Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Self-immolative dendron hydrogels

Smart hydrogels are of great interest in areas such as drug delivery and sensing. Dendrimer-based hydrogels can exhibit tunable properties due to their structural precision. We prepared hydrogels from self-immolative dendrons. Controlled hydrogel degradation in response to light was demonstrated and the hydrogel properties as a function of dendron generation were compared.

Textiles in soft robots: Current progress and future trends

Soft robotics have substantial benefits of safety, adaptability, and cost efficiency compared to conventional rigid robotics. Textiles have applications in soft robotics either as an auxiliary material to reinforce the conventional soft material or as an active soft material. Textiles of various types and configurations have been fabricated into key components of soft robotics in adaptable formats. Despite significant advancements, the efficiency and characteristics of textile actuators in practical applications remain unsatisfactory. To address these issues, novel structural and material designs as well as new textile technologies have been introduced. Herein, we aim at giving an insight into the current state of the art in textile technology for soft robotic manufacturing. We firstly discuss the fundamental actuation mechanisms for soft robotics. We then provide a critical review on the recently developed functional textiles as reinforcements, sensors, and actuators in soft robotics. Finally, the future trends and current strategies that can be employed in textile-based actuator manufacturing process have been explored to address the critical challenges in soft robotics.

Bioinspired soft microrobots actuated by magnetic field

In contrast to traditional large-scale robots, which require complicated mechanical joints and material rigidity, microrobots made of soft materials have exhibited amazing features and great potential for extensive applications, such as minimally invasive surgery. However, microrobots are faced with energy supply and control issues due to the miniaturization. Magnetic field actuation emerges as an appropriate approach to tackle with these issues. This review summarizes the latest progress of biomimetic soft microrobots actuated by magnetic field. Starting with an overview of the soft material and magnetic material adopted in the magnetic field actuated soft microrobots, the various fabrication methods and design structures of soft microrobots are summarized. Subsequently, practical and potential applications, such as targeted therapy, surgical operation, and the transportation of microscopic objects, in the fields of biomedicine and environmental remediation are presented. In the end, some current challenges, and the future development trends of magnetic soft microrobots are briefly discussed. This review is expected to offer a helpful guidance for the new researchers of biomimetic soft microrobots actuated by magnetic field.

Materials with Electroprogrammable Stiffness

Stiffness is a mechanical property of vital importance to any material system and is typically considered a static quantity. Recent work, however, has shown that novel materials with programmable stiffness can enhance the performance and simplify the design of engineered systems, such as morphing wings, robotic grippers, and wearable exoskeletons. For many of these applications, the ability to program stiffness with electrical activation is advantageous because of the natural compatibility with electrical sensing, control, and power networks ubiquitous in autonomous machines and robots. The numerous applications for materials with electrically driven stiffness modulation has driven a rapid increase in the number of publications in this field. Here, a comprehensive review of the available materials that realize electroprogrammable stiffness is provided, showing that all current approaches can be categorized as using electrostatics or electrically activated phase changes, and summarizing the advantages, limitations, and applications of these materials. Finally, a perspective identifies state-of-the-art trends and an outlook of future opportunities for the development and use of materials with electroprogrammable stiffness.

Preparation of High-Performance Composite Hydrogel Reinforced by Hydrophilic Modified Waste Rubber Powder

In order to reduce the environmental pollution caused by waste rubber and to realize the recycling of resources, we proposed a facile method for the hydrophilic modification of waste rubber powder (HRP) and used it to reinforce a composite hydrogel. In the presence of toluene, dibenzoyl peroxide (BPO) diffused into the waste rubber powder. After the solvent was removed, BPO was adsorbed in the rubber powder, which was used to initiate the grafting polymerization of the acrylamide monomer on the rubber-water interface. As a result, the polyacrylamide (PAM) molecular chains were grafted onto the surface of the rubber powder to realize hydrophilic modification. The success of the grafting modification was confirmed by FTIR, contact angle testing, and thermogravimetric analysis. The hydrophilic modified waste rubber powder was used to reinforce the PAM hydrogel. Mechanical tests showed that the tensile strength and elongation at the break of the composite hydrogel reached 0.46 MPa and 1809%, respectively, which was much higher than those of pure PAM hydrogel. Such a phenomenon indicates that the waste rubber particles had a strengthening effect.

Smart scaffolds: shape memory polymers (SMPs) in tissue engineering

Smart scaffolds based on shape memory polymer (SMPs) have been increasingly studied in tissue engineering. The unique shape actuating ability of SMP scaffolds has been utilized to improve delivery and/or tissue defect filling. In this regard, these scaffolds may be self-deploying, self-expanding, or self-fitting. Smart scaffolds are generally thermoresponsive or hydroresponsive wherein shape recovery is driven by an increase in temperature or by hydration, respectively. Most smart scaffolds have been directed towards regenerating bone, cartilage, and cardiovascular tissues. A vast variety of smart scaffolds can be prepared with properties targeted for a specific tissue application. This breadth of smart scaffolds stems from the variety of compositions employed as well as the numerous methods used to fabricated scaffolds with the desired morphology. Smart scaffold compositions span across several distinct classes of SMPs, affording further tunability of properties using numerous approaches. Specifically, these SMPs include those based on physically cross-linked and chemically cross-linked networks and include widely studied shape memory polyurethanes (SMPUs). Various additives, ranging from nanoparticles to biologicals, have also been included to impart unique functionality to smart scaffolds. Thus, given their unique functionality and breadth of tunable properties, smart scaffolds have tremendous potential in tissue engineering.

4D Printing of Hygroscopic Liquid Crystal Elastomer Actuators

Liquid crystal elastomers (LCEs) are broadly recognized as programmable actuating materials that are responsive to external stimuli, typically heat or light. Yet, soft LCEs that respond to changes in environmental humidity are not reported, except a few examples based on rigid liquid crystal networks with limited processing. Herein, a new class of highly deformable hygroscopic LCE actuators that can be prepared by versatile processing methods, including surface alignment as well as 3D printing is presented. The dimethylamino-functionalized LCE is prepared by the aza-Michael addition reaction between a reactive LC monomer and N,N'-dimethylethylenediamine as a chain extender, followed by photopolymerization. The humidity-responsive properties are introduced by activating one of the LCE surfaces with an acidic solution, which generates cations on the surface and provides asymmetric hydrophilicity to the LCE. The resulting humidity-responsive LCE undergoes programmed and reversible hygroscopic actuation, and its shape transformation can be directed by the cut angle with respect to a nematic director or by localizing activation regions in the LCE. Most importantly, various hygroscopic LCE actuators, including (porous) bilayers, a flower, a concentric square array, and a soft gripper, are successfully fabricated by using LC inks in UV-assisted direct-ink-writing-based 3D printing.

Dually cross-linked single networks: structures and applications

Cross-linked polymers have attracted an immense attention over the years, however, there are many flaws of these systems, e.g. softness and brittleness; such materials possess non-adjustable properties and cannot recover from damage and thus are limited in their practical applications. Supramolecular chemistry offers a variety of dynamic interactions that when integrated into polymeric gels endow the systems with reversibility and responsiveness to external stimuli. A combination of different cross-links in a single gel could be the key to tackle these drawbacks, since covalent or chemical cross-linking serve to maintain the permanent shape of the material and to improve overall mechanical performance, whereas non-covalent cross-links impart dynamicity, reversibility, stimuli-responsiveness and often toughness to the material. In the present review we sought to give a comprehensive overview of the progress in design strategies of different types of dually cross-linked single gels made by researchers over the past decade as well as the successful implementations of these advances in many demanding fields where versatile multifunctional materials are required, such as tissue engineering, drug delivery, self-healing and adhesive systems, sensors as well as shape memory materials and actuators.

Thermally-Induced Shape-Memory Behavior of Degradable Gelatin-Based Networks

Shape-memory hydrogels (SMH) are multifunctional, actively-moving polymers of interest in biomedicine. In loosely crosslinked polymer networks, gelatin chains may form triple helices, which can act as temporary net points in SMH, depending on the presence of salts. Here, we show programming and initiation of the shape-memory effect of such networks based on a thermomechanical process compatible with the physiological environment. The SMH were synthesized by reaction of glycidylmethacrylated gelatin with oligo(ethylene glycol) (OEG) α,ω-dithiols of varying crosslinker length and amount. Triple helicalization of gelatin chains is shown directly by wide-angle X-ray scattering and indirectly via the mechanical behavior at different temperatures. The ability to form triple helices increased with the molar mass of the crosslinker. Hydrogels had storage moduli of 0.27-23 kPa and Young's moduli of 215-360 kPa at 4 °C. The hydrogels were hydrolytically degradable, with full degradation to water-soluble products within one week at 37 °C and pH = 7.4. A thermally-induced shape-memory effect is demonstrated in bending as well as in compression tests, in which shape recovery with excellent shape-recovery rates Rr close to 100% were observed. In the future, the material presented here could be applied, e.g., as self-anchoring devices mechanically resembling the extracellular matrix.

Cell-Laden Multiple-Step and Reversible 4D Hydrogel Actuators to Mimic Dynamic Tissue Morphogenesis

Shape-morphing hydrogels bear promising prospects as soft actuators and for robotics. However, they are mostly restricted to applications in the abiotic domain due to the harsh physicochemical conditions typically necessary to induce shape morphing. Here, multilayer hydrogel actuator systems are developed using biocompatible and photocrosslinkable oxidized, methacrylated alginate and methacrylated gelatin that permit encapsulation and maintenance of living cells within the hydrogel actuators and implement programmed and controlled actuations with multiple shape changes. The hydrogel actuators encapsulating cells enable defined self-folding and/or user-regulated, on-demand-folding into specific 3D architectures under physiological conditions, with the capability to partially bioemulate complex developmental processes such as branching morphogenesis. The hydrogel actuator systems can be utilized as novel platforms for investigating the effect of programmed multiple-step and reversible shape morphing on cellular behaviors in 3D extracellular matrix and the role of recapitulating developmental and healing morphogenic processes on promoting new complex tissue formation.

Printing Multi-Material Organic Haptic Actuators

Haptic actuators generate touch sensations and provide realism and depth in human-machine interactions. A new generation of soft haptic interfaces is desired to produce the distributed signals over large areas that are required to mimic natural touch interactions. One promising approach is to combine the advantages of organic actuator materials and additive printing technologies. This powerful combination can lead to devices that are ergonomic, readily customizable, and economical for researchers to explore potential benefits and create new haptic applications. Here, an overview of emerging organic actuator materials and digital printing technologies for fabricating haptic actuators is provided. In particular, the focus is on the challenges and potential solutions associated with integration of multi-material actuators, with an eye toward improving the fidelity and robustness of the printing process. Then the progress in achieving compact, lightweight haptic actuators by using an open-source extrusion printer to integrate different polymers and composites in freeform designs is reported. Two haptic interfaces-a tactile surface and a kinesthetic glove-are demonstrated to show that printing with organic materials is a versatile approach for rapid prototyping of various types of haptic devices.

3D Printing Hydrogel-Based Soft and Biohybrid Actuators: A Mini-Review on Fabrication Techniques, Applications, and Challenges

Stimuli-responsive hydrogels are candidate building blocks for soft robotic applications due to many of their unique properties, including tunable mechanical properties and biocompatibility. Over the past decade, there has been significant progress in developing soft and biohybrid actuators using naturally occurring and synthetic hydrogels to address the increasing demands for machines capable of interacting with fragile biological systems. Recent advancements in three-dimensional (3D) printing technology, either as a standalone manufacturing process or integrated with traditional fabrication techniques, have enabled the development of hydrogel-based actuators with on-demand geometry and actuation modalities. This mini-review surveys existing research efforts to inspire the development of novel fabrication techniques using hydrogel building blocks and identify potential future directions. In this article, existing 3D fabrication techniques for hydrogel actuators are first examined. Next, existing actuation mechanisms, including pneumatic, hydraulic, ionic, dehydration-rehydration, and cell-powered actuation, are reviewed with their benefits and limitations discussed. Subsequently, the applications of hydrogel-based actuators, including compliant handling of fragile items, micro-swimmers, wearable devices, and origami structures, are described. Finally, challenges in fabricating functional actuators using existing techniques are discussed.

A review on preparations, properties, and applications of cis-ortho-hydroxyl polysaccharides hydrogels crosslinked with borax

Polysaccharides-based hydrogel has many advantages such as biocompatibility, self-repair property, and biodegradability. It has been widely applied in various fields and has attracted great attention of researchers. The natural polysaccharides involved in this review include fenugreek gum, guar gum, locust bean gum, gellan gum, sodium alginate, agarose, and konjac glucomannan etc. Borax is a highly effective crosslinking agent for cis-ortho-hydroxyl polysaccharides. This paper focused on the synthesis mechanism, functional additives, characteristics, and applications of borax crosslinked cis-ortho-hydroxyl polysaccharides hydrogels (BHs). Moreover, the factors affecting BHs performance such as temperature, pH, and media were analyzed. Its mechanical and self-repair properties are enhanced by the dynamic and reversible borate/di-diol, which play a significant role in sensors, biomedicine, and tissue engineering. This review summarizes the research progress of BHs for the first time. Additionally, hoping to contribute to the development of this field, the review analyzes the correlation of performance through the SPSS 26 software.

Synthesis of dextrin-polyacrylamide and boric acid based tough and transparent, self-healing, superabsorbent film

Stretchabiliy, transparency and self-healing ability of bio-based materials are some of the important features for their utilization in the biomedical field. Recently, robust self-healing super porous materials possessing multifunctional nature have raised enormous interest among the researchers in order to design different materials which can be used in industrial, biomedical and pharmaceutical fields. Herein, a novel self-healing, stretchable and transparent superabsorbent film based on Dextrin-polyacrylamide and Boric Acid (D_EX-cl-polyAAm) was synthesized using a free radical reaction mechanism. In distilled water, the maximum water absorptivity of the synthesized film was reported to be 3156% after the optimization of various reaction parameters. The film was also found to show structural integrity in urea solution, phosphate buffer and solutions of different pH. Lastly, the viscoelastic and self-healing analysis of the film suggested its utility towards biomedical field.

A pH-sensitive oxidized-dextran based double drug-loaded hydrogel with high antibacterial properties

Delayed healing or non-healing of wounds caused by bacterial infection is still a difficult medical problem. Nowadays, the topical application of antibiotics is a common treatment for infections. However, subinhibitory concentrations or high dose of antibiotics leads to the antibacterial effect counterproductive. So it's necessary to put forward an on-demand drug delivery to solve this tough issue. In this paper, a pH-responsive hydrogel was prepared by oxidized dextran (Dex-CHO), sulfadiazine (SD) and tobramycin (TOB). The hydrogel was designed by the environment in the early immature stage of biofilm (pH 5.0). Schiff bases can release drugs in slightly acidic environment. The hydrogel showed injectable, pH-sensitive drug release, and great biocompatibility. Released SD and TOB exhibited a synergistic effect therefore the hydrogel showed high antibacterial activity. This study provides an easy and promising strategy to develop smart hydrogels that aim at topical administration of antibiotics and come up with a new treatment of local bacterial infections.

Construction of natural polymeric imprinted materials and their applications in water treatment: A review

Molecularly imprinted materials (MIMs) have been widely used in various fields, including water treatment, chemical sensing, and biotechnology, because of their specific recognition and high selectivity. MIMs are usually obtained via two successive steps, namely, (1) copolymerization and crosslinking reactions of the preassembled complex of comonomers and a specific target compound (2) and thorough removal of template molecules. Some functional polymers are directly used as supporting materials and functional groups assembled with target compound are provided to simplify the preparation of MIMs. Natural polymers, such as chitosan, cyclodextrin, sodium alginate, starch, cellulose, lignin and their derivatives, are good candidates because of their environmentally friendly properties, low costs, and abundant active functional groups. In this study, different methods for the preparation of natural polymeric MIMs were reviewed in terms of the construction of microscopic binding cavities and macroscopic visible condensed structures with different shapes. Natural polymeric MIMs in water treatment applications, such as adsorption and detection of various pollutants from aqueous solutions, were summarized. Prospects on the development of novel and high-performance natural polymeric MIMs were discussed to overcome the difficulties in their preparation and applications.

Self-healing hydrogel sensors with multiple shape memory properties for human motion monitoring

Shape memory hydrogels offer new opportunities for the development of smart wearables due to their intelligent responsiveness.

Salt-responsive polyampholyte-based hydrogel actuators with gradient porous structures

A polyampholyte-based hydrogel actuator with water-responsive shape deformation was fabricated, and the gradient distribution of chemical composition was proved by micro-FTIR.

Cellulose nanocrystal mediated fast self-healing and shape memory conductive hydrogel for wearable strain sensors

Electro-conductive hydrogel (ECH) with self-healing, shape memory and biocompatible properties is highly urgent for wearable strain sensors to prolonging their lifespan, endowing programmable shape control property, and improving affinity to skin during service. However, most of synthetic polymer-based ECH usually involve potential toxicity, long healing and shape drive time. Herein, a fast healable and shape memory ECH with excellent biocompatibility is reported for the first time by incorporating cellulose nanocrystals grafted phenylboronic acid (CNCs-ABA) and multiwalled carbon nanotubes (MWCNTs) into polyvinyl alcohol (PVA). CNCs-ABA is designed as dispersant and crosslinker in hydrogel. pH-induced dynamic borate bonds give hydrogel excellent shape recovery and fixity ratio of 82.1% and 78.2%, respectively. Meanwhile, 97.1% healing efficiency is obtained within 2 min depending on remarkable photothermal effect of MWCNTs and reversible microcrystallization. Double crosslinking networks endow excellent mechanical properties to hydrogel, whose tensile strength, strain and elastic modulus reach 227.0 kPa, 395.0% and 9.0 kPa, respectively. Furthermore, the synergistic effect of MWCNTs and NaOH enhance the conductivity of hydrogel with value of 3.8×10^-2 S/m. In addition, the hydrogel can act as strain sensor for detecting human motion with superior biocompatibility and fast resistance response to applied strain, which is suitable for human health management.

Conductive hydrogel composites with autonomous self-healing properties

Conventional conductive hydrogels usually lack self-healing properties, but might be favorable for smart electronic applications. Therefore, we present the fabrication of conductive self-healing hydrogels that merge the merits of electrical conductivity and self-healing properties. The conductive self-healing hydrogel composite was prepared by using single-walled carbon nanotubes (SWCNTs), poly(vinyl alcohol) (PVA), and a poly(N,N-dimethyl acrylamide) copolymer derivative modified with pyrene and borate functional moieties. While the tethered pyrene groups of the copolymer facilitated an even dispersion of the conductive components, i.e., SWCNTs, in aqueous solution viaπ-π stacking, the hydrogel system was formed via covalent dynamic cross-linking through tetrahedral borate ion interaction with the -OH group of PVA. The hydrogel composites exhibited bulk conductivity (1.27 S m^-1 with 8 mg mL^-1 SWCNTs) with a fast and autonomous self-healing ability that restored 95% of the original conductivity within 10 s under ambient conditions. Accordingly, due to their outstanding properties, we postulate that these composites may have potential in biomedical applications, such as tissue engineering, wound healing or electronic skins.

Controllable, Bidirectional Water/Organic Vapors Responsive Actuators Fabricated by One-Step Thiol-Ene Click Polymerization

It is challenging to synthesize stimuli-responsive materials with the well-balanced performance of fast stimulus-response speed, good mechanical strength, multi-functionality, and deformation diversity as well. This work reports a facile, one-step thiol-ene click polymerization strategy for preparation of water/acetone vapor-responsive hierarchical films, by using diallyl terephthalate (P) as hydrophobic ene-monomer, 1,4-diallyl-1,4-diazabicyclo [2.2.2]octane-1,4-diium bromide (B) as hydrophilic ene-monomer, and pentaerythritol tetra(3-mercaptopropionate) (PETMP) as thiol monomer. Besides, by taking advantage of the specific hydrophilic/hydrophobic induction effect of substrate and adjusting the molar ratio of P to B, P₆₀ B₄₀ -HPI film is fabricated on hydrophilic substrate "with plasma treatment" whereas P₈₀ B₂₀ -HPO film is obtained on hydrophobic substrate "without plasma treatment". Their "upper-dense and lower-porous" structural feature ensured the excellent combination of fast stimuli-response speed endowed by the porous structure and good mechanical strength enhanced by the upper dense surface. Both films are bidirectional water/acetone vapor-responsive materials, but their bending directions responding to the stimuli factors are completely opposite. This strategy showed great potential in the development of smart stimuli-responsive materials.

Design of Bio-Conjugated Hydrogels for Regenerative Medicine Applications: From Polymer Scaffold to Biomolecule Choice

Bio-conjugated hydrogels merge the functionality of a synthetic network with the activity of a biomolecule, becoming thus an interesting class of materials for a variety of biomedical applications. This combination allows the fine tuning of their functionality and activity, whilst retaining biocompatibility, responsivity and displaying tunable chemical and mechanical properties. A complex scenario of molecular factors and conditions have to be taken into account to ensure the correct functionality of the bio-hydrogel as a scaffold or a delivery system, including the polymer backbone and biomolecule choice, polymerization conditions, architecture and biocompatibility. In this review, we present these key factors and conditions that have to match together to ensure the correct functionality of the bio-conjugated hydrogel. We then present recent examples of bio-conjugated hydrogel systems paving the way for regenerative medicine applications.

An artificial aquatic polyp that wirelessly attracts, grasps, and releases objects

The development of light-responsive materials has captured scientific attention and advanced the development of wirelessly driven terrestrial soft robots. Marine organisms trigger inspiration to expand the paradigm of untethered soft robotics into aqueous environments. However, this expansion toward aquatic soft robots is hampered by the slow response of most light-driven polymers to low light intensities and by the lack of controlled multishape deformations. Herein, we present a surface-anchored artificial aquatic coral polyp composed of a magnetically driven stem and a light-driven gripper. Through magnetically driven motion, the polyp induces stirring and attracts suspended targets. The light-responsive gripper is sensitive to low light intensities and has programmable states and rapid and highly controlled actuation, allowing the polyp to capture or release targets on demand. The artificial polyp demonstrates that assemblies of stimuli-responsive materials in water utilizing coordinated motion can perform tasks not possible for single-component devices.

Photomediated post-fabrication modification of azlactone-functionalized gels for the development of hydrogel actuators

We report an approach for the photomediated post-fabrication modification of reactive, azlactone-containing gels using light-initiated deprotection of amines caged with 2-(nitrophenyl)propyloxycarbonyl (NPPOC). Photomediated modification of these gels can be used to generate a gradient in chemical functionality. When functionalized with tertiary amine groups, these gradient gels exhibit rapid and reversible shape deformations in response to changes in pH.

Materials engineering, processing, and device application of hydrogel nanocomposites

Hydrogels are widely implemented as key materials in various biomedical applications owing to their soft, flexible, hydrophilic, and quasi-solid nature. Recently, however, new material properties over those of bare hydrogels have been sought for novel applications. Accordingly, hydrogel nanocomposites, i.e., hydrogels converged with nanomaterials, have been proposed for the functional transformation of conventional hydrogels. The incorporation of suitable nanomaterials into the hydrogel matrix allows the hydrogel nanocomposite to exhibit multi-functionality in addition to the biocompatible feature of the original hydrogel. Therefore, various hydrogel composites with nanomaterials, including nanoparticles, nanowires, and nanosheets, have been developed for diverse purposes, such as catalysis, environmental purification, bio-imaging, sensing, and controlled drug delivery. Furthermore, novel technologies for the patterning of such hydrogel nanocomposites into desired shapes have been developed. The combination of such material engineering and processing technologies has enabled the hydrogel nanocomposite to become a key soft component of electronic, electrochemical, and biomedical devices. We herein review the recent research trend in the field of hydrogel nanocomposites, particularly focusing on materials engineering, processing, and device applications. Furthermore, the conclusions are presented with the scope of future research outlook, which also includes the current technical limitations.

Controlled shape morphing of solvent free thermoresponsive soft actuators

High performance thermoresponsive soft, controllable and reversible actuators are highly desirable for diverse applications. The practical implementation of the existing poly(N-isopropylacrylamide) (pNipam) based soft thermoresponsive actuators faces serious limitations due to their functional requirement of proximal bulk solvent medium. In this work, addressing this issue, we report the development of a bilayer based actuator composed of a solvent responsive biodegradable polymer and temperature responsive pNipam. The designed bilayer is capable of achieving reversible and irreversible actuation as needed when exposed to a physiological range of body temperature, without any solvent bath around. The solvent or water supplied by the pNipam layer at its lower critical solution temperature (LCST) builds a concentration gradient across the thickness of the polymer layer. The concentration gradient results in a strain gradient, causing an out-of-plane folding of the bilayer. The underlying coupled diffusion-deformation interaction during folding and unfolding is incorporated in the reported finite element model, capable of predicting actuation characteristics under different initial conditions. The combined experimental and modelling effort in this work highlights the possibility of engineering 2-dimensional films into complex 3-dimensional shapes, which could have potential applications in soft machines and robotics.

Materials as Machines

Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walking, crawling, swimming, and flying). Key functional considerations of responsive materials in machine implementations are response time, cyclability (frequency and ruggedness), sizing, payload capacity, amenability to mechanical programming, performance in extreme environments, and autonomy. This review summarizes the material transformation mechanisms, mechanical design, and robotic integration of responsive materials including shape memory alloys (SMAs), piezoelectrics, dielectric elastomer actuators (DEAs), ionic electroactive polymers (IEAPs), pneumatics and hydraulics systems, shape memory polymers (SMPs), hydrogels, and liquid crystalline elastomers (LCEs) and networks (LCNs). Structural and geometrical fabrication of these materials as wires, coils, films, tubes, cones, unimorphs, bimorphs, and printed elements enables differentiated mechanical responses and consistently enables and extends functional use.

Mechanically programmed 2D and 3D liquid crystal elastomers at macro- and microscale via two-step photocrosslinking

Liquid crystal elastomers (LCEs) are a unique class of active materials with the largest known reversible shape transformation in the solid state. The shape change of LCEs is directed by programming their molecular orientation, and therefore, several strategies to control LC alignment have been developed. Although mechanical alignment coupled with a two-step crosslinking is commonly adopted for uniaxially-aligned monodomain LCE synthesis, the fabrication of 3D-shaped LCEs at the macro- and microscale has been rarely accomplished. Here, we report a facile processing method for fabricating 2D and 3D-shaped LCEs at the macro- and microscales at room temperature by mechanically programming (i.e., stretching, pressing, embossing and UV-imprinting) the polydomain LCE, and subsequent photocrosslinking. The programmed LCEs exhibited a reversible shape change when exposed to thermal and chemical stimuli. Besides the programmed shape changes, the actuation strain can also be preprogrammed by adjusting the extent of elongation of a polydomain LCE. Furthermore, the LCE micropillar arrays prepared by UV-imprinting displayed a substantial change in pillar height in a reversible manner during thermal actuation. Our convenient method for fabricating reversible 2D and 3D-shaped LCEs from commercially available materials may expedite the potential applications of LCEs in actuators, soft robots, smart coatings, tunable optics and medicine.

Nanoscale Self-Assembly for Therapeutic Delivery

Self-assembly is the process of association of individual units of a material into highly arranged/ordered structures/patterns. It imparts unique properties to both inorganic and organic structures, so generated, via non-covalent interactions. Currently, self-assembled nanomaterials are finding a wide variety of applications in the area of nanotechnology, imaging techniques, biosensors, biomedical sciences, etc., due to its simplicity, spontaneity, scalability, versatility, and inexpensiveness. Self-assembly of amphiphiles into nanostructures (micelles, vesicles, and hydrogels) happens due to various physical interactions. Recent advancements in the area of drug delivery have opened up newer avenues to develop novel drug delivery systems (DDSs) and self-assembled nanostructures have shown their tremendous potential to be used as facile and efficient materials for this purpose. The main objective of the projected review is to provide readers a concise and straightforward knowledge of basic concepts of supramolecular self-assembly process and how these highly functionalized and efficient nanomaterials can be useful in biomedical applications. Approaches for the self-assembly have been discussed for the fabrication of nanostructures. Advantages and limitations of these systems along with the parameters that are to be taken into consideration while designing a therapeutic delivery vehicle have also been outlined. In this review, various macro- and small-molecule-based systems have been elaborated. Besides, a section on DNA nanostructures as intelligent materials for future applications is also included.

Shape-Programmable Architectured Hydrogels Sensitive to Ultrasound

On-demand motion of highly swollen polymer systems can be triggered by changes in pH, ion concentrations, or by heat. Here, shape-programmable, architectured hydrogels are introduced, which respond to ultrasonic-cavitation-based mechanical forces (CMF) by directed macroscopic movements. The concept is the implementation and sequential coupling of multiple functions (swellability in water, sensitivity to ultrasound, shape programmability, and shape-memory) in a semi-interpenetrating polymer network (s-IPN). The semi-IPN-based hydrogels are designed to function through rhodium coordination (Rh-s-IPNH). These coordination bonds act as temporary crosslinks. The porous hydrogels with coordination bonds (degree of swelling from 300 ± 10 to 680 ± 60) exhibit tensile strength σ_max up to 250 ± 60 kPa. Shape fixity ratios up to 90% and shape recovery ratios up to 94% are reached. Potential applications are switches or mechanosensors.

Photoresponsive Shape Memory Hydrogels for Complex Deformation and Solvent-Driven Actuation

A new design for photoresponsive shape memory hydrogels and their possible applications are demonstrated in the present study. We show that the photodissociable Fe³⁺-carboxylate coordination can be utilized as a molecular switch to realize photocontrol of shape memory on both macroscopic and microscopic scales and enable a number of functions. Indeed, Fe³⁺-carboxylate coordination can fix a large tensile strain (up to 680%) of the sodium alginate/polyacrylamide hydrogel through cross-linking of sodium alginate chains, and subsequent UV irradiation allows strain energy release in spatially selected regions through reduction of Fe³⁺ to Fe²⁺. By manipulating light irradiation, complex 3D structures are obtained from 2D hydrogel sheets, and they exhibit complex solvent-driven actuation behaviors due to a light-changeable modulus and cross-linking density in the hydrogel. Based on the same approach, micropatterns can be inscribed on the hydrogel surface using mask-assisted irradiation, and they exhibit chain orientation-mediated anisotropic topography change upon solvent exchange. Moreover, light-controlled strain energy release also enables changing hydrogel surface wettability by solvent replacement. The demonstrated mechanism for photoresponsive hydrogels is highly efficient and applicable to many systems, which offers new perspectives in developing hydrogels with multiple photoresponsive functions.