Herein, these challenges are addressed by deploying a mechanism of reversible faradaic insertion and extraction reactions between tetrachloroaluminate ions and collapsed carbon nanotubes. This mechanism allows tetrachloroaluminate ions as a strong but dynamic "locker" to achieve an energy-free high-tension catch state and programmable stepwise actuation in the yarn muscle. When powered off, the muscle nearly 100% maintained any achieved contractile strokes even under loads up to 96,000 times the muscle weight. The actuation mechanism allowed the programmable control of stroke steps down to 1% during reversible actuation. The isometric stress generated by the yarn muscle (14.6 MPa in maximum, 40 times that of skeletal muscles) was also energy freely lockable and step controllable with high precision. Importantly, when fully charged, the muscle stored energy with a high capacity of 102 mAh g^-1, allowing the muscle as a battery to power secondary muscles or other devices.

Anion-Induced Reversible Actuation of Squaramide-Crosslinked Polymer Gels

Supramolecular anion binding to squaramide crosslinkers in poly(N,N-dimethylacrylamide) gel networks enhances swelling and allows reversible chemically driven actuation. The volume swelling ratio of the gels is shown to depend on both the type of anion and its concentration. ¹H NMR and UV-vis titrations with the squaramide crosslinkers reveal a relationship between anion binding affinity and the concentration-dependent swelling behavior. Gel swelling is shown to be reversible, and by embedding a solid support into rod-shaped gels, soft actuators are fabricated that undergo forward and backward bending motion in response to changing anion concentration. The swelling and bending process, which is accompanied by intense green coloration of the gel, is achieved by using only low amounts of crosslinker. This macroscopic actuation achieved by anion binding to specific molecular entities in the polymer network will open new opportunities in the field of chemically responsive materials.

Swelling of Thermo-Responsive Gels in Aqueous Solutions of Salts: A Predictive Model

The equilibrium degree of swelling of thermo-responsive (TR) gels is strongly affected by the presence of ions in an aqueous solution. This phenomenon plays an important role in (i) the synthesis of multi-stimuli-responsive gels for soft robotics, where extraordinary strength and toughness are reached by soaking of a gel in solutions of multivalent ions, and (ii) the preparation of hybrid gels with interpenetrating networks formed by covalently cross-linked synthetic chains and ionically cross-linked biopolymer chains. A model is developed for equilibrium swelling of a TR gel in aqueous solutions of salts at various temperatures T below and above the critical temperature at which collapse of the gel occurs. An advantage of the model is that it involves a a small (compared with conventional relations) number of material constants and allows the critical temperature to be determined explicitly. Its ability (i) to describe equilibrium swelling diagrams on poly(N-isopropylacrylamide) gels in aqueous solutions of mono- and multivalent salts and (ii) to predict the influence of volume fraction of salt on the critical temperature is confirmed by comparison of observations with results of numerical simulation.

Programmable Auxeticity in Hydrogel Metamaterials via Shape-Morphing Unit Cells

Mechanical metamaterials recruit unique mechanical behavior that is unavailable in bulk materials from a periodic unit cell structure with a specific geometry. However, such metamaterials can typically not be reconfigured once manufactured. Herein, the authors introduce shape morphing of a hydrogel metamaterial via spatio-selective integration of responsive actuating elements to reconfigure the mesoscale unit cell geometry to reach programmable auxeticity on the macroscale. Via thermal control, the unit cell angle of a honeycomb structure can be precisely programmed from 68° to 107°. This results in negative, zero, or positive Poisson's ratio under applied tensile strain. The geometrical reconfiguration with resulting programmable auxeticity is predicted and verified by finite element (FE) simulation. This concept of shape-morphing hydrogel metamaterials via the addition of actuating struts into otherwise passive architectures offers a new strategy for reconfigurable metamaterials and extends applications of hydrogels in general. It can be readily extended to other architectures and may find applications in mechanical computing as well as soft robotics.

Bioinspired Polyacrylamide/(polyvinyl alcohol-copper acetate) Hydrogel with Cooling-triggered Shape Memory, Color Changing, and Self-healing Behavior

Inspired by many living creatures with adjustment of shape and color in ever-changing environment, color changeable shape memory hydrogels are designed and expected to be potential candidates in the fields spanning from anti-counterfeiting to biomedical devices. However, they normally require complex synthesis, and more importantly, the cooling-induced shape recovery hydrogel is still rare and in its infancy so far. Herein, we have developed a unique color changeable shape memory hydrogel by simply incorporating polyvinyl alcohol and copper acetate into covalent polyacrylamide network. As core functional element, copper ions serve as reversible crosslinks after heating to achieve excellent cooling-triggered shape memory effect, color shifting and self-healing behavior, showing significant potential in diverse applications like grabbing, information encryption, and biomimetic designs. This work may guide the development of cooling-triggered smart hydrogels for practical applications. This article is protected by copyright. All rights reserved.

Photoredox-Mediated Designing and Regulating Metal-Coordinate Hydrogels for Programmable Soft 3D-Printed Actuators

Metal-organic coordination is widely applied for designing responsive polymers and soft devices. But it is still a challenge to prepare redox-responsive actuators with complicated structures, limiting their advanced applications in material and engineering fields. Here, we report a photoredox-mediated designing and regulating strategy to fabricate metal-coordinate hydrogels with the catalysis of Ru(II)/Co(III) under visible-light irradiation in seconds. Meanwhile, multiple polymer networks are formed and penetrated by each other, enabling as-prepared hydrogels excellent mechanical properties and toughness. This rapid, one-step, and controllable process is highly compatible with standard photography and printing techniques to make hierarchical 2D/3D structures. Importantly, the oxidization decomposition of Co(III) benefits the formation of cobalt cation-based redox-responsive networks, which have the potential for designing shape-memory materials and actuators by the regulation of Co^3+/2+ states via tuning redox environmental conditions. As a proof-of-concept, a programmable air-driven actuator is successfully demonstrated to control cargo capturing/releasing by designing complicated, asymmetric structures and optimizing their performance with the combination of a typical extrusion 3D printing approach. In this Letter, we report a simple and general metal-organic coordination strategy for designing high-performance actuators, which shows promising applications in smart soft devices and electronics.

Self-Healable and Recyclable Dual-Shape Memory Liquid Metal–Elastomer Composites

Liquid metal (LM)–polymer composites that combine the thermal and electrical conductivity of LMs with the shape-morphing capability of polymers are attracting a great deal of attention in the fields of reconfigurable electronics and soft robotics. However, investigation of the synergetic effect between the shape-changing properties of LMs and polymer matrices is lacking. Herein, a self-healable and recyclable dual-shape memory composite, comprising an LM (gallium) and a Diels–Alder (DA) crosslinked crystalline polyurethane (PU) elastomer, is reported. The composite exhibits a bilayer structure and achieves excellent shape programming abilities, due to the phase transitions of the LM and the crystalline PU elastomers. To demonstrate these shape-morphing abilities, a heat-triggered soft gripper, which can grasp and release objects according to the environmental temperature, is designed and built. Similarly, combining the electrical conductivity and the dual-shape memory effect of the composite, a light-controlled reconfigurable switch for a circuit is produced. In addition, due to the reversible nature of DA bonds, the composite is self-healable and recyclable. Both the LM and PU elastomer are recyclable, demonstrating the extremely high recycling efficiency (up to 96.7%) of the LM, as well as similar mechanical properties between the reprocessed elastomers and the pristine ones.

Self-Sensing Actuators Based on a Stiffness Variable Reversible Shape Memory Polymer Enabled by a Phase Change Material

Soft actuators with integrated mechanical and actuation properties and self-sensing ability are still a challenge. Herein, a stiffness variable polyolefin elastomer (POE) with a reversible shape memory effect is prepared by introducing a typical phase change material, i.e., paraffin wax (PW). It is found that the variable stiffness of POE induced by PW can balance the reversible strain and load-bearing capability of actuators. Especially, carbon nanotubes (CNTs) are concentrated in a thin surface layer by spraying and hot pressing in the soft state of POE/PW blends, providing signal transductions for the strain and temperature perception for actuators. Taking advantage of tunable reversible deformation and mechanical transformation of the POE/PW actuator, different biomimetic robotics, including grippers with high load-bearing capability (weight-lifting ratio > 146), walking robots that can sense angles of joints, and high-temperature warning robots are demonstrated. A scheme combining the variable stiffness and electrical properties provides a versatile strategy to integrate actuation performance and self-sensing ability, inspiring the development of multifunctional composite designs for soft robotics.

Poly(N-isopropylacrylamide) Based Electrically Conductive Hydrogels and Their Applications

Poly(N-isopropylacrylamide) (PNIPAM) based electrically conductive hydrogels (PNIPAM-ECHs) have been extensively studied in recent decades due to their thermal-responsive (leading to the volume change of hydrogels) and electrically conductive performance. The incorporation of conductive components into the PNIPAM hydrogel network makes it become conductive hydrogel, and as a result, the PNIPAM hydrogel could become sensitive to an electrical signal, greatly expanding its application. In addition, conductive components usually bring new stimuli-responsive properties of PNIPAM-based hydrogels, such as near-infrared light and stress/strain responsive properties. PNIPAM-ECHs display a wide range of applications in human motion detection, actuators, controlled drug release, wound dressings, etc. To summarize recent research advances and achievements related to PNIPAM-ECHs, this manuscript first reviews the design and structure of representative PNIPAM-ECHs according to their conductive components. Then, the applications of PNIPAM-ECHs have been classified and discussed. Finally, the remaining problems related to PNIPAM-ECHs have been summarized and a future research direction is proposed which is to fabricate PNIPAM-ECHs with integrated multifunctionality.

Skeletal Muscle Fibers Inspired Polymeric Actuator by Assembly of Triblock Polymers

Inspired by the striated structure of skeletal muscle fibers, a polymeric actuator by assembling two symmetric triblock copolymers, namely, polystyrene-b-poly(acrylic acid)-b-polystyrene (SAS) and polystyrene-b-poly(ethylene oxide)-b-polystyrene (SES) is developed. Owing to the microphase separation of the triblock copolymers and hydrogen-bonding complexation of their middle segments, the SAS/SES assembly forms a lamellar structure with alternating vitrified S and hydrogen-bonded A/E association layers. The SAS/SES strip can be actuated and operate in response to environmental pH. The contraction ratio and working density of the SAS/SES actuator are approximately 50% and 90 kJ m-3 , respectively; these values are higher than those of skeletal muscle fibers. In addition, the SAS/SES actuator shows a "catch-state", that is, it can maintain force without energy consumption, which is a feature of mollusc muscle but not skeletal muscle. This study provides a biomimetic approach for the development of artificial polymeric actuators with outstanding performance.

Strong and fast hydrogel actuators

Plant cells inspire a hydrogel actuator that achieves ultrastrong and fast actuation.

High temperature shape memory poly(amide-imide)s with strong mechanical robustness

Shape memory poly(amide-imide)s with strong mechanical robustness, outstanding heat resistance and low water uptake were fabricated.